CN109262626A - Accompany robot control method, system and mobile terminal - Google Patents

Abstract

The present invention provides a kind of company robot control method, system, mobile terminal and storage medium, which includes: that reception is accompanied and attended to task list, and whether the judgement instruction of accompanying and attending in task list of accompanying and attending to meets trigger condition respectively；Judge to accompany whether robot meets execution condition of accompanying and attending to；If so, obtaining demand of accompanying and attending to, prompt of accompanying and attending to is sent according to demand of accompanying and attending to；Judge the response of accompanying and attending to for prompt of accompanying and attending to whether is received in the first preset time；If so, accompany robot execution to accompany and attend to operation according to demand control of accompanying and attending to, whether there is in the second preset time using object of accompanying and attending to as the control instruction of target object in the task list that judges to accompany and attend to；If so, control accompanies robot to follow object of accompanying and attending to, and when control instruction meets trigger condition, is controlled according to control instruction and accompany robot is corresponding to execute operation of accompanying and attending to.The present invention, which can make difference accompany and attend to, can control a company robot in the period and accompanies and attends to operation to difference object implementation of accompanying and attending to, and reduce cost of accompanying and attending to.

Description

Accompany robot control method, system and mobile terminal

Technical field

The present invention relates to robotic technology fields, in particular to a kind of company robot control method, system and shiftingDynamic terminal.

Background technique

China is a populous nation, reaches 1.49 hundred million people presently more than 60 years old old man, accounts for the 11% of total population.Due to oldThe aggravation in age, the population of China old man also will continue to increase.Most of family is stayed out or Comparision all the year round due to sons and daughtersIt is busy, old man is looked after without the time substantially, then it is to have existing for many safety problems that old man, which lives by oneself, the endowment of old man at this timeNursed into a stubborn problem so that endowment accompany and attend to as a huge market, therefore, accompany robot meet the tendency of andIt is raw.

But in existing company robot use process, due to by the way of accompanying and attending to immediately, so that needing one-to-oneAccompanying and attending to for old man is carried out, i.e., when old man currently accompanies and attends to demand, robot is accompanied by current operation, to control company machinePeople carries out operation of accompanying and attending to, and then a company robot is caused to be accompanied and attended to just for an old man, causes to accompany and attend at high cost, noConducive to being widely popularized for company robot.

Summary of the invention

Based on this, the purpose of the embodiment of the present invention is to solve in the prior art, due to being carried out using one-to-one modeOld man accompanies and attends to caused problem at high cost of accompanying and attending to.

In a first aspect, the present invention provides a kind of company robot control methods, which comprises

Reception is accompanied and attended to task list, and whether the instruction of accompanying and attending in task list of accompanying and attending to described in real-time judge respectively meets triggering itemPart；

When determining the instruction of accompanying and attending to and meeting the trigger condition, accompanied and attended to object according to the instructions query of accompanying and attending toCurrent address of accompanying and attending to, and control and robot is accompanied to travel to the address of currently accompanying and attending to；

Judge whether the company robot meets execution condition of accompanying and attending to；

It accompanies and attends to described in determine the company robot and meet when executing condition, is stored in instruction of accompanying and attending to described in acquisitionIt accompanies and attends to demand, and is accompanied and attended to prompt according to the demand of accompanying and attending to the object transmission of accompanying and attending to；

Judge the response of accompanying and attending to for the prompt of accompanying and attending to whether is received in the first preset time；

When determine received in first preset time it is described accompany and attend to respond when, according to the demand control institute of accompanying and attending toState and robot execution accompanied to accompany and attend to operation, and when determine the company robot complete to accompany and attend to operate when, accompany and attend to described in judgementWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in the second preset time in task list；

If so, the control company robot follows the object of accompanying and attending to, and when the control instruction meets the touchingWhen clockwork spring part, operation of accompanying and attending to is executed according to the control instruction control company robot is corresponding.

Further, in preferred embodiments of the present invention, accompanying in task list of accompanying and attending to described in the real-time judge respectivelyFinger shield order the step of whether meeting trigger condition includes:

The target identification of the object of accompanying and attending to stored in each instruction of accompanying and attending to is obtained respectively, and judges the targetIt identifies whether to match with the white list of accompanying and attending to locally being pre-stored, the target identification is digital mark, image identification, voice markKnowledge or words identification；

When determining the target identification and the white list of accompanying and attending to matches, determine it is corresponding described in instruction of accompanying and attending to meetTrigger condition；

When determining the target identification and not matching with the white list of accompanying and attending to, each instruction of accompanying and attending to is obtained respectivelyThe execution time of middle storage, and when determining the execution time equal to current time, determine the corresponding instruction of accompanying and attending toMeet the trigger condition.

Further, described to judge whether the company robot meets to accompany and attend to and hold in preferred embodiments of the present inventionThe step of row condition includes:

Judge whether the company robot travels to target to accompany and attend to region, the region of accompanying and attending to is currently to accompany and attend to describedAddress is the center of circle, preset value is that radius is formed by regional scope；

When determining the company robot when the target accompanies and attends to region, then determine that the company robot meets instituteState execution condition of accompanying and attending to；

When determining the company robot not when the target accompanies and attends to region, obtaining for the destination address is re-startedIt takes, and controls and robot is accompanied to travel to the address of currently accompanying and attending to.

Further, in preferred embodiments of the present invention, it is described judge whether to receive in the first preset time be directed toAfter the step of the responding of accompanying and attending to of the prompt of accompanying and attending to, the method also includes:

When determine do not received in first preset time it is described accompany and attend to respond when, judge be in third preset timeThe no demand acquisition instructions for receiving the object sending of accompanying and attending to；

If so, the current demand for object of accompanying and attending to described in obtaining, and the company is controlled according to the current demand is correspondingRobot executes operation of accompanying and attending to.

Further, in preferred embodiments of the present invention, the current demand for obtaining the company object is usedAcquisition modes be voice messaging obtain, key information obtain or acquiring video information；

When the acquisition modes are that the phonetic order obtains, the phonetic order for object sending of accompanying and attending to described in acquisition is rightThe phonetic order carries out speech recognition, to obtain the current demand；

When the acquisition modes are that the key information obtains, the control button for object touching of accompanying and attending to described in acquisition, andThe control button is matched with the program control table being locally pre-stored, to obtain the current demand, described program controlThe corresponding relationship being stored in tabulation between the control button and corresponding control instruction；

When the acquisition modes are the acquiring video information, the view of the 4th preset time is carried out to the object of accompanying and attending toScreen is recorded, with the gesture instruction of object of accompanying and attending to described in obtaining, by the gesture instruction and locally pre-stored gesture template library intoRow matching, to obtain the demand of accompanying and attending to, the gesture instruction includes static gesture and dynamic gesture；

The static gesture includes the shape made by temporarily stationary finger, palm or palm together with armOr posture；

The dynamic gesture includes the time-varying as composed by a series of continuous static gestures in a period of timeGesture.

Further, in preferred embodiments of the present invention, in task list of accompanying and attending to described in the judgement when second is defaultAfter interior the step of whether there is using the object of accompanying and attending to as the control instruction of target object, the method also includes:

Refer to when determining not exist using the object of accompanying and attending to as the control of target object in second preset timeWhen enabling, controls the company robot and return to standby region, and charging and drug supply are carried out to the company robot.

Above-mentioned company robot control method, by using the decision procedure of automatic trigger condition, with determine it is current whetherExecution is accompanied and attended to instruction, be can control a company robot in the period so that difference is accompanied and attended to and is implemented to difference object of accompanying and attending toAccompany and attend to operation, so prevent using accompany and attend to immediately it is one-to-one caused by mode accompany and attend to, reduce cost of accompanying and attending to, lead toThe design for judging whether to receive the response of accompanying and attending in first preset time is crossed, and then is effectively increased to the companyThe precision of robot control, by judging in second preset time with the presence or absence of using the object of accompanying and attending to as target objectControl instruction design, it is therefore prevented that the short time is for the same frequent drive for accompanying robot caused by object of accompanying and attending toDynamic control is improved to the control efficiency for accompanying robot.

Second aspect, the present invention provides a kind of company robot control systems, comprising:

First judgment module is accompanied and attended to task list for receiving, and accompanying and attending in task list of accompanying and attending to described in real-time judge respectivelyWhether instruction meets trigger condition；

First drive module, for meeting the trigger condition when the first judgment module determines the instruction of accompanying and attending toWhen, it is accompanied and attended to currently the accompanying and attending to address of object according to the instructions query of accompanying and attending to, and control and robot is accompanied to travel to described currentIt accompanies and attends to address；

Second judgment module for judging whether the company robot meets execution condition of accompanying and attending to, and works as and determines instituteState accompany robot meet described in accompany and attend to when executing condition, the demand of accompanying and attending to stored in instruction of accompanying and attending to described in acquisition, according to describedDemand of accompanying and attending to sends prompt of accompanying and attending to the object of accompanying and attending to；

Third judgment module, for judging whether receive the sound of accompanying and attending to for the prompt of accompanying and attending in the first preset timeAnswer, and when determine received in first preset time it is described accompany and attend to respond when, accompanied and attended to described in demand control according to describedRobot is accompanied to execute operation of accompanying and attending to；

4th judgment module, for when determine company robot completion accompany and attend to operate when, accompany and attend to described in judgement and appointWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in the second preset time in business table；

Second drive module, for existing when the 4th judgment module determines in second preset time with describedWhen object of accompanying and attending to is the control instruction of target object, controls the company robot and follow the object of accompanying and attending to, and work as instituteWhen stating control instruction and meeting the trigger condition, the corresponding execution of the companys robot is controlled according to the control instruction and is accompanied and attended to behaviourMake.

Further, in preferred embodiments of the present invention, the first judgment module includes:

First judging unit, for obtain respectively stored in each instruction of accompanying and attending to described in accompany and attend to the target mark of objectKnow, judge whether the target identification matches with locally pre-stored white list of accompanying and attending to, the target identification be number mark,Image identification, voice identifier or words identification, and when determining the target identification and the white list of accompanying and attending to matches, sentenceInstruction of accompanying and attending to described in corresponding to calmly meets trigger condition；

Second judgment unit, for determining the target identification and the white list of accompanying and attending to when first judging unitWhen not matching, the execution time stored in each instruction of accompanying and attending to is obtained respectively, and be equal to when determining the execution timeWhen current time, determine that the corresponding instruction of accompanying and attending to meets the trigger condition.

Above-mentioned company robot control system, by the design of the first judgment module, to use automatic trigger conditionDecision procedure, with determine currently whether execute instruction of accompanying and attending to can control one in the period so that difference is accompanied and attended to and accompanyIt accompanies and attends to operation, and then prevents since use is accompanied and attended to a pair caused by mode immediately to difference object implementation of accompanying and attending to robotOne accompany and attend to, reduces cost of accompanying and attending to, and judges whether receive in first preset time by the third judgment moduleThe design of the response of accompanying and attending to, and then the precision to company robot control is effectively increased, sentence by the described 4thDisconnected module judges to whether there is in second preset time using the object of accompanying and attending to as the design of the control instruction of target object,It prevents the short time for the same frequent drive control for accompanying robot caused by object of accompanying and attending to, improves to instituteState the control efficiency for accompanying robot.

The third aspect, the present invention provides a kind of mobile terminal, including storage equipment and processor, the storage equipmentFor storing computer program, the processor runs the computer program so that the above-mentioned company of the mobile terminal executionRobot control method.

Detailed description of the invention

It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present inventionAttached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen asIt is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with rootOther relevant attached drawings are obtained according to these attached drawings.

Fig. 1 is the flow chart for the company robot control method that first embodiment of the invention provides；

Fig. 2 is the flow chart for the company robot control method that second embodiment of the invention provides；

Fig. 3 is the flow chart of the specific implementation step of step S11 in Fig. 2；

Fig. 4 is the flow chart of the specific implementation step of step S31 in Fig. 2；

Fig. 5 is the structural schematic diagram for the company robot control system that third embodiment of the invention provides；

Icon: robot control system -100, the judgement of first judgment module -10, the first judging unit -11, the second are accompaniedUnit -12, the first drive module -20, the second judgment module -30, third judging unit -31, the first judging unit -32, the secondJudging unit -33, four judgment module -41, the second drive module -42, the of third judgment module -40, the, five judgment module -43,Four drive module -45 of third drive module -44, the.

Specific embodiment

For the ease of more fully understanding the present invention, the present invention is carried out further below in conjunction with related embodiment attached drawingIt explains.The embodiment of the present invention is given in attached drawing, but the present invention is not limited in above-mentioned preferred embodiment.On the contrary, providingThe purpose of these embodiments be in order to make disclosure of the invention face more sufficiently.

Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered useIn the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, forInstruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instructionThe instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or setIt is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or passDefeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipmentIt sets.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically showThe description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or examplePoint is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are notCentainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be anyOne or more embodiment or examples in can be combined in any suitable manner.

Referring to Fig. 1, the flow chart of the company robot control method provided for first embodiment of the invention, including stepS10 to S90.

Step S10, reception are accompanied and attended to task list, and whether the instruction of accompanying and attending in task list of accompanying and attending to described in real-time judge respectively is fullSufficient trigger condition.

Wherein, the task list of accompanying and attending to can be transmitted by the way of document format, phonetic matrix or picture format,It is stored with the instruction of accompanying and attending to of all objects of accompanying and attending in the default period of accompanying and attending in the task list of accompanying and attending to, is stored in the instruction of accompanying and attending toThere are the mark of accompanying and attending to, demand of accompanying and attending to and execution time of corresponding object of accompanying and attending to, the mark of accompanying and attending to is for referring to corresponding object of accompanying and attending toTitle or number, the demand of accompanying and attending to is the operation content of accompanying and attending to of corresponding object of accompanying and attending to, and the executions time is to correspond to accompany and attend toThe time for operation of accompanying and attending to is executed required for object, it is preferable that the trigger condition for judge whether to start to execute it is corresponding described inIt accompanies and attends to instruction, and the Rule of judgment in the trigger condition can be independently configured according to user demand.

When step S10, which determines the instruction of accompanying and attending to, does not meet the trigger condition, control flow terminates；Work as stepWhen S10 determines the instruction of accompanying and attending to and meets the trigger condition, step S20 is executed.

Step S20 accompanies and attends to currently the accompanying and attending to address of object according to the instructions query of accompanying and attending to, and controls and accompany robot rowIt sails to the address of currently accompanying and attending to.

Wherein, after in the step by obtaining the address of currently accompanying and attending to, address currently is accompanied and attended to draw mesh according to describedMark path, and the destination path be sent to the company robot, with control the companys robot towards it is described currentlyAccompany and attend to address traveling.

Specifically, the drafting of the destination path can be implemented based on any one navigation software, such as the navigation of high moral,Search dog navigation or Baidu map etc., and then effectively control the companys robot and reach and accompany and attend to object at one's side described in correspondence, withImprove the control efficiency for accompanying robot control method；

Preferably, it in the step, controls the company robot and travels to the corresponding coordinate points in address of currently accompanying and attending toStep can be with are as follows: inquires the corresponding default move of the destination path, and the default move is sent to instituteCompany robot is stated, so that the default behavior code for accompanying robot to run in the default move is moved to correspondenceCoordinate points, the default move are stored in server with the corresponding destination path in advance or accompany depositing in robotIn storage unit, by editing the different default behavior code so that the different default moves correspond to it is differentThe destination path；

Step S30, judges whether the company robot meets execution condition of accompanying and attending to.If so, executing step S40；It is noThen, step S50 is executed.Wherein, the execution condition of accompanying and attending to is for judging currently whether start the corresponding company machine of controlPeople carries out company step.

Step S40, the demand of accompanying and attending to stored in instruction of accompanying and attending to described in acquisition, and accompanied and attended to according to the demand of accompanying and attending to describedObject sends prompt of accompanying and attending to.Wherein, it is described accompany and attend to prompt for prompt it is corresponding described in object of accompanying and attending to currently whether start to be accompaniedShield operation, and the prompt of accompanying and attending to can be sent by the way of audio, text, image or short message, to facilitate pairAnswer object the checking and confirm to the prompt of accompanying and attending to of accompanying and attending to.

Step S50 re-starts the address acquisition of currently accompanying and attending to, then company robot described in secondary control is travelled to describedCurrent address of accompanying and attending to, and return to step S30.

Step S60 judges the response of accompanying and attending to for the prompt of accompanying and attending to whether is received in the first preset time.IfIt is that control flow terminates；Otherwise, step S70 is executed.Wherein, when do not receive it is described accompany and attend to respond when, then determine it is corresponding described inObject of accompanying and attending to is not performed operation of accompanying and attending to currently, therefore, finishing control process；When receive it is described accompany and attend to respond when, then determineCan currently be accompanied and attended to operation with company robot execution described in normal control, with the demand of accompanying and attending to for object of accompanying and attending to described in satisfaction.

Step S70 executes operation of accompanying and attending to according to the company robot described in demand control of accompanying and attending to.

After the step S70, judge whether the company robot completes operation of accompanying and attending to.

Step S80, when determine company robot completion accompany and attend to operate when, the in task list of accompanying and attending to described in judgementWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in two preset times；If so, executing step S90；It is noThen, control flow terminates.

Step S90 controls the company robot and follows the object of accompanying and attending to, and when the control instruction meets the touchingWhen clockwork spring part, operation of accompanying and attending to is executed according to the control instruction control company robot is corresponding.Wherein, by described in judgementWith the presence or absence of using the object of accompanying and attending to as the design of the control instruction of target object in second preset time, it is therefore prevented that short time needleTo the same frequent drive control for accompanying robot caused by object of accompanying and attending to, improve to the company robotControl efficiency.

In the present embodiment, by using the decision procedure of automatic trigger condition, to determine currently whether execute instruction of accompanying and attending to,It can control a company robot in the period so that difference is accompanied and attended to accompany and attend to operation to difference object implementation of accompanying and attending to, in turnPrevent using immediately accompany and attend to it is one-to-one caused by mode accompany and attend to, cost of accompanying and attending to is reduced, by judging described theThe design of the response of accompanying and attending to whether is received in one preset time, and then is effectively increased to company robot controlPrecision, by judging in second preset time with the presence or absence of using the object of accompanying and attending to as the control instruction of target objectDesign, it is therefore prevented that the short time for the same frequent drive control for accompanying robot caused by object of accompanying and attending to, improvesTo the control efficiency for accompanying robot.

Referring to Fig. 2, the flow chart of the company robot control method provided for second embodiment of the invention, the methodIncluding step S11 to S121.

Step S11, reception are accompanied and attended to task list, and whether the instruction of accompanying and attending in task list of accompanying and attending to described in real-time judge respectively is fullSufficient trigger condition.Wherein, the task list of accompanying and attending to can be passed by the way of document format, phonetic matrix or picture formatIt is defeated, the instruction of accompanying and attending to of all objects of accompanying and attending in the default period of accompanying and attending to is stored in the task list of accompanying and attending to, this is accompanied and attended in instructionIt is stored with the mark of accompanying and attending to, demand of accompanying and attending to and execution time of corresponding object of accompanying and attending to, the mark of accompanying and attending to is accompanied and attended to for referring to correspondenceThe title or number of object, the demand of accompanying and attending to are the operation content of accompanying and attending to of corresponding object of accompanying and attending to, and the execution time is to correspond toIt accompanies and attends to and executes the time for operation of accompanying and attending to required for object, it is preferable that the trigger condition is for judging whether to start to execute correspondenceThe instruction of accompanying and attending to, and the Rule of judgment in the trigger condition can be independently configured according to user demand.

Referring to Fig. 3, for the flow chart of the specific implementation step of step S11 in Fig. 2:

Step S1111 obtains the target identification of the object of accompanying and attending to stored in each instruction of accompanying and attending to respectively.ItsIn, the target identification is digital mark, image identification, voice identifier or words identification.

Step S1112, judges whether the target identification matches with the white list of accompanying and attending to locally being pre-stored；If so,Execute step S1113；Otherwise, step S1114 is executed.

Step S1113, determine it is corresponding described in instruction of accompanying and attending to meet trigger condition.

Step S1114 obtains the execution time stored in each instruction of accompanying and attending to respectively, and works as and determine the executionWhen time is equal to current time, determine that the corresponding instruction of accompanying and attending to meets the trigger condition；Wherein, when being used in the stepBetween the design that triggers, the triggering for instruction of accompanying and attending to described in progress determines, i.e., when reaching corresponding the executions time, activation correspondence instituteInstruction of accompanying and attending to is stated, opens step of accompanying and attending to start control.

Please continue to refer to Fig. 2, when step S11, which determines the instruction of accompanying and attending to, does not meet the trigger condition, control streamJourney terminates；Otherwise, step S21 is executed.

Step S21 accompanies and attends to currently the accompanying and attending to address of object according to the instructions query of accompanying and attending to, and controls and accompany robot rowIt sails to the address of currently accompanying and attending to.

Wherein, after in the step by obtaining the address of currently accompanying and attending to, address currently is accompanied and attended to draw mesh according to describedMark path, and the destination path be sent to the company robot, with control the companys robot towards it is described currentlyAccompany and attend to address traveling.

Specifically, the drafting of the destination path can be implemented based on any one navigation software, such as the navigation of high moral,Search dog navigation or Baidu map etc., and then effectively control the companys robot and reach and accompany and attend to object at one's side described in correspondence, withImprove the control efficiency for accompanying robot control method.

Preferably, it in the step, controls the company robot and travels to the corresponding coordinate points in address of currently accompanying and attending toStep can be with are as follows: inquires the corresponding default move of the destination path, and the default move is sent to instituteCompany robot is stated, so that the default behavior code for accompanying robot to run in the default move is moved to correspondenceCoordinate points, the default move are stored in server with the corresponding destination path in advance or accompany depositing in robotIn storage unit, by editing the different default behavior code so that the different default moves correspond to it is differentThe destination path.

Step S31, judges whether the company robot meets execution condition of accompanying and attending to.Wherein, the execution condition use of accompanying and attending toCompany step is carried out in whether judgement currently starts the corresponding company robot of control.

Referring to Fig. 4, for the flow chart of the specific implementation step of step S31 in Fig. 2:

Step S310 judges whether the company robot travels to target and accompanies and attends to region；If so, executing stepS311；Otherwise, step S312 is executed.

Wherein, it is that radius is formed by region that the region of accompanying and attending to, which is using the address of currently accompanying and attending to as the center of circle, preset value,Range；

Step S311 determines execution condition of accompanying and attending to described in the company robot satisfaction.

Step S312, re-starts the acquisition of the destination address, and controls and robot is accompanied to travel to described and currently accompanyProtect address.

Please continue to refer to Fig. 2, when step S31 determine the company robot meet described in accompany and attend to execute condition when, holdRow step S41；Otherwise, step S51 is executed.

Step S41, the demand of accompanying and attending to stored in instruction of accompanying and attending to described in acquisition, and accompanied and attended to according to the demand of accompanying and attending to describedObject sends prompt of accompanying and attending to.Wherein, it is described accompany and attend to prompt for prompt it is corresponding described in object of accompanying and attending to currently whether start to be accompaniedShield operation, and the prompt of accompanying and attending to can be sent by the way of audio, text, image or short message, to facilitate pairAnswer object the checking and confirm to the prompt of accompanying and attending to of accompanying and attending to；

Step S51 re-starts the address acquisition of currently accompanying and attending to, then company robot described in secondary control is travelled to describedCurrent address of accompanying and attending to, and return to step S31.

Step S61 judges the response of accompanying and attending to for the prompt of accompanying and attending to whether is received in the first preset time.IfIt is to execute step S91；Otherwise, step S71 is executed.Wherein, the confirmation responded as object sending of accompanying and attending to described in correspondence of accompanying and attending toInstruction, i.e., the described object of accompanying and attending to determine that current needs are performed operation of accompanying and attending to.

Step S71 judges the demand acquisition instructions that the object sending of accompanying and attending to whether is received in third preset time.Such asFruit is to execute step S81；Otherwise, terminate.Wherein, the demand acquisition instructions can use touching signals, infrared signal, languageSound signal or the mode of wireless signal are transmitted, and the demand acquisition instructions have for stating object of accompanying and attending to described in current correspondenceNew demand of accompanying and attending to, and need to control the company robot and carry out operation of accompanying and attending to for the instruction correspondence of acquisition.

Step S81, the current demand for object of accompanying and attending to described in acquisition, and the company is controlled according to the current demand is correspondingRobot executes operation of accompanying and attending to.

Wherein, acquisition modes used by the current demand for obtaining the company object are that voice messaging is obtained, pressedKey information obtains or acquiring video information；

When the acquisition modes are that the phonetic order obtains, the phonetic order for object sending of accompanying and attending to described in acquisition is rightThe phonetic order carries out speech recognition, to obtain the current demand；

When the acquisition modes are that the key information obtains, the control button for object touching of accompanying and attending to described in acquisition, andThe control button is matched with the program control table being locally pre-stored, to obtain the current demand, described program controlThe corresponding relationship being stored in tabulation between the control button and corresponding control instruction；

When the acquisition modes are the acquiring video information, the view of the 4th preset time is carried out to the object of accompanying and attending toScreen is recorded, with the gesture instruction of object of accompanying and attending to described in obtaining, by the gesture instruction and locally pre-stored gesture template library intoRow matching, to obtain the demand of accompanying and attending to, the gesture instruction includes static gesture and dynamic gesture；

The static gesture includes the shape made by temporarily stationary finger, palm or palm together with armOr posture.The dynamic gesture includes the hand of the time-varying as composed by a series of continuous static gestures in a period of timeGesture.

Step S91 executes operation of accompanying and attending to according to the company robot described in demand control of accompanying and attending to

Step S101, when determine company robot completion accompany and attend to operate when, in task list of accompanying and attending to described in judgementWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in second preset time

Exist when step S101 is determined in second preset time using the object of accompanying and attending to as described in target objectWhen control instruction, step S111 is executed；Otherwise, step S121 is executed.

Step S111 controls the company robot and follows the object of accompanying and attending to, and works as described in control instruction satisfactionWhen trigger condition, operation of accompanying and attending to is executed according to the control instruction control company robot is corresponding.Wherein, by judgingIt states in the second preset time with the presence or absence of using the object of accompanying and attending to as the design of the control instruction of target object, it is therefore prevented that the short timeFor the same frequent drive control for accompanying robot caused by object of accompanying and attending to, improve to the company robotControl efficiency.

Step S121 controls the companys robot and returns to standby region, and to the companys robot charge withDrug supply.

In the present embodiment, by using the decision procedure of automatic trigger condition, to determine currently whether execute instruction of accompanying and attending to,It can control a company robot in the period so that difference is accompanied and attended to accompany and attend to operation to difference object implementation of accompanying and attending to, in turnPrevent using immediately accompany and attend to it is one-to-one caused by mode accompany and attend to, cost of accompanying and attending to is reduced, by judging described theThe design of the response of accompanying and attending to whether is received in one preset time, and then is effectively increased to company robot controlPrecision, by judging in second preset time with the presence or absence of using the object of accompanying and attending to as the control instruction of target objectDesign, it is therefore prevented that the short time for the same frequent drive control for accompanying robot caused by object of accompanying and attending to, improvesTo the control efficiency for accompanying robot.

Referring to Fig. 5, the structural schematic diagram of the company robot control system 100 provided for third embodiment of the invention,Include:

First judgment module 10 is accompanied and attended to task list for receiving, and accompanying in task list of accompanying and attending to described in real-time judge respectivelyWhether finger shield order meets trigger condition, wherein the task list of accompanying and attending to can use document format, phonetic matrix or picture formatMode transmitted, the instruction of accompanying and attending to of all objects of accompanying and attending in the default period of accompanying and attending to is stored in the task list of accompanying and attending to,The mark of accompanying and attending to, demand of accompanying and attending to and execution time, the mark of accompanying and attending to that corresponding object of accompanying and attending to is stored in the instruction of accompanying and attending to are used forThe title or number of corresponding object of accompanying and attending to are referred to, the demand of accompanying and attending to is the operation content of accompanying and attending to of corresponding object of accompanying and attending to, described to holdThe row time is the time that operation of accompanying and attending to is executed required for corresponding object of accompanying and attending to, it is preferable that the trigger condition is for judging whetherStart to execute instruction of accompanying and attending to described in correspondence, and the Rule of judgment in the trigger condition can independently be set according to user demandIt sets.

First drive module 20, for meeting the triggering when the first judgment module 10 determines the instruction of accompanying and attending toWhen condition, accompanied and attended to currently the accompanying and attending to address of object according to the instructions query of accompanying and attending to, and control and robot is accompanied to travel to describedCurrent address of accompanying and attending to, wherein pass through after obtaining the address of currently accompanying and attending in the module, currently accompany and attend to address according to described to drawDestination path processed, and the destination path is sent to the company robot, to control the company robot described inCurrent address traveling of accompanying and attending to；

Specifically, the drafting of the destination path can be implemented based on any one navigation software, such as the navigation of high moral,Search dog navigation or Baidu map etc., and then effectively control the companys robot and reach and accompany and attend to object at one's side described in correspondence, withImprove the control efficiency for accompanying robot control method.

Preferably, it in the module, controls the company robot and travels to the corresponding coordinate points in address of currently accompanying and attending toStep can be with are as follows: inquires the corresponding default move of the destination path, and the default move is sent to instituteCompany robot is stated, so that the default behavior code for accompanying robot to run in the default move is moved to correspondenceCoordinate points, the default move are stored in server with the corresponding destination path in advance or accompany depositing in robotIn storage unit, by editing the different default behavior code so that the different default moves correspond to it is differentThe destination path.

Second judgment module 30 for judging whether the company robot meets execution condition of accompanying and attending to, and is worked as and is determinedThe company robot accompanies and attends to when executing condition described in meeting, the demand of accompanying and attending to stored in instruction of accompanying and attending to described in acquisition, according to instituteIt states the demand of accompanying and attending to accompany and attend to prompt to the object transmission of accompanying and attending to, wherein the prompt of accompanying and attending to is for prompting to accompany and attend to described in correspondence pairAs currently whether starting to carry out operation of accompanying and attending to, and this it is described accompany and attend to prompt can be by the way of audio, text, image or short messageSent, with facilitate it is corresponding described in accompany and attend to object checking and confirm to the prompt of accompanying and attending to.

Third judgment module 40, for judging whether receive accompanying and attending to for the prompt of accompanying and attending in the first preset timeResponse, and when determine received in first preset time it is described accompany and attend to respond when, according to the demand control institute of accompanying and attending toIt states and robot is accompanied to execute operation of accompanying and attending to.

4th judgment module 41, for when determine company robot completion accompany and attend to operate when, accompany and attend to described in judgementWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in the second preset time in task list.

Second drive module 42, for when the 4th judgment module 41 determine in second preset time exist withIt is described accompany and attend to the control instruction that object is target object when, control the companys robot follow described in accompany and attend to object, andWhen the control instruction meets the trigger condition, corresponding execute of the company robot is controlled according to the control instruction and is accompaniedShield operation.

Further, in preferred embodiments of the present invention, the first judgment module 10 includes:

First judging unit 11, for obtain respectively stored in each instruction of accompanying and attending to described in accompany and attend to the target of objectMark, judges whether the target identification matches with the white list of accompanying and attending to locally being pre-stored, and the target identification is number markKnowledge, image identification, voice identifier or words identification, and match when determining the target identification with the white list of accompanying and attending toWhen, determine it is corresponding described in instruction of accompanying and attending to meet trigger condition；

Second judgment unit 12, for when first judging unit 11 determine the target identification with it is described accompany and attend to it is whiteWhen list does not match, the execution time stored in each instruction of accompanying and attending to is obtained respectively, and work as and determine the execution timeWhen equal to current time, determine that the corresponding instruction of accompanying and attending to meets the trigger condition.

Specifically, second judgment module 31 includes:

Third judging unit 31 is accompanied and attended to region for judging whether the company robot travels to target, described to accompany and attend toIt is that radius is formed by regional scope that region, which is using the address of currently accompanying and attending to as the center of circle, preset value,；

First judging unit 32, for when determining the company robot when the target accompanies and attends to region, then determiningThe company robot accompanies and attends to execution condition described in meeting；

Second judging unit 33, for determining the company robot not in the mesh when the third judging unit 31Mark accompany and attend to region when, re-start the acquisition of the destination address, and control and robot is accompanied to travel to described and currently accompany and attend to groundLocation.

In addition, in the present embodiment, the company robot control system 100 further include:

5th judgment module 43, for not received when the third judgment module 40 determines in first preset timeTo it is described accompany and attend to respond when, judge whether to receive the demand acquisition instructions of the object sending of accompanying and attending in third preset time；

Third drive module 44, for being received when the 5th judgment module 43 determines in the third preset timeWhen the demand acquisition instructions of the object sending of accompanying and attending to, the current demand for object of accompanying and attending to described in acquisition, and according to the current needThe corresponding control company robot is asked to execute operation of accompanying and attending to, wherein the current demand for obtaining the company object is adoptedAcquisition modes are that voice messaging obtains, key information obtains or acquiring video information；

When the acquisition modes are that the phonetic order obtains, the phonetic order for object sending of accompanying and attending to described in acquisition is rightThe phonetic order carries out speech recognition, to obtain the current demand；

When the acquisition modes are that the key information obtains, the control button for object touching of accompanying and attending to described in acquisition, andThe control button is matched with the program control table being locally pre-stored, to obtain the current demand, described program controlThe corresponding relationship being stored in tabulation between the control button and corresponding control instruction；

When the acquisition modes are the acquiring video information, the view of the 4th preset time is carried out to the object of accompanying and attending toScreen is recorded, with the gesture instruction of object of accompanying and attending to described in obtaining, by the gesture instruction and locally pre-stored gesture template library intoRow matching, to obtain the demand of accompanying and attending to, the gesture instruction includes static gesture and dynamic gesture；

The static gesture includes the shape made by temporarily stationary finger, palm or palm together with armOr posture；

The dynamic gesture includes the time-varying as composed by a series of continuous static gestures in a period of timeGesture.

4th drive module 45, for not existing when the 4th judgment module 41 determines in second preset timeWhen using the object of accompanying and attending to as the control instruction of target object, controls the company robot and return to standby region, and is rightThe company robot carries out charging and drug supply.

In the present embodiment, by the design of the first judgment module 10, to use the decision procedure of automatic trigger condition,To determine currently whether execute instruction of accompanying and attending to, a company robot can control to not in the period so that difference is accompanied and attended toWith accompanying and attending to, object implementation is accompanied and attended to operation, so prevent using accompany and attend to immediately it is one-to-one caused by mode accompany and attend to, dropLow cost of accompanying and attending to judges the sound of accompanying and attending to whether is received in first preset time by the third judgment module 40The design answered, and then the precision to company robot control is effectively increased, sentenced by the 4th judgment module 41With the presence or absence of using the object of accompanying and attending to as the design of the control instruction of target object in second preset time of breaking, it is therefore prevented that shortTime for the same frequent drive control for accompanying robot caused by object of accompanying and attending to, improves to the chaperone machineThe control efficiency of device people.

The present embodiment additionally provides a kind of mobile terminal, including storage equipment and processor, the storage equipment are used forComputer program is stored, the processor runs the computer program so that the above-mentioned company machine of the mobile terminal executionPeople's control method.

The present embodiment additionally provides a kind of storage medium, is stored thereon with computer journey used in above-mentioned mobile terminalSequence, the program when being executed, include the following steps:

Reception is accompanied and attended to task list, and whether the instruction of accompanying and attending in task list of accompanying and attending to described in real-time judge respectively meets triggering itemPart；

When determining the instruction of accompanying and attending to and meeting the trigger condition, accompanied and attended to object according to the instructions query of accompanying and attending toCurrent address of accompanying and attending to, and control and robot is accompanied to travel to the address of currently accompanying and attending to；

Judge whether the company robot meets execution condition of accompanying and attending to；

It accompanies and attends to described in determine the company robot and meet when executing condition, is stored in instruction of accompanying and attending to described in acquisitionIt accompanies and attends to demand, and is accompanied and attended to prompt according to the demand of accompanying and attending to the object transmission of accompanying and attending to；

Judge the response of accompanying and attending to for the prompt of accompanying and attending to whether is received in the first preset time；

When determine received in first preset time it is described accompany and attend to respond when, according to the demand control institute of accompanying and attending toState and robot execution accompanied to accompany and attend to operation, and when determine the company robot complete to accompany and attend to operate when, accompany and attend to described in judgementWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in the second preset time in task list；

If so, the control company robot follows the object of accompanying and attending to, and when the control instruction meets the touchingWhen clockwork spring part, operation of accompanying and attending to is executed according to the control instruction control company robot is corresponding.The storage medium,Such as: ROM/RAM, magnetic disk, CD.

It is apparent to those skilled in the art that for convenience and simplicity of description, only with above-mentioned each functionThe division progress of unit, module can according to need and for example, in practical application by above-mentioned function distribution by different functionEnergy unit or module are completed, i.e., the internal structure of storage device is divided into different functional unit or module, more than completingThe all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit,It can be each unit to physically exist alone, can also be integrated in one unit with two or more units, it is above-mentioned integratedUnit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function listMember, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.

It will be understood by those skilled in the art that composed structure shown in Fig. 5 is not constituted to company machine of the inventionThe restriction of people's control system may include perhaps combining certain components or different portions than illustrating more or fewer componentsPart arrangement, and the company robot control method in Fig. 1-4 also uses more or fewer components or group shown in Fig. 5Certain components or different component layouts are closed to realize.The so-called unit of the present invention, module etc. refer to that one kind can be describedThe performed simultaneously function of the processor (not shown) in robot control system is accompanied enough to complete the series of computation machine of specific functionProgram can be stored in the storage equipment (not shown) for accompanying robot control system.

Above embodiment described technical principles of the invention, and the description is merely to explain the principles of the invention, andIt cannot be construed to the limitation of the scope of the present invention in any way.Based on the explanation herein, those skilled in the art is not required toOther specific embodiments of the invention can be associated by paying creative labor, these modes fall within of the inventionIn protection scope.

Claims (9)

1. a kind of company robot control method, which is characterized in that the described method includes:

Reception is accompanied and attended to task list, and whether the instruction of accompanying and attending in task list of accompanying and attending to described in real-time judge respectively meets trigger condition；

When determining the instruction of accompanying and attending to and meeting the trigger condition, accompanied and attended to the current of object according to the instructions query of accompanying and attending toIt accompanies and attends to address, and controls and robot is accompanied to travel to the address of currently accompanying and attending to；

Judge whether the company robot meets execution condition of accompanying and attending to；

It accompanies and attends to described in determine the company robot and meet when executing condition, what is stored in instruction of accompanying and attending to described in acquisition accompanies and attends toDemand, and prompt of accompanying and attending to is sent to the object of accompanying and attending to according to the demand of accompanying and attending to；

Judge the response of accompanying and attending to for the prompt of accompanying and attending to whether is received in the first preset time；

When determine received in first preset time it is described accompany and attend to respond when, accompanied described in demand control according to described accompany and attend toAccompany and attend to operation with robot execution, and when determine the company robot complete to accompany and attend to operate when, task of accompanying and attending to described in judgementWith the presence or absence of using the object of accompanying and attending to as the control instruction of target object in the second preset time in table；

If so, the control company robot follows the object of accompanying and attending to, and when the control instruction meets the triggering itemWhen part, operation of accompanying and attending to is executed according to the control instruction control company robot is corresponding.

2. company robot control method according to claim 1, which is characterized in that accompanied described in the real-time judge respectivelyAccompanying and attending in shield task list instructs that the step of whether meeting trigger condition includes:

The target identification of the object of accompanying and attending to stored in each instruction of accompanying and attending to is obtained respectively, and judges the target identificationWhether match with locally pre-stored white list of accompanying and attending to, the target identification be digital mark, image identification, voice identifier orWords identification；

When determining the target identification and the white list of accompanying and attending to matches, determine it is corresponding described in instruction of accompanying and attending to meet triggeringCondition；

When determining the target identification and not matched with the white list of accompanying and attending to, obtains deposited in each instruction of accompanying and attending to respectivelyThe execution time of storage, and when determining the execution time equal to current time, determine that the corresponding instruction of accompanying and attending to meetsThe trigger condition.

3. company robot control method according to claim 1, which is characterized in that the judgement company robotWhether satisfaction the step of executing condition of accompanying and attending to includes:

Judge whether the company robot travels to target to accompany and attend to region, the region of accompanying and attending to is with the address of currently accompanying and attending toIt is that radius is formed by regional scope for the center of circle, preset value；

When determining the company robot when the target accompanies and attends to region, then determine that the company robot is accompanied described in meetingProtect execution condition；

When determining the company robot not when the target accompanies and attends to region, the acquisition of the destination address is re-started,And it controls and robot is accompanied to travel to the address of currently accompanying and attending to.

4. company robot control method according to claim 1, which is characterized in that in the first preset time of the judgementAfter whether receiving the step of the responding of accompanying and attending to for the prompt of accompanying and attending to, the method also includes:

When determine do not received in first preset time it is described accompany and attend to respond when, judge whether connect in third preset timeReceive the demand acquisition instructions of the object sending of accompanying and attending to；

If so, the current demand for object of accompanying and attending to described in obtaining, and the company machine is controlled according to the current demand is correspondingPeople executes operation of accompanying and attending to.

5. company robot control method according to claim 4, which is characterized in that the acquisition company objectAcquisition modes used by current demand are that voice messaging obtains, key information obtains or acquiring video information；

When the acquisition modes are that the phonetic order obtains, the phonetic order for object sending of accompanying and attending to described in acquisition, to describedPhonetic order carries out speech recognition, to obtain the current demand；

When the acquisition modes are that the key information obtains, the control button for object touching of accompanying and attending to described in acquisition, and by instituteIt states control button and is matched with the program control table being locally pre-stored, to obtain the current demand, described program control tableIn be stored with corresponding relationship between the control button and corresponding control instruction；

When the acquisition modes are the acquiring video information, the screen for carrying out the 4th preset time to the object of accompanying and attending to is recordedSystem, with the gesture instruction for object of accompanying and attending to described in acquisition, by the gesture instruction and locally pre-stored gesture template library progressMatch, to obtain the demand of accompanying and attending to, the gesture instruction includes static gesture and dynamic gesture；

The static gesture includes the shape or appearance made by temporarily stationary finger, palm or palm together with armState；

The dynamic gesture includes the gesture of the time-varying as composed by a series of continuous static gestures in a period of time.

6. company robot control method according to claim 1, which is characterized in that task list of accompanying and attending to described in the judgementIn in the second preset time with the presence or absence of using the object of accompanying and attending to as the control instruction of target object the step of after, the sideMethod further include:

When determining in second preset time not in the presence of using the object of accompanying and attending to as the control instruction of target object,It controls the company robot and returns to standby region, and charging and drug supply are carried out to the company robot.

7. a kind of company robot control system characterized by comprising

First judgment module is accompanied and attended to task list for receiving, and the instruction of accompanying and attending in task list of accompanying and attending to described in real-time judge respectivelyWhether trigger condition is met；

First drive module, for when the first judgment module determines the instruction of accompanying and attending to and meets the trigger condition,It is accompanied and attended to currently the accompanying and attending to address of object according to the instructions query of accompanying and attending to, and controls and accompany robot to travel to described currently to accompany and attend toAddress；

Second judgment module for judging whether the company robot meets execution condition of accompanying and attending to, and works as and determines described accompanyWith robot meet described in accompany and attend to execute condition when, the demand of accompanying and attending to stored in instruction of accompanying and attending to described in acquisition is accompanied and attended to according to describedDemand sends prompt of accompanying and attending to the object of accompanying and attending to；

Third judgment module, for judging whether receive the response of accompanying and attending to for the prompt of accompanying and attending in the first preset time,And when determine received in first preset time it is described accompany and attend to respond when, according to the company described in demand control of accompanying and attending toRobot executes operation of accompanying and attending to；

4th judgment module, for when determine company robot completion accompany and attend to operate when, task list of accompanying and attending to described in judgementIn in the second preset time with the presence or absence of using the object of accompanying and attending to as the control instruction of target object；

Second drive module, for being accompanied and attended to when the 4th judgment module determines to exist in second preset time with describedWhen object is the control instruction of target object, controls the company robot and follow the object of accompanying and attending to, and work as the controlWhen system instruction meets the trigger condition, operation of accompanying and attending to is executed according to the control instruction control company robot is corresponding.

8. company robot control system according to claim 7, which is characterized in that the first judgment module includes:

First judging unit, for obtain respectively stored in each instruction of accompanying and attending to described in accompany and attend to the target identification of object,Judge whether the target identification matches with the white list of accompanying and attending to locally being pre-stored, the target identification is number mark, figureAs mark, voice identifier or words identification, and when determining the target identification and the white list of accompanying and attending to matches, determineInstruction of accompanying and attending to described in correspondence meets trigger condition；

Second judgment unit, for when first judging unit determines the target identification and described does not accompany and attend to white list notTiming obtains the execution time stored in each instruction of accompanying and attending to respectively, and is equal to currently when determining the execution timeWhen the time, determine that the corresponding instruction of accompanying and attending to meets the trigger condition.

9. a kind of mobile terminal, which is characterized in that including storage equipment and processor, the storage equipment is calculated for storingMachine program, the processor runs the computer program so that the mobile terminal execution is according to claim 1 to any one of 6The company robot control method.