A robot control method, comprising steps of:
- T1:
- providing a robot, with at least one wheel and at least one motion posture;
- T2:
- regulating the robot to a motion posture, saving motion-posture information corresponding to the motion posture, generating preset action control information based on a speed of the wheel and the motion-posture information;
- T3:
- constructing and forming an operating model based on the preset action control information;
- and
- T4:
- outputting, by the operating model, actual motion control information of a motion according to user's input to control the robot to perform the motion;
- wherein in the step T2, the speed of the wheel can be obtained by pushing the robot to walk on a road in the motion posture, or obtained by controlling the robot to move via an app, and/or obtained by user customization;
- wherein a number of the wheel is at least two, the motion posture comprises a forward posture, a left-turn posture and a right-turn posture, and the corresponding motion-posture information comprises forward-posture information, left-turn-posture information and right-turn-posture information;
- the step T2 comprising the steps of:
- T21:
- controlling the robot to move forward, obtaining a forward speed ratio of each wheel, determining forward preset action control information according to the forward-posture information and the forward speed ratio of each wheel;
- T22:
- controlling the robot to turn left, obtaining the left-turn speed ratio of each wheel, determining left-turn preset action control information according to the left-turn-posture information and the left-turn speed ratio of each wheel;
- and
- T23:
- controlling the robot to turn right, obtaining the right-turn speed ratio of each wheel, determining right-turn preset action control information according to the right-turn-posture information and the right-turn speed ratio of each wheel;
- wherein the step T2 further comprises the steps of:
- T24:
- controlling the robot to move forward, saving the forward-posture information and a maximum forward speed of the robot, determining the forward preset action control information further according to the maximum forward speed and/or a customized speed;
- T25:
- controlling the robot to turn left, saving the left-turn-posture information and a maximum left-turn speed of the robot, determining the left-turn preset action control information further according to the maximum left-turn speed and/or a customized speed;
- and
- T26:
- controlling the robot to turn right, saving the right-turn-posture information and a maximum right-turn speed of the robot, determining the right-turn preset action control information further according to the maximum right-turn speed and/or a customized speed;
- wherein the step T3 comprises the steps of:
- T31:
- constructing a coordinate system, defining a fan-shaped area with an origin as a center on the coordinate system to form a manipulation area, the fan-shaped area including areas located in a first quadrant and a second quadrant;
- T32:
- establishing a correspondence between the forward preset action control information and an upper vertex of the manipulation area, a correspondence between;
- the left-turn preset action control information and a left vertex of the manipulation area, and a correspondence between the right-turn preset action control information and a right vertex of the manipulation area;
- wherein an operating disc is provided on a Graphic User Interface for operating the robot, and the operating disc corresponds to a circular area or the fan-shaped area on the coordinate system;
- the step T4 comprising the steps of:
- T41:
- operating on the operating disc to form an input;
- T42:
- calculating, by the operating model, the actual motion control information according to a control point corresponding to the input to control the robot to perform a motion.