Robot and control method therefor

Abstract

The embodiments of the present disclosure provide a robot and a control method therefor. In the robot control method, a robot may acquire posture data of a user in response to a posture interaction wakeup instruction, determine a target operation region according to the posture data of the user, and in case that the target operation region is different from a region that a current position of the robot belongs to, move to the target operation region so as to perform a set operation task. Further, the robot implements operations while moving based on user postures without the limitation of region division, thereby further improving the robot control flexibility.

1 . A robot control method, comprising:
 acquiring posture data of a user in response to a posture interaction wakeup instruction;   determining, according to the posture data, a target operation region specified by the user; wherein the target operation region is different from a region that a current position of a robot belongs to; and   causing the robot to move to the target operation region so as to perform a set operation task.   
     
     
         2 . The method according to  claim 1 , wherein the posture interaction wakeup instruction comprises at least one of:
 a voice instruction given by the user to wake up a posture interaction function of the robot;   a control instruction given by the user through a terminal device to wake up the posture interaction function of the robot; and   a gesture instruction given by the user to wake up the posture interaction function of the robot.   
     
     
         3 . The method according to  claim 1 , wherein the acquiring posture data of a user comprises:
 performing three-dimensional measurement on the user through a sensor component mounted to the robot to obtain three-dimensional measurement data; and   acquiring a space coordinate corresponding to a gesture of the user as the posture data of the user according to the three-dimensional measurement data.   
     
     
         4 . The method according to  claim 3 , wherein the three-dimensional measurement data comprises an image obtained by shooting the user and a distance between the user and the robot. 
     
     
         5 . The method according to  claim 4 , wherein the acquiring a space coordinate corresponding to a gesture of the user according to the three-dimensional measurement data comprises:
 recognizing the image to obtain posture key points of the user;   determining, from the posture key points, a target key point used to represent the gesture of the user;   determining a distance between the target key point and the robot according to the distance between the user and the robot; and   determining the space coordinate corresponding to the gesture of the user according to a coordinate of the target key point and the distance between the target key point and the robot.   
     
     
         6 . The method according to  claim 3 , wherein the determining, according to the posture data, a target operation region specified by the user comprises:
 determining, according to the space coordinate corresponding to the gesture of the user, a target operation direction specified by the user; and   determining, from a candidate operation region, an operation region adapted to the target operation direction as the target operation region.   
     
     
         7 . The method according to  claim 6 , wherein the determining, according to the space coordinate corresponding to the gesture of the user, a target operation direction specified by the user comprises:
 performing straight line fitting according to the space coordinate corresponding to the gesture of the user to obtain a space straight line; and   determining a direction of extension of the space straight line to an end of the gesture of the user as the operation direction specified by the user.   
     
     
         8 . The method according to  claim 7 , wherein the determining, from a candidate operation region, an operation region adapted to the target operation direction as the target operation region comprises:
 calculating an intersection position of the space straight line and a plane where the candidate operation region is located; and   determining, according to the intersection position, the target operation region specified by the user.   
     
     
         9 . The method according to  claim 8 , wherein the determining, according to the intersection position, the target operation region specified by the user comprises any one of the following steps:
 if the intersection position is within a known operation region of the robot, determining the operation region where the intersection position is located as the target operation region;   if the intersection position is not within the known operation region of the robot, and an included angle between the space straight line and the plane is greater than a set angle threshold, determining, from the known operation region, an operation region closest to the current position of the robot in the operation direction specified by the user as the target operation region; and   if the intersection position is not within the known operation region of the robot, and the included angle between the space straight line and the plane is less than or equal to the angle threshold, searching the operation direction specified by the user for the target operation region according to the intersection position.   
     
     
         10 . The method according to  claim 9 , wherein the searching the operation direction specified by the user for the target operation region according to the intersection position comprises:
 causing the robot to move to the operation direction specified by the user until encountering a target obstacle;   causing the robot to move to a direction of approaching the intersection position along an edge of the target obstacle until detecting an entrance; and   determining an operation region that the entrance belongs to as the target operation region, the operation region that the entrance belongs to being not within the known operation region.   
     
     
         11 . The method according to  claim 9 , further comprising:
 after the target operation region is found in the operation direction specified by the user, performing the operation task in the target operation region, and updating a navigation map corresponding to the known operation region according to a trajectory formed by performing the operation task.   
     
     
         12 . The method according to  claim 9 , wherein the causing the robot to move to the target operation region so as to perform a set operation task comprises:
 if the target operation region is within the known operation region, planning a path to the target operation region according to a navigation map corresponding to the known operation region; and   causing the robot to move to the target operation region according to the path to the target operation region.   
     
     
         13 . The method according to  claim 1 , wherein there is a physical obstacle or virtual obstacle between the target operation region and the region that the current position of the robot belongs to. 
     
     
         14 . A robot, comprising a robot body, a sensor component, a controller, and a motion component that are mounted to the robot body; wherein,
 the sensor component is configured to acquire posture data of a user in response to an operation control instruction of the user; and   the controller is configured to determine, according to the posture data of the user, a target operation region specified by the user, and control the motion component to move to the target operation region so as to perform an operation task.   
     
     
         15 . The robot according to  claim 14 , wherein the sensor component comprises a depth sensor. 
     
     
         16 . The method according to  2 , wherein there is a physical obstacle or virtual obstacle between the target operation region and the region that the current position of the robot belongs to. 
     
     
         17 . The method according to  3 , wherein there is a physical obstacle or virtual obstacle between the target operation region and the region that the current position of the robot belongs to. 
     
     
         18 . The method according to  4 , wherein there is a physical obstacle or virtual obstacle between the target operation region and the region that the current position of the robot belongs to. 
     
     
         19 . The method according to  5 , wherein there is a physical obstacle or virtual obstacle between the target operation region and the region that the current position of the robot belongs to. 
     
     
         20 . The method according to  6 , wherein there is a physical obstacle or virtual obstacle between the target operation region and the region that the current position of the robot belongs to.