CN107009362A - Robot control method and device - Google Patents
Robot control method and device Download PDFInfo
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- CN107009362A CN107009362A CN201710385759.XA CN201710385759A CN107009362A CN 107009362 A CN107009362 A CN 107009362A CN 201710385759 A CN201710385759 A CN 201710385759A CN 107009362 A CN107009362 A CN 107009362A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The present invention relates to a kind of robot control method and device, robot receives the input information of user, according to input acquisition of information and the answer for including emoticon of input information matches, obtain the emoticon in answer, and default behavior corresponding with emoticon in default behavior storehouse is obtained according to emoticon, perform default behavior.Robot can directly obtain according to the emoticon and perform default behavior corresponding with the emoticon.It need not be gone to realize the control to robot limb behavior with complicated sequence and order, so as to greatly reduce development cost.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of robot control method and device.
Background technology
Due to the various interaction modes of robot (especially anthropomorphic robot), interactive mode includes passing through voice, screen
And the various ways such as behavior, and robot operative scenario is complex various, so robot control method is also complicated various.Pass
System method relies primarily on the realization of the programming languages such as Python/C++, opened in realizing that the limbs behavior to robot is controlled
Hair personnel need to remember sequence and the order of complexity, therefore extremely complex and learning cost is high, general when only have passed through longer
Between professional training robot software engineer or algorithm scientific research personnel can just grasp.This just result in robot control method
Development cost it is very high.Therefore, urgent need exploitation is a kind of can reduce the robot control method of development cost.
The content of the invention
Based on this, it is necessary to can reduce the robot controlling party of development cost there is provided a kind of for above-mentioned technical problem
Method and device.
A kind of robot control method, methods described includes：
Receive input information；
According to the input acquisition of information and the answer for including emoticon of the input information matches；
Obtain the emoticon in the answer, and according to the emoticon obtain in default behavior storehouse with the expression
Symbol presets behavior accordingly；
Perform the default behavior.
In one of the embodiments, it is described to input acquisition of information with the input information matches comprising table according to described
The answer of feelings symbol, including：
According to the input acquisition of information and the first answer of the input information matches, first answer is included and institute
State the emoticon of input information matches.
In one of the embodiments, it is described to input acquisition of information with the input information matches comprising table according to described
The answer of feelings symbol, including：
According to the input acquisition of information and the second answer of the input information matches；
Feature extraction is carried out to the input information, and sentiment analysis is carried out to the feature of extraction；
The emoticon matched with the result of the sentiment analysis is obtained according to the result of sentiment analysis, by the emoticon
In number insertion second answer.
In one of the embodiments, described obtained according to the result of sentiment analysis matches with the result of the sentiment analysis
Emoticon, the emoticon is inserted in second answer, including：
According to the result of sentiment analysis, the default expression set of symbols matched with the result of the sentiment analysis is obtained；
The emoticon for reaching preset matching degree is obtained in the default expression set of symbols of the matching, by the emoticon
In number insertion second answer.
In one of the embodiments, it is described according to the emoticon obtain in default behavior storehouse with the emoticon
Default behavior accordingly, including：
According to the default mapping table for identifying and being identified with behavior comprising emoticon, search and the emoticon in answer
Behavior of the emoticon mark with mapping relations is identified, according to the behavior mark found obtain in default behavior storehouse with it is described
Emoticon presets behavior accordingly.
A kind of robot controller, described device includes：
Information receiving module is inputted, for receiving input information；
Answer acquisition module, for inputting acquisition of information with the input information matches comprising emoticon according to described
Answer；
Default behavior acquisition module, is obtained for obtaining the emoticon in the answer, and according to the emoticon
Default behavior corresponding with the emoticon in default behavior storehouse；
Default behavior performing module, for performing the default behavior.
In one of the embodiments, the answer acquisition module be additionally operable to according to it is described input acquisition of information with it is described defeated
Enter the first answer of information matches, first answer includes the emoticon with the input information matches.
In one of the embodiments, the answer acquisition module includes：
Second answer acquisition module, for being answered according to the input acquisition of information with the second of the input information matches
Case；
Feature extraction and sentiment analysis module, for carrying out feature extraction to the input information, and to the feature of extraction
Carry out sentiment analysis；
Matching module, for obtaining the emoticon matched with the result of the sentiment analysis according to the result of sentiment analysis
Number, the emoticon is inserted in second answer.
In one of the embodiments, the matching module is additionally operable to the result according to sentiment analysis, obtains and the feelings
The default expression set of symbols of the result matching of sense analysis；Obtained in the default expression set of symbols of the matching and reach preset matching
The emoticon of degree, the emoticon is inserted in second answer.
In one of the embodiments, the default behavior acquisition module is additionally operable to include emoticon mark according to default
Know the mapping table identified with behavior, the emoticon mark searched with the emoticon in answer has the behavior mark of mapping relations
Know, default behavior corresponding with the emoticon in default behavior storehouse is obtained according to the behavior mark found.
Above-mentioned robot control method and device, robot receive input information, are believed according to input acquisition of information with input
Cease the answer for including emoticon of matching.The emoticon in answer is obtained, and default behavior storehouse is obtained according to emoticon
In default behavior corresponding with emoticon, perform default behavior.Because the answer with inputting information matches that robot is obtained
In contain emoticon, and default behavior corresponding with emoticon is stored in default behavior storehouse, so robot can root
Directly obtained according to the emoticon and perform default behavior corresponding with the emoticon.Complicated sequence and order need not be used
Go to realize the control to robot limb behavior, so as to greatly reduce development cost.
Brief description of the drawings
Fig. 1 is the flow chart of robot control method in one embodiment；
Fig. 2 is the flow chart of acquisition and the answer comprising emoticon of input information matches in Fig. 1；
Fig. 3 is the emoticon that is matched with the result of sentiment analysis to be obtained in Fig. 2 and by emoticon the second answer of insertion
In flow chart；
Fig. 4 is the structural representation of robot controller in one embodiment；
Fig. 5 is the structural representation of answer acquisition device in Fig. 4.
Embodiment
In order to facilitate the understanding of the purposes, features and advantages of the present invention, below in conjunction with the accompanying drawings to the present invention
Embodiment be described in detail.Many details are elaborated in the following description to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of running counter to intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Each technical characteristic of above example can carry out arbitrary group
Close, to make description succinct, combination not all possible to each technical characteristic in above-described embodiment is all described, however,
As long as contradiction is not present in the combination of these technical characteristics, the scope of this specification record is all considered to be.
In one embodiment, as shown in Figure 1 there is provided a kind of robot control method, including：
Step 110, input information is received.
Robot refers to the robot for having certain limb motion ability and ability of language expression.Input information refers to user to machine
Any of which such as voice, text, image and video that device people sends or much information, it is certainly, in other embodiments, defeated
It can also be other information to enter information.Robot receives the input information that user sends to robot.
Step 120, according to input acquisition of information and the answer for including emoticon of input information matches.
Various emoticons emoticon storehouse has been stored in advance in robot.And in advance to robot typing some
The question and answer data of basic problem, robot is contained and input information according to the input acquisition of information answer of user in answer
The emoticon matched somebody with somebody.Emoticon be exactly emoji expression, be a kind of visual emotion symbol, with lively small pattern (icon) come
The different emotion of expression.Such as user says " hello " that robot obtains corresponding answer, contains and is matched with " hello " in answer
Emoticon, such as be the emoticon shaken hands that reaches.
Step 130, obtain the emoticon in answer, and according to emoticon obtain in default behavior storehouse with emoticon
Default behavior accordingly.
The robot behavior corresponding to each emoticon, and emoticon are stored in the default behavior storehouse of robot
Number and each emoticon corresponding to robot behavior between corresponding relation.Robot behavior includes limb action and language
Sound, certainly, in other embodiments, robot behavior can also include other behaviors.The emoticon in answer is obtained, according to
The corresponding relation between robot behavior corresponding to emoticon and each emoticon, is obtained with being somebody's turn to do in default behavior storehouse
The corresponding default behavior of emoticon, for example, perform corresponding limb action and/or send corresponding voice.
Step 140, default behavior is performed.
Got according to emoticon after default behavior corresponding with emoticon, control machine people performs default behavior.
For example according to the emoticon of " reach and shake hands ", the default behavior of " reach and shake hands " is got, then control machine people
The limb action of " reach and shake hands " is performed, and sends the voice of " hello ".
In the present embodiment, because emoticon is contained in the answer with inputting information matches that robot is obtained, and in advance
If storing default behavior corresponding with emoticon in behavior storehouse, so robot can directly be obtained simultaneously according to the emoticon
Perform default behavior corresponding with the emoticon.It need not go to realize to robot limb behavior with complicated sequence and order
Control, so as to greatly reduce development cost.
In one embodiment, according to input acquisition of information and the answer for including emoticon of input information matches, bag
Include：According to input acquisition of information and the first answer of input information matches, the first answer includes the expression with inputting information matches
Symbol.
In the present embodiment, for some input information, emoticon has been previously written in the corresponding answer of robot
Number.So when robot receives these input information of user, then just being contained in the answer directly obtained and input information
The emoticon of matching, the answer comprising the emoticon with inputting information matches is the first answer.
In one embodiment, as shown in Fig. 2 according to input acquisition of information with input information matches include emoticon
Answer, specifically include：
Step 121, according to input acquisition of information and the second answer of input information matches.
For some input information, the emoticon with inputting information matches is not included in the default answer of robot.I.e.
Robot does not include the table with inputting information matches according to the input information of user in the answer with inputting information matches of acquisition
Feelings symbol, the answer not comprising the emoticon with inputting information matches is the second answer.
Step 122, feature extraction is carried out to input information, and sentiment analysis is carried out to the feature of extraction.
When not including the emoticon with inputting information matches in the answer that robot is obtained, then be accomplished by user
Input information carry out feature extraction.Specifically, the voice sent to user to robot, text, image and video etc. are wherein
Any or a variety of input information, using neural LISP program LISP (NLP, Neuro-Linguistic Programming)
And computer vision technique, directly to input information extraction objective characteristics.For example, the Partial key words in voice can be extracted
And the spy such as the limb action of crucial words in tone intonation, text, the facial expression of the user's face image obtained and user
Levy.
Sentiment analysis (Sentiment Analysis), the main purpose of sentiment analysis are carried out to the features described above extracted
User is exactly recognized to things or the view of people, can be that evaluated views are such as liked, disliked, liking, thirsting for or be specific
Evaluation content, so as to draw the result of sentiment analysis.
For example, user sends the voice of " I have found boyfriend " and the input information of a facial expression to robot,
The emoticon of matching is not included in the default answer of robot.The progress of the input information to user feature is so accomplished by carry
Take, voice is converted into text, the crucial words of " have found " and " boyfriend " is extracted from text, is carried from facial expression
The features such as " corners of the mouth raises up ", " cheek, which raises up, to be heaved " are taken out.The features described above extracted is entered using neural LISP program LISP
Row sentiment analysis, to " have found " and " boyfriend ", the two crucial words are analyzed, and it is " happy " to draw emotion, to the corners of the mouth
Raise up ", the feature such as " cheek, which raises up, to be heaved " analyzed, show that face does the action of " laughing at ", so analyzing emotion
For " happy ".
Step 123, the emoticon matched with the result of sentiment analysis is obtained according to the result of sentiment analysis, by emoticon
Number insertion the second answer in.
The matching of emotion is carried out in emoticon storehouse according to the result of sentiment analysis, the result with sentiment analysis is obtained
The emoticon matched somebody with somebody, emoticon is inserted into the second answer, and emoticon is just contained in such second answer.For example,
The emotion of " happy " that is gone out according to sentiment analysis, " happy " is matched in emoticon storehouse, is obtained and is represented " happy "
Emoticon, the emoticon for representing " happy " is inserted in the second answer.
In the present embodiment, for some input information, emoticon is not included in the default answer of robot.Now lead to
Cross and feature extraction and sentiment analysis are carried out to user's input information, the result finally according to sentiment analysis is entered in emoticon storehouse
The matching of market sense, obtains the emoticon matched with the result of sentiment analysis.Pass through being calculated as not comprising expression for robot
The answer of symbol with the addition of emoticon, be subsequently to call execution default behavior corresponding with emoticon to beat according to emoticon
Basis is got well.
In one embodiment, as shown in figure 3, obtaining what is matched with the result of sentiment analysis according to the result of sentiment analysis
Emoticon, emoticon is inserted in the second answer, specifically included：
Step 123a, according to the result of sentiment analysis, obtains the default expression set of symbols matched with the result of sentiment analysis.
The emoticon in emoticon storehouse is classified according to emotion in advance, is divided into different default emoticons
Group.According to different emotions such as happy, sad, dejected, angry, awkward, it is divided into different default expression set of symbols, it is each
Individual default expression set of symbols all corresponds to a kind of emotion.The result of sentiment analysis is entered with the emotion corresponding to default expression set of symbols
Row matching, so as to obtain the default expression set of symbols matched with the result of sentiment analysis.
Step 123b, the emoticon for reaching preset matching degree is obtained in the default expression set of symbols of matching, will be expressed one's feelings
Symbol is inserted in the second answer.
Obtain after the default expression set of symbols matched with the result of sentiment analysis, selected in the default expression set of symbols
One emoticon for most matching.Specially each emoticon has a corresponding text message, by text information and feelings
The result of sense analysis carries out similarity mode, generates matching degree, and preset matching degree could be arranged to matching degree highest.Therefore obtain
The emoticon for reaching preset matching degree is to obtain matching degree highest emoticon.
In the present embodiment, the emoticon in emoticon storehouse is divided into different emoticons according to different emotions
Group, is first matched the result of sentiment analysis from different emoticon groups, selects the emoticon group of matching.First roughly
Big classification is found, the emoticon most matched is then found under the big classification, progressively reduces and finds scope, be easy to efficiently
Fast accurate finds the emoticon most matched.
In one embodiment, default behavior corresponding with emoticon in default behavior storehouse is obtained according to emoticon,
Including：According to the default mapping table for identifying and being identified with behavior comprising emoticon, the table with the emoticon in answer is searched
The behavior that feelings symbol logo has mapping relations is identified, according to the behavior mark found obtain in default behavior storehouse with emoticon
Number default behavior accordingly.
The mapping table that preset in advance is identified comprising emoticon in robot and behavior is identified, emoticon mark pair
Corresponding emoticon is answered, behavior mark correspondence presets behavior accordingly, and emoticon mark and behavior mark are to correspond
's.After the emoticon in answer is obtained, inquired about in the mapping table according to the corresponding emoticon mark of emoticon
To corresponding behavior mark, obtain after behavior mark, corresponding default behavior is obtained further according to behavior mark.
In the present embodiment, it is one-to-one, i.e. emoticon that the emoticon mark in mapping table is identified with behavior
It is one-to-one with default behavior.Corresponding default behavior just can accurately be found by emoticon, behavior bag is preset
Limb action and voice containing robot etc..User is inputted to the corresponding relation of information and robot behavior, emoticon is reduced to
Number and default behavior corresponding with emoticon corresponding relation.Robot behavior is standardized with emoticon, it is not necessary to use
Complicated sequence and order is controlled according to input information come the behavior to robot.
In one embodiment, as shown in figure 4, additionally providing a kind of robot controller, the device includes：Input letter
Cease receiving module 410, answer acquisition module 420, default behavior acquisition module 430, default behavior performing module 440.
Information receiving module 410 is inputted, for receiving input information.
Answer acquisition module 420, for according to input acquisition of information and the answering comprising emoticon of input information matches
Case.
Default behavior acquisition module 430, default row is obtained for obtaining the emoticon in answer, and according to emoticon
For default behavior corresponding with emoticon in storehouse.
Default behavior performing module 440, for performing default behavior.
In one embodiment, answer acquisition module 420 is additionally operable to according to input acquisition of information and input information matches
First answer, the first answer includes the emoticon with inputting information matches.
In one embodiment, as shown in figure 5, answer acquisition module 420 includes：Second answer acquisition module 421, feature
Extract and sentiment analysis module 422, matching module 423.
Second answer acquisition module 421, for according to input acquisition of information and the second answer of input information matches, second
The emoticon with inputting information matches is not included in answer.
Feature extraction and sentiment analysis module 422, for carrying out feature extraction to input information, and enter to the feature of extraction
Row sentiment analysis.
Matching module 423, for obtaining the emoticon matched with the result of sentiment analysis according to the result of sentiment analysis,
Emoticon is inserted in the second answer.
In one embodiment, matching module 423 is additionally operable to the result according to sentiment analysis, obtains the knot with sentiment analysis
The default expression set of symbols of fruit matching；The emoticon for reaching preset matching degree is obtained in the default expression set of symbols of matching,
Emoticon is inserted in the second answer.
In one embodiment, preset behavior acquisition module 430 be additionally operable to according to it is default comprising emoticon mark and
The mapping table of behavior mark, searches behavior of the emoticon mark with mapping relations with the emoticon in answer and identifies,
Behavior mark according to finding obtains default behavior corresponding with emoticon in default behavior storehouse.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of robot control method, methods described includes：
Receive input information；
According to the input acquisition of information and the answer for including emoticon of the input information matches；
Obtain the emoticon in the answer, and according to the emoticon obtain in default behavior storehouse with the emoticon
Default behavior accordingly；
Perform the default behavior.
2. according to the method described in claim 1, it is characterised in that described to be believed according to the input acquisition of information with the input
The answer for including emoticon of matching is ceased, including：
According to it is described input acquisition of information with it is described input information matches the first answer, first answer include with it is described defeated
Enter the emoticon of information matches.
3. according to the method described in claim 1, it is characterised in that described to be believed according to the input acquisition of information with the input
The answer for including emoticon of matching is ceased, including：
According to the input acquisition of information and the second answer of the input information matches；
Feature extraction is carried out to the input information, and sentiment analysis is carried out to the feature of extraction；
The emoticon matched with the result of the sentiment analysis is obtained according to the result of sentiment analysis, the emoticon is inserted
Enter in second answer.
4. method according to claim 3, it is characterised in that described to be obtained and the emotion according to the result of sentiment analysis
The emoticon of the result matching of analysis, the emoticon is inserted in second answer, including：
According to the result of sentiment analysis, the default expression set of symbols matched with the result of the sentiment analysis is obtained；
The emoticon for reaching preset matching degree is obtained in the default expression set of symbols of the matching, the emoticon is inserted
Enter in second answer.
5. according to the method described in claim 1, it is characterised in that described to be obtained according to the emoticon in default behavior storehouse
Default behavior corresponding with the emoticon, including：
According to the default mapping table for identifying and being identified with behavior comprising emoticon, the expression with the emoticon in answer is searched
The behavior that symbol logo has mapping relations is identified, according to the behavior mark found obtain in default behavior storehouse with the expression
Symbol presets behavior accordingly.
6. a kind of robot controller, it is characterised in that described device includes：
Information receiving module is inputted, for receiving input information；
Answer acquisition module, for according to the input acquisition of information and the answering comprising emoticon of the input information matches
Case；
Default behavior acquisition module, obtains default for obtaining the emoticon in the answer, and according to the emoticon
Default behavior corresponding with the emoticon in behavior storehouse；
Default behavior performing module, for performing the default behavior.
7. device according to claim 6, it is characterised in that the answer acquisition module is additionally operable to be believed according to the input
Breath obtains the first answer with the input information matches, and first answer includes the emoticon with the input information matches
Number.
8. device according to claim 6, it is characterised in that the answer acquisition module includes：
Second answer acquisition module, for according to the input acquisition of information and the second answer of the input information matches；
Feature extraction and sentiment analysis module, for carrying out feature extraction to the input information, and are carried out to the feature of extraction
Sentiment analysis；
Matching module, will for obtaining the emoticon matched with the result of the sentiment analysis according to the result of sentiment analysis
The emoticon is inserted in second answer.
9. device according to claim 8, it is characterised in that the matching module is additionally operable to the knot according to sentiment analysis
Really, the default expression set of symbols matched with the result of the sentiment analysis is obtained；In the default expression set of symbols of the matching
The emoticon for reaching preset matching degree is obtained, the emoticon is inserted in second answer.
10. device according to claim 6, it is characterised in that the default behavior acquisition module is additionally operable to according to default
Identified comprising emoticon and mapping table that behavior is identified, searching to identify with the emoticon of the emoticon in answer has
The behavior mark of mapping relations, obtains corresponding with the emoticon pre- in default behavior storehouse according to the behavior mark found
If behavior.
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