CN102279570A - Automatic mechanical device and control method thereof - Google Patents
Automatic mechanical device and control method thereof Download PDFInfo
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- CN102279570A CN102279570A CN2010101993954A CN201010199395A CN102279570A CN 102279570 A CN102279570 A CN 102279570A CN 2010101993954 A CN2010101993954 A CN 2010101993954A CN 201010199395 A CN201010199395 A CN 201010199395A CN 102279570 A CN102279570 A CN 102279570A
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Abstract
The invention discloses an automatic mechanical device and a control method thereof. The device comprises N output units, a storage unit and a control unit. The control unit is electrically connected with the output units and the storage unit. The storage unit stores a first reaction template, and the first reaction template corresponds to a first instruction. The first reaction template comprises a gear head and N reaction patterns, and each reaction pattern corresponds to one of the output units respectively. Each reaction pattern comprises M reaction segments respectively. The gear head records the number of the reaction segments of each reaction pattern. The control unit receives the first instruction, queries the first reaction template stored in the storage unit according to the first instruction, and selectively controls at least one of the output units to execute the reaction segment of a corresponding reaction pattern according to the gear head and the reaction patterns. By using the automatic mechanical device and the control method thereof, the reaction outputs of action, expression, and/or sound and the like can be synchronously controlled.
Description
Technical field
The present invention relates to a kind of robot apparatus and control method thereof, particularly relate to the robot apparatus and the control method thereof of reaction outputs such as a kind of synchronously control action, expression and/or sound.
Background technology
In recent years, because the progress of science and technology makes that the application of robot is more and more general.In addition, a large amount of productions of industry member make the robot price reduce, and therefore general masses can have robot at an easy rate.At the design of robot, its function becomes increasingly complex and emphasizes real time reaction, comprises to the judgement of environmental aspect reaction and with user's interaction etc.Generally speaking, the output interface of robot comprises countenance, limb action, sound etc., to how real-time, smooth-going and synchronously produce the output of these complexity, allow the external action of robot can the same natural reaction with the people, such behavior be a very big challenge in robot software's design.
Summary of the invention
The object of the present invention is to provide a kind of robot apparatus and control method thereof, synchronously reaction outputs such as control action, expression and/or sound.
Based on above-mentioned purpose, the invention provides a kind of robot apparatus, comprise N output unit, a storage unit and a control module, wherein N is a positive integer.Control module is electrically connected on output unit and storage unit.Cell stores one first reaction example edition, and corresponding one first instruction of the first reaction example edition.The first reaction example edition comprises one grade of head and N reaction pattern, and each reaction pattern is distinguished corresponding output unit one of them.In addition, each reaction pattern comprises M fragment reaction respectively, and wherein M is 0 or positive integer.The shelves head is then noted down the number of the fragment reaction of each reaction pattern.Control module receives first instruction, being stored in the reaction of first in storage unit example edition according to the first instruction inquiry, and according to shelves head and reaction pattern optionally control in the output unit one of them carries out the fragment reaction of corresponding reaction pattern at least.In this embodiment, N reaction pattern can comprise pattern, expression pattern and/or acoustic pattern.
Based on above-mentioned purpose, the present invention provides a kind of control method in addition, and in order to control a robot apparatus, wherein robot apparatus comprises a N output unit and a storage unit, and N is a positive integer.Control method of the present invention comprises the following steps: to receive one first instruction; Be stored in the first reaction example edition of 1 in the storage unit according to the first instruction inquiry, wherein the first reaction example edition comprises one grade of head and N reaction pattern, one of them of the corresponding output unit of each reaction pattern difference, each reaction pattern comprises M fragment reaction respectively, M is 0 or positive integer, and the number of the fragment reaction of each reaction pattern of shelves head record; And according to shelves head and reaction pattern optionally control in the output unit one of them carries out the fragment reaction of corresponding reaction pattern at least.In this embodiment, N reaction pattern can comprise pattern, expression pattern and/or acoustic pattern.
According to technique scheme, robot apparatus of the present invention and control method thereof have following advantage and beneficial effect at least: when control module reception one instruction of robot apparatus of the present invention, and store the reaction example edition of corresponding described instruction in the storage unit, control module just can synchronously be controlled each output unit and carry out corresponding reaction pattern (for example pattern, expression pattern and/or acoustic pattern).Robot apparatus of the present invention and control method thereof can real-time, smooth-going and synchronously reaction outputs such as control action, expression and/or sound.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, in order to more clearly understand technological means of the present invention, and can be implemented according to the content of instructions, and for above and other objects of the present invention, feature and advantage can be become apparent, below especially exemplified by a plurality of embodiment, and conjunction with figs., be described in detail as follows.
Description of drawings
Fig. 1 is the functional block diagram of robot apparatus according to an embodiment of the invention.
Fig. 2 is the synoptic diagram of the reaction of first among Fig. 1 example edition.
Fig. 3 is the synoptic diagram of the reaction of second among Fig. 1 example edition.
Fig. 4 is the synoptic diagram of the array type light emitting module of corresponding different luminous numberings.
Fig. 5 is a process flow diagram of controlling the method for robot apparatus according to an embodiment of the invention.
Wherein, description of reference numerals is as follows:
1 robot apparatus, 10 motors
12 array type light emitting modules, 14 loudspeakers
16 storage unit, 18 control modules
20 instruction input blocks, 120 light emitting diodes
160 first reaction example editions, 162 second reaction example editions
1600,1620 grades 1602, pattern
1622
1604,1624 expression patterns 1606, acoustic pattern
1626
The S100-S116 step
Embodiment
Please refer to Fig. 1, Fig. 1 is the functional block diagram of robot apparatus 1 according to an embodiment of the invention.Robot apparatus 1 can be a robot and comprise N output unit that wherein N is a positive integer.As shown in Figure 1, robot apparatus 1 comprises one group of motor 10, an array type light emitting module 12, a loudspeaker 14, a storage unit 16, a control module 18 and an instruction input block 20.In this embodiment, motor 10, array type light emitting module 12 and loudspeaker 14 are exactly the output unit of robot apparatus 1.It should be noted that robot apparatus 1 also can only comprise wherein any or any two output units of motor 10, array type light emitting module 12 and loudspeaker 14, decides on practical application.
In practical application, motor 10 can be used for driving the action at each position (for example head, upper limbs, lower limb etc.) of robot apparatus 1, and the quantity of motor 10 can determine according to practical application; Array type light emitting module 12 can be array type light-emitting diode (LED) module or other luminescence component, is used for presenting the various expressions of robot apparatus 1; Loudspeaker 14 can be loudspeaker or other sound play device; Storage unit 16 can be that hard disk or other have the memory storage of data storage function; Control module 18 can be the controller with data operation/processing capacity; Instruction input block 20 can be that microphone, button or other have the input media of instruction input function.
As shown in Figure 1, control module 18 is electrically connected with motor 10, array type light emitting module 12, loudspeaker 14, storage unit 16 and instruction input block 20 respectively.In this embodiment, storage unit 16 storages, one first reaction example edition 160 and one second reaction example edition 162, the wherein first reaction example edition, 160 corresponding one first instructions, and 162 corresponding one second instructions of the second reaction example edition.It should be noted that the number of reaction example edition of the present invention can increase or reduce according to practical application, does not exceed with two.The first reaction example edition 160 and the second reaction example edition 162 can comprise one grade of head and three reaction patterns respectively, wherein each reaction pattern is distinguished one of them of output units such as corresponding motor 10, array type light emitting module 12 and loudspeaker 14, each reaction pattern comprises M fragment reaction respectively, M is 0 or positive integer, and the number of the fragment reaction of each reaction pattern of shelves head record.
Please refer to Fig. 2 and Fig. 3, Fig. 2 is the synoptic diagram of the reaction of first among Fig. 1 example edition 160, and Fig. 3 is the synoptic diagram of the reaction of second among Fig. 1 example edition 162.As shown in Figure 2, the first reaction example edition 160 comprises three reaction patterns such as shelves 1600 and pattern 1602, expression pattern 1604, acoustic pattern 1606, pattern 1602 corresponding motors 10 wherein, expression pattern 1604 corresponding array type light emitting modules 12, and acoustic pattern 1606 corresponding loudspeakers 14.As shown in Figure 3, the second reaction example edition 162 also comprises three reaction patterns such as shelves 1620 and pattern 1622, expression pattern 1624, acoustic pattern 1626, pattern 1622 corresponding motors 10 wherein, expression pattern 1624 corresponding array type light emitting modules 12, and acoustic pattern 1626 corresponding loudspeakers 14.
In this embodiment, each reaction pattern can comprise M fragment reaction respectively, and M is 0 or positive integer, and the number of the fragment reaction of shelves 1600,1620 each reaction pattern of record.As shown in Figure 2, pattern 1602 comprises two fragment reactions, and expression pattern 1604 comprises a fragment reaction, and acoustic pattern 1606 comprises three fragment reactions.As shown in Figure 3, pattern 1622, expression pattern 1624 and acoustic pattern 1626 respectively comprise a fragment reaction.
Each fragment reaction of pattern 1602,1622 is noted down one a group of motor information and a time label respectively.In pattern 1602,1622, each motor information is represented the rotational angle of motor 10 respectively.Time tag can be a time out value or execution time point.For example, if the time tag of pattern 1602 is time out values, through five seconds, fragment reaction 2 just can be performed after then fragment reaction 1 was finished; If the time tag of pattern 1602 is execution time points, then fragment reaction 1 can just be performed at the 5th second, by that analogy.
Each fragment reaction of expression pattern 1604,1624 is noted down a luminous numbering and a time label respectively.The definition of time tag does not repeat them here as mentioned above.Please refer to Fig. 4, Fig. 4 is the synoptic diagram of the array type light emitting module 12 of corresponding different luminous numberings.As shown in Figure 4, array type light emitting module 12 can be made up of a plurality of light emitting diodes 120.By controlling different lumination of light emitting diode, can produce different expressions.As shown in Figure 4, luminous numbering 1 presents a smile expression, and luminous numbering 2 presents a surprised expression.
Each fragment reaction of acoustic pattern 1606,1626 is noted down the length and a time label of a sound type, a word string, word string respectively.The definition of time tag does not repeat them here as mentioned above.In this embodiment, the sound of playing via loudspeaker 14 can be synthetic voice or an audio files.For example, if sound type field record " 0 ", then control module 18 is understood the word string of being noted down according to the word string field, and control loudspeaker 14 is play corresponding pre-record audio effect file or voice document; If sound type field record " 1 ", then the first word string that the word string field is noted down of control module 18 meetings converts the synthetic voice to, and control loudspeaker 14 is play these artificial synthetic speechs again.
For example, first instruction of the first reaction example edition, 160 correspondences can be " greeting " instruction, and second instruction of the second reaction example edition, 162 correspondences can be " blast " instruction.The user can utilize 20 input " greeting " instructions of instruction input block.After control module 18 receives " greeting " instruction, will be stored in the reaction of first in the storage unit 16 example edition 160 according to " greeting " instruction inquiry, and control motor 10, array type light emitting module 12 and loudspeaker 14 respectively according to shelves 1600, pattern 1602, expression pattern 1604 and acoustic pattern 1606 and carry out corresponding fragment reaction.For example, when motor 10 was carried out the fragment reaction of patterns 1602, the hand (not shown) of robot apparatus 1 can be lifted (for example wave or be shape to be shaken hands) gradually; When array type light emitting module 12 was carried out the fragment reaction of expression pattern 1604, the face of robot apparatus 1 can present the expression of smiling; When loudspeaker 14 was carried out the fragment reaction of acoustic pattern 1606, robot apparatus 1 can send the voice of " how do you do ", " I am fine " and " thanks " in regular turn according to time tag.
In addition, in this embodiment, the first reaction example edition 160 can have a first priority, and the second reaction example edition 162 can have one second right of priority.When during control module 18 is being carried out the first reaction example edition 160, receiving " blast " and instructing (for example, instruction input block 20 receives an explosive sound), control module 18 will be stored in the reaction of second in the storage unit 16 example edition 162 according to " blast " instruction inquiry, and judges whether second right of priority has precedence over first priority.In this embodiment, default second right of priority has precedence over first priority.When control module 18 judges that second right of priority has precedence over first priority; control module 18 will be controlled motor 10, array type light emitting module 12 and loudspeaker 14 time-outs or give up and carry out the first reaction example edition 160, and example edition 162 is reacted in control motor 10, array type light emitting module 12 and loudspeaker 14 execution second.For example, when motor 10 was carried out the fragment reaction of pattern 1622, a (not shown) of robot apparatus 1 can be rotated; When array type light emitting module 12 was carried out the fragment reaction of expression pattern 1624, the face of robot apparatus 1 can present surprised expression; When loudspeaker 14 was carried out the fragment reaction of acoustic patterns 1626, robot apparatus 1 can send according to time tag " " or " good fearful " etc. whoa or voice.
Please refer to Fig. 5, Fig. 5 is a process flow diagram of controlling the method for robot apparatus 1 according to an embodiment of the invention.Please in the lump referring to figs. 1 to Fig. 3.At first, execution in step S100 receives first instruction.Then, execution in step S102 is stored in the reaction of first in the storage unit 16 example edition 160 according to the first instruction inquiry.Then, execution in step S104 controls the fragment reaction that output unit (motor 10 as shown in Figure 1, array type light emitting module 12 and loudspeaker 14) is carried out corresponding reaction pattern according to file header 1600 and reaction pattern (pattern 1602 as shown in Figure 2, expression pattern 1604, acoustic pattern 1606).If when during carrying out the first reaction example edition 160, not receiving second instruction (other instruction) (step S106), execution in step S114 then, continue to carry out the first reaction example edition 160, if but have when receiving second instruction (step S106), then execution in step S108 is stored in the reaction of second in the storage unit 16 example edition 162 according to the second instruction inquiry.Then, execution in step S110 judges whether second right of priority has precedence over first priority.When second right of priority had precedence over first priority, execution in step S112 then suspended or gives up and carry out the first reaction example edition 160, and carries out the second reaction example edition 162.Carry out the first reaction example edition 160 if suspend, can be after the second reaction example edition 162 be finished, execution in step S114, continue to carry out the first reaction example edition 160, but carry out the first reaction example edition 160 if give up, then can be after the second reaction example edition 162 be finished, execution in step S116 finishes the control of robot apparatus 1.In addition, when second right of priority did not have precedence over first priority, then direct execution in step S114 continued to carry out the first reaction example edition 160.
According to technique scheme, robot apparatus of the present invention and control method thereof have following advantage and beneficial effect at least: when control module reception one instruction of robot apparatus of the present invention, and store the reaction example edition of corresponding described instruction in the storage unit, control module just can synchronously be controlled each output unit and carry out corresponding reaction pattern (for example pattern, expression pattern and/or acoustic pattern).In addition, during carrying out reaction pattern, if control module receives another instruction, control module can be according to the priority order of differential responses example edition, the preferential higher reaction example edition of execution priority.Robot apparatus of the present invention and control method thereof can real-time, smooth-going and synchronously reaction outputs such as control action, expression and/or sound.
The above only is the preferred embodiments of the present invention, and all equalizations of doing according to claim of the present invention change and modify, and all should belong to covering scope of the present invention.
Claims (12)
1. a robot apparatus is characterized in that, described robot apparatus comprises:
N output unit, N is a positive integer;
One storage unit, store one first reaction example edition, corresponding one first instruction of the described first reaction example edition, the described first reaction example edition comprises one grade of head and N reaction pattern, one of them of the corresponding described output unit of each described reaction pattern difference, each described reaction pattern comprises M fragment reaction respectively, and M is 0 or positive integer, the number of the described fragment reaction of described each described reaction pattern of shelves head record; And
One control module, be connected in a described N output unit and described storage unit, described control module receives described first instruction, be stored in the described first reaction example edition in the described storage unit according to the described first instruction inquiry, and according to described shelves head and described reaction pattern optionally control in the described output unit one of them carries out the described fragment reaction of corresponding described reaction pattern at least.
2. robot apparatus as claimed in claim 1 is characterized in that, described robot apparatus more comprises:
One instruction input block, in order to receive described first instruction, described instruction input block transfers to described control module after receiving described first instruction.
3. robot apparatus as claimed in claim 1 or 2, it is characterized in that, described output unit comprises one group of motor, described reaction pattern comprises a pattern, each described fragment reaction of corresponding described pattern is noted down one a group of motor information and a time label respectively, described control module is controlled described revolution according to described motor information and described time tag, and wherein said time tag is a time out value or execution time point.
4. robot apparatus as claimed in claim 1 or 2, it is characterized in that, described output unit comprises an array type light emitting module, described reaction pattern comprises an expression pattern, each described fragment reaction of corresponding described expression pattern is noted down a luminous numbering and a time label respectively, it is luminous that described control module is controlled described array type light emitting module according to described luminous numbering and described time tag, and wherein said time tag is a time out value or execution time point.
5. robot apparatus as claimed in claim 1 or 2, it is characterized in that, described output unit comprises a loudspeaker, described reaction pattern comprises an acoustic pattern, each described fragment reaction of corresponding described acoustic pattern is noted down a sound type respectively, one word string, the length of described word string and a time label, described control module is according to described sound type, described word string, the length of described word string and described time tag are controlled described loudspeaker plays one sound, wherein said time tag is a time out value or execution time point, and described sound is synthetic voice or an audio files.
6. robot apparatus as claimed in claim 2; it is characterized in that; the described first reaction example edition has a first priority; described storage unit is more stored one second reaction example edition; described second reacts corresponding one second instruction of example edition and has one second right of priority; during described control module is being carried out the described first reaction example edition when described instruction input block receives described second instruction; described control module is stored in described second in the described storage unit according to the described second instruction inquiry and reacts example edition; and judge whether described second right of priority has precedence over described first priority; when described second right of priority has precedence over described first priority; described control module suspends or gives up and carry out the described first reaction example edition, and carries out the described second reaction example edition.
7. the method for control one robot apparatus is characterized in that described robot apparatus comprises N output unit, a control module and a storage unit, and N is a positive integer, and described method comprises the following steps:
Described control module receives one first instruction;
Described control module is stored in the reaction of one first in described storage unit example edition according to the described first instruction inquiry, the described first reaction example edition comprises one grade of head and N reaction pattern, one of them of the corresponding described output unit of each described reaction pattern difference, each described reaction pattern comprises M fragment reaction respectively, M is 0 or positive integer, the number of the described fragment reaction of described each described reaction pattern of shelves head record; And
Described control module according to described shelves head and described reaction pattern optionally control in the described output unit one of them carries out the described fragment reaction of corresponding described reaction pattern at least.
8. method as claimed in claim 7 is characterized in that, described robot apparatus more comprises an instruction input block, and described method more comprises the following steps:
Described instruction input block receives described first instruction; And
Described instruction input block transfers to described control module with described first instruction.
9. as claim 7 or 8 described methods, it is characterized in that, described output unit comprises one group of motor, described reaction pattern comprises a pattern, each described fragment reaction of corresponding described pattern is noted down one a group of motor information and a time label respectively, wherein said time tag is a time out value or execution time point, and described method more comprises the following steps:
Control described revolution according to described motor information and described time tag.
10. as claim 7 or 8 described methods, it is characterized in that, described output unit comprises an array type light emitting module, described reaction pattern comprises an expression pattern, each described fragment reaction of corresponding described expression pattern is noted down a luminous numbering and a time label respectively, wherein said time tag is a time out value or execution time point, and described method more comprises the following steps:
It is luminous to control described array type light emitting module according to described luminous numbering and described time tag.
11. as claim 7 or 8 described methods, it is characterized in that, described output unit comprises a loudspeaker, described reaction pattern comprises an acoustic pattern, each described fragment reaction of corresponding described acoustic pattern is noted down the length and a time label of a sound type, a word string, described word string respectively, wherein said time tag is a time out value or execution time point, and described method more comprises the following steps:
Length and described time tag according to described sound type, described word string, described word string are controlled described loudspeaker plays one sound.
12., it is characterized in that the described first reaction example edition has a first priority as claim 7 or 8 described methods, described method more comprises the following steps:
When receiving one second instruction during carrying out the described first reaction example edition, be stored in the reaction of one second in described storage unit example edition according to the described second instruction inquiry, the described second reaction example edition has one second right of priority;
Judge whether described second right of priority has precedence over described first priority; And
When described second right of priority has precedence over described first priority, suspend or give up and carry out the described first reaction example edition, and carry out the described second reaction example edition.
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| CN2010101993954A CN102279570A (en) | 2010-06-10 | 2010-06-10 | Automatic mechanical device and control method thereof |
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| JP2002066156A (en) * | 2000-05-12 | 2002-03-05 | Fujitsu Ltd | Robot linking device, robot linking program recording medium, and robot linking program |
| CN1392824A (en) * | 2000-09-28 | 2003-01-22 | 索尼公司 | Authoring system and method, and storage medium |
| US20090024249A1 (en) * | 2007-07-16 | 2009-01-22 | Kang-Hee Lee | Method for designing genetic code for software robot |
| CN101411948A (en) * | 2007-10-19 | 2009-04-22 | 鸿富锦精密工业（深圳）有限公司 | Electronic toys |
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Patent Citations (5)
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| CN1313781A (en) * | 1999-04-30 | 2001-09-19 | 索尼公司 | Electronic pet system, network system, robot and storage medium |
| JP2002066156A (en) * | 2000-05-12 | 2002-03-05 | Fujitsu Ltd | Robot linking device, robot linking program recording medium, and robot linking program |
| CN1392824A (en) * | 2000-09-28 | 2003-01-22 | 索尼公司 | Authoring system and method, and storage medium |
| US20090024249A1 (en) * | 2007-07-16 | 2009-01-22 | Kang-Hee Lee | Method for designing genetic code for software robot |
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Application publication date: 20111214 |