CN112462765A - Robot, method and apparatus for controlling robot, and computer-readable storage medium - Google Patents
Robot, method and apparatus for controlling robot, and computer-readable storage medium Download PDFInfo
- Publication number
- CN112462765A CN112462765A CN202011322515.5A CN202011322515A CN112462765A CN 112462765 A CN112462765 A CN 112462765A CN 202011322515 A CN202011322515 A CN 202011322515A CN 112462765 A CN112462765 A CN 112462765A
- Authority
- CN
- China
- Prior art keywords
- robot
- current
- track path
- path
- track
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 40
- 230000006870 function Effects 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The application discloses a robot, a control method and a control device thereof, and a computer readable storage medium, wherein the method comprises the following steps: receiving a pause instruction, acquiring a first track path of the robot, and acquiring a first position of the robot in the first track path when the pause instruction is received; acquiring the current position and the current track path of the robot; if the current position is the same as the first position, controlling the robot to continue to operate according to the current track path from the current position; if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to continue to operate from the first position according to the current track path after the robot returns to the first position; and if the current position is different from the first position and the current track path is different from the first track path, controlling the robot to continue to operate according to the current track path from the return position. According to the scheme, the robot is controlled to return to the track path, so that the robot can continuously run, and the adaptability of the robot is improved.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a robot, a method and an apparatus for controlling the robot, and a computer-readable storage medium.
Background
The robot is widely applied to industry at present, and in the process of debugging a motion program of the robot, a user may move the robot out of a currently running track path, and the robot needs a certain strategy to return to a planned path before continuing running.
Disclosure of Invention
The application provides at least a robot, a method and a device for controlling the robot, and a computer readable storage medium, which can improve the adaptability of the robot.
In order to solve the technical problems, the technical scheme adopted by the application is to provide a robot control method,
the robot control method includes:
receiving a pause instruction, acquiring a first track path when the robot receives the pause instruction, and acquiring a first position of the robot in the first track path when the robot receives the pause instruction;
acquiring the current position and the current track path of the robot, wherein the current position comprises the current position information of each axis in the robot;
comparing the current location to the first location, and comparing the current trajectory path to the first trajectory path;
if the current position is the same as the first position, controlling the robot to continue to operate according to the current track path from the current position;
if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to return to the first position, and then controlling the robot to continue to operate according to the current track path from the first position;
if the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position.
In order to solve the above technical problem, another technical solution adopted by the present application is to provide a robot control device, including:
the acquisition module is used for receiving a pause instruction, acquiring a first track path when the robot receives the pause instruction, and acquiring a first position of the first robot when the first robot receives the pause instruction;
the acquisition module is further configured to acquire a current position and a current trajectory path of the robot, where the current position includes position information of each axis in the robot;
the judging module is used for comparing the current position with the first position and comparing the current track path with the first track path;
the control module is used for controlling the robot to continue to operate according to the current track path from the current position if the current position is the same as the first position; if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to return to the first position, and then controlling the robot to continue to operate according to the current track path from the first position; if the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position.
In order to solve the above technical problem, another technical solution adopted by the present application is to provide a robot, including a memory and a processor coupled to each other, where the processor is configured to execute program instructions stored in the memory, so as to implement the robot control method.
In order to solve the above technical problem, another technical solution adopted by the present application is to provide a computer-readable storage medium, on which program instructions are stored, and the program instructions, when executed by a processor, implement the robot control method described above.
Through the scheme, the beneficial effects of the application are that: the robot control device receives the pause instruction, acquires a first track path when the robot receives the pause instruction, and acquires a first position of the robot when the robot receives the pause instruction in the first track path; acquiring the current position and the current track path of the robot, wherein the current position comprises the current position information of each axis in the robot; comparing the current position with the first position, and comparing the current trajectory path with the first trajectory path; if the current position is the same as the first position, controlling the robot to continue to operate according to the current track path from the current position; if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to continue to operate from the first position according to the current track path after the robot returns to the first position; if the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position. According to the scheme, the robot can be controlled to automatically return to the track path, so that the robot can continuously run, and the adaptability of the robot is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic flowchart of an embodiment of a robot control method provided in the present application;
fig. 2 is a simplified schematic diagram of a first trajectory path and a second trajectory path in the robot control method provided in the present application;
FIG. 3 is a block diagram of an embodiment of a robot controller provided herein;
FIG. 4 is a block diagram of an embodiment of a robot provided herein;
FIG. 5 is a block diagram of an embodiment of a computer-readable storage medium provided herein.
Detailed Description
The following describes in detail the embodiments of the present application with reference to the drawings attached hereto.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular system structures, interfaces, techniques, etc. in order to provide a thorough understanding of the present application.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Further, the term "plurality" herein means two or more than two. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a robot control method according to an embodiment of the present disclosure.
The execution subject of the robot control method may be a robot control device, for example, the robot control method may be executed by a robot or a server or other processing device, where the robot may be a User Equipment (UE), a mobile device, a User terminal, a handheld device, a computing device, or the like. In some possible implementations, the robot control method may be implemented by a processor calling computer readable instructions stored in a memory.
Specifically, the method of the embodiment of the present disclosure may include the steps of:
s101: receiving a pause instruction, acquiring a first track path when the robot receives the pause instruction, and acquiring a first position of the robot in the first track path when the robot receives the pause instruction.
The robot runs on a planned track path when not adjusted or moved, and in order to know whether the robot deviates from a specified track path when the robot is paused, a first track path of the robot is acquired, and a first position corresponding to the first track path when the robot is paused is acquired.
The first track path is a track path which runs when the robot is not adjusted by a user. The first position corresponding to the pause instruction in the first track path refers to the position information of each axis in the robot when the robot pauses at the pause position of the first track path.
S102: and acquiring the current position and the current track path of the robot, wherein the current position comprises the current position information of each axis in the robot.
After the robot is paused, the robot may be adjusted or moved to obtain the current position and track path of the robot after pausing.
S103: the current location is compared to the first location, and the current trajectory path is compared to the first trajectory path.
In order to know whether the robot deviates from the track path during the pause or not after the pause, the robot control device may perform a comparison determination according to the current position of the robot after the pause and the first position of the robot during the pause on the first track path, and perform a comparison determination according to the current track path of the robot after the pause and the first track path.
The method for determining whether the trajectory paths are the same includes, but is not limited to:
firstly, a first track function corresponding to a first track path and a second track function of a current track path are respectively obtained. And judging whether the track paths are the same by comparing whether the track functions are the same. Specifically, the robot control device determines that the first trajectory path is identical to the current trajectory path when the first trajectory function is identical to the second trajectory function; when the first trajectory function is different from the second trajectory function, the robot controller determines that the first trajectory path is different from the current trajectory path.
And secondly, acquiring a normalized path parameter corresponding to the pause instruction received by the robot, wherein the normalized path parameter represents the percentage of the walking path of the robot in the whole distance. The robot control device further obtains a second position of the current track path corresponding to the normalized path parameter, and judges whether the first position of the first track path is the same as the second position of the current track path. If the two track points are the same, continuously acquiring a plurality of track points on the first track path, and judging whether the track points are all on the current track path. If yes, the first track path is judged to be the same as the current track path.
S104: and if the current position is the same as the first position, controlling the robot to continue to run from the current position according to the current track path.
After the pause, the motion path of the robot may be changed by using a new path plan, so that it is also necessary to determine whether the current trajectory path is the same as the first trajectory path when the current position is the same as the first position. Specifically referring to fig. 2, fig. 2 is a simple schematic diagram of a first track path a and a current track path B in the robot control method provided by the present application, where a current position Jc of the robot is different from a first position Jp corresponding to the robot when the first track path is paused, and a running track of the robot is also changed to the current track path.
And if the current position is the same as the first position and the first track path is the same as the current track path, the robot control device controls the robot to continue to run according to the current track path from the current position.
If the current position is the same as the first position, but the first position is not on the current trajectory path, that is, the robot position does not move, but the trajectory is replanned, so that the current trajectory path is different from the first trajectory path, and therefore neither the first position nor the current position is on the current trajectory path, the robot control device needs to calculate a return position of the robot, where the return position is on the current trajectory path, then control the robot to reach the return position, and control the robot to continue to operate according to the current trajectory path from the return position.
The method for the robot control device to calculate the return position of the robot includes but is not limited to:
first, the robot control device obtains a normalized path parameter when the robot receives the pause instruction, and calculates a return position of the robot in the current trajectory path based on the normalized path parameter, that is, a percentage of the return position in the current trajectory path (from a start point of the current trajectory path) is equal to a percentage of the first position in the first trajectory path (from the start point of the first trajectory path).
Secondly, the robot control device obtains teaching points according to which the current track path is generated, wherein the teaching points may include a starting point, an end point and one or more auxiliary points of the current track path. Specifically, the starting point and the end point of the current trajectory path are the same as the starting point and the end point of the first trajectory path, and the auxiliary point of the current trajectory path may be a track point on the current trajectory path corresponding to the normalized path parameter when the robot receives the pause instruction. And calculating the distance between the starting point, the end point and one or more auxiliary points of the current track path of the robot and the current position, and taking the position on the current track path, which is closest to the current position, as a return position in the current track path.
Specifically, the distances between the starting point, the end point, and the auxiliary point and the current position may be respectively calculated by using an axis space first-order norm, and the distance calculated by using the axis space first-order norm satisfies the following formula:
wherein n is the number of robot axes, AiThe component of the shaft position with the i-th shaft being the current position, BiAn axis position component of an ith axis at any one of a start point, an end point or an auxiliary point on the second trajectory path.
S105: and if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to continue to operate from the first position according to the current track path after the robot returns to the first position.
If the robot control device judges that the current position is different from the first position and the current track path is the same as the first track path, the robot is directly controlled to return to the first position and is controlled to continue to run from the first position according to the current track path.
If the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position.
If the robot control device determines that the current position is different from the first position and the current trajectory path is different from the first trajectory path, the return position of the robot on the current trajectory path is calculated, and the calculation method of the return position is according to the method described above, which is not described herein again. And the robot control device controls the robot to reach the return position and controls the robot to continue to run according to the current track path from the return position.
In the embodiment of the disclosure, a robot control device receives a pause instruction, acquires a first track path when the robot receives the pause instruction, and acquires a first position of the robot when the robot receives the pause instruction in the first track path; acquiring the current position and the current track path of the robot, wherein the current position comprises the current position information of each axis in the robot; comparing the current position with the first position, and comparing the current trajectory path with the first trajectory path; if the current position is the same as the first position, controlling the robot to continue to operate according to the current track path from the current position; and if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to continue to operate from the first position according to the current track path after the robot returns to the first position. According to the scheme, the robot can be controlled to automatically return to the track path, so that the robot can continuously run, and the adaptability of the robot is improved.
Referring to fig. 3, fig. 3 is a schematic diagram of a framework of a robot control device according to an embodiment of the present disclosure. Robot controller 30 includes:
the obtaining module 31 is configured to receive a pause instruction, obtain a first trajectory path when the robot receives the pause instruction, and obtain a first position of the first robot when the first robot receives the pause instruction.
The obtaining module 31 is further configured to obtain a current position and a current trajectory path of the robot, where the current position includes position information of each axis in the robot.
A determining module 32, configured to compare the current position with the first position, and compare the current track path with the first track path.
The control module 33 is configured to control the robot to continue to operate from the current position according to the current trajectory path if the current position is the same as the first position; if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to return to the first position, and then controlling the robot to continue to operate according to the current track path from the first position; if the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position.
Referring to fig. 4, fig. 4 is a schematic diagram of a frame of a robot according to an embodiment of the present disclosure. The robot 40 comprises a memory 41 and a processor 42 coupled to each other, the processor 42 being configured to execute program instructions stored in the memory 41 to implement the steps of any of the robot control method embodiments described above. In one particular implementation scenario, robots 40 may include, but are not limited to: a microcomputer, a server, and in addition, the robot 40 may further include a mobile device such as a notebook computer, a tablet computer, and the like, which is not limited herein.
In particular, the processor 42 is adapted to control itself and the memory 41 to implement the steps of any of the robot control method embodiments described above. Processor 42 may also be referred to as a CPU (Central Processing Unit). The processor 42 may be an integrated circuit chip having signal processing capabilities. The Processor 42 may also be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, the processor 42 may be commonly implemented by an integrated circuit chip.
Referring to fig. 5, fig. 5 is a block diagram illustrating an embodiment of a computer-readable storage medium provided in the present application. The computer readable storage medium 50 stores program instructions 501 executable by the processor, the program instructions 501 being for implementing the steps of any of the robot control method embodiments described above.
In some embodiments, functions of or modules included in the apparatus provided in the embodiments of the present disclosure may be used to execute the method described in the above method embodiments, and specific implementation thereof may refer to the description of the above method embodiments, and for brevity, will not be described again here.
The foregoing description of the various embodiments is intended to highlight various differences between the embodiments, and the same or similar parts may be referred to each other, and for brevity, will not be described again herein.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a module or a unit is merely one type of logical division, and an actual implementation may have another division, for example, a unit or a component may be combined or integrated with another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some interfaces, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Claims (10)
1. A robot control method, characterized by comprising:
receiving a pause instruction, acquiring a first track path when the robot receives the pause instruction, and acquiring a first position of the robot in the first track path when the robot receives the pause instruction;
acquiring the current position and the current track path of the robot, wherein the current position comprises the current position information of each axis in the robot;
comparing the current location to the first location, and comparing the current trajectory path to the first trajectory path;
if the current position is the same as the first position, controlling the robot to continue to operate according to the current track path from the current position;
if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to return to the first position, and then controlling the robot to continue to operate according to the current track path from the first position;
if the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position.
2. The robot control method according to claim 1,
the step of calculating the return position of the robot includes:
acquiring a normalized path point when the robot receives the pause instruction, wherein the normalized path point is the percentage of the path traveled by the robot in the track path;
calculating a return position of the robot in the current trajectory path based on the normalized path points.
3. The robot control method according to claim 1,
the step of calculating the return position of the robot includes:
obtaining teaching points according to which the current track path is generated, wherein the teaching points comprise a starting point, an end point and auxiliary points of the current track path;
and taking the position corresponding to the point which is the closest to the current position in the starting point, the end point and the auxiliary point as a return position in the current track path.
4. The robot control method according to claim 3, further comprising:
and respectively calculating the distances between the starting point, the end point and the auxiliary point and the current position.
5. The robot control method according to claim 1,
if the current position is the same as the first position, the step of controlling the robot to continue running from the current position according to the current track path comprises the following steps:
if the current position is the same as the first position and the first track path is the same as the current track path, controlling the robot to continue to operate according to the current track path from the current position;
if the current position is the same as the first position and the first position is not on the current track path, calculating a return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to operate according to the current track path from the return position.
6. The robot control method according to claim 1,
the step of comparing the current trajectory path and the first trajectory path comprises:
acquiring a first track function of the first track path;
acquiring a second track function of the current track path;
and under the condition that the first track function is completely the same as the second track function, judging that the first track path is the same as the current track path.
7. The robot control method according to claim 1,
the step of comparing the first trajectory path and the current trajectory path comprises:
acquiring a normalized path parameter when the robot receives the pause instruction;
acquiring a second position corresponding to the current track path and the normalized path parameter;
judging whether the first position of the first track path is the same as the second position of the current track path;
if yes, acquiring a plurality of track points on the first track path;
judging whether the plurality of track points are all positioned on the current track path;
and if so, judging that the first track path is the same as the current track path.
8. A robot control apparatus, characterized by comprising:
the acquisition module is used for receiving a pause instruction, acquiring a first track path when the robot receives the pause instruction, and acquiring a first position of the first robot when the first robot receives the pause instruction;
the acquisition module is further configured to acquire a current position and a current trajectory path of the robot, where the current position includes position information of each axis in the robot;
the judging module is used for comparing the current position with the first position and comparing the current track path with the first track path;
the control module is used for controlling the robot to continue to operate according to the current track path from the current position if the current position is the same as the first position; if the current position is different from the first position and the current track path is the same as the first track path, controlling the robot to return to the first position, and then controlling the robot to continue to operate according to the current track path from the first position; if the current position is different from the first position and the current track path is different from the first track path, calculating the return position of the robot, controlling the robot to reach the return position, and controlling the robot to continue to run according to the current track path from the return position.
9. A robot comprising a memory and a processor coupled to each other, the processor being configured to execute program instructions stored in the memory to implement the robot control method of any of claims 1 to 7.
10. A computer-readable storage medium having stored thereon program instructions, characterized in that the program instructions, when executed by a processor, implement the robot control method of any of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011322515.5A CN112462765B (en) | 2020-11-23 | 2020-11-23 | Robot, control method and device thereof, and computer-readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011322515.5A CN112462765B (en) | 2020-11-23 | 2020-11-23 | Robot, control method and device thereof, and computer-readable storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112462765A true CN112462765A (en) | 2021-03-09 |
| CN112462765B CN112462765B (en) | 2023-06-06 |
Family
ID=74798369
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011322515.5A Active CN112462765B (en) | 2020-11-23 | 2020-11-23 | Robot, control method and device thereof, and computer-readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112462765B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4465155A (en) * | 1981-06-17 | 1984-08-14 | Collins Marshall S | Automated operatorless vehicles |
| JPH08305429A (en) * | 1995-04-28 | 1996-11-22 | Fanuc Ltd | Method for restarting robot after emergency stopping |
| JP2004174613A (en) * | 2002-11-25 | 2004-06-24 | Nachi Fujikoshi Corp | Restart operation control method for robot control device |
| US20090082953A1 (en) * | 2007-09-25 | 2009-03-26 | Denso Corporation | Navigation apparatus and program storage medium |
| CN105620470A (en) * | 2016-01-25 | 2016-06-01 | 雷沃重工股份有限公司 | Operation vehicle travel deflection detection and adjustment method and system |
| CN107561933A (en) * | 2017-08-21 | 2018-01-09 | 深圳市同川科技有限公司 | Speed adjusting method, device, computer equipment and storage medium |
| CN108415424A (en) * | 2018-02-05 | 2018-08-17 | 腾讯科技（深圳）有限公司 | Study of Intelligent Robot Control method and apparatus, system and storage medium |
| CN109974702A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot navigation method, robot and storage device |
-
2020
- 2020-11-23 CN CN202011322515.5A patent/CN112462765B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4465155A (en) * | 1981-06-17 | 1984-08-14 | Collins Marshall S | Automated operatorless vehicles |
| JPH08305429A (en) * | 1995-04-28 | 1996-11-22 | Fanuc Ltd | Method for restarting robot after emergency stopping |
| JP2004174613A (en) * | 2002-11-25 | 2004-06-24 | Nachi Fujikoshi Corp | Restart operation control method for robot control device |
| US20090082953A1 (en) * | 2007-09-25 | 2009-03-26 | Denso Corporation | Navigation apparatus and program storage medium |
| CN105620470A (en) * | 2016-01-25 | 2016-06-01 | 雷沃重工股份有限公司 | Operation vehicle travel deflection detection and adjustment method and system |
| CN107561933A (en) * | 2017-08-21 | 2018-01-09 | 深圳市同川科技有限公司 | Speed adjusting method, device, computer equipment and storage medium |
| CN109974702A (en) * | 2017-12-27 | 2019-07-05 | 深圳市优必选科技有限公司 | Robot navigation method, robot and storage device |
| CN108415424A (en) * | 2018-02-05 | 2018-08-17 | 腾讯科技（深圳）有限公司 | Study of Intelligent Robot Control method and apparatus, system and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112462765B (en) | 2023-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112964196B (en) | Three-dimensional scanning method, system, electronic device and computer equipment | |
| EP3650989A1 (en) | Calibration method and apparatus, terminal equipment and storage medium | |
| US20180085922A1 (en) | Carrier device for taking out objects one by one by optimal route | |
| CN107561933B (en) | Speed adjusting method and device, computer equipment and storage medium | |
| EP4238713A1 (en) | Method and apparatus for identifying control instruction, and non-volatile storage medium, processor, electronic apparatus and multi-joint robot | |
| US11345036B2 (en) | Robot control device, robot control system, and robot control method | |
| CN115439633A (en) | Calibration method and device and electronic equipment | |
| CN110865560A (en) | Zero-returning motion control method, terminal device and computer readable storage medium | |
| CN112462765A (en) | Robot, method and apparatus for controlling robot, and computer-readable storage medium | |
| CN111583338B (en) | Positioning method and device for unmanned equipment, medium and unmanned equipment | |
| JP5011904B2 (en) | Tracking method and apparatus | |
| CN111113428B (en) | Robot control method, robot control device and terminal equipment | |
| CN113207087B (en) | Wireless communication device connection method, system, wireless communication device and storage medium | |
| CN107520838B (en) | Mechanical arm and control method and device thereof | |
| CN112991527B (en) | Target object avoiding method and device, storage medium and electronic device | |
| CN114800505B (en) | Robot operation control method and device | |
| US10331946B2 (en) | Gesture control device and method | |
| US9079309B2 (en) | Terminal positioning method and system, and mobile terminal | |
| CN115519547A (en) | Reinforcing steel bar binding hand-eye calibration method and system | |
| CN113246145B (en) | Pose compensation method and system for nuclear industry grabbing equipment and electronic device | |
| US20220137629A1 (en) | Unmanned following vehicle | |
| US11325247B2 (en) | Robotic arm control method and apparatus and terminal device using the same | |
| CN112598645A (en) | Contour detection method, apparatus, device and storage medium | |
| CN113656418A (en) | Semantic map storage method and device, storage medium and electronic device | |
| CN109474741B (en) | Method for communication continuation during movement, mobile terminal and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |