CN112462765B - Robot, control method and device thereof, and computer-readable storage medium - Google Patents
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- 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
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- 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
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Abstract
The application discloses a robot and a control method, a device and a computer readable storage medium thereof, 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 running 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, after the control robot returns to the first position, the control robot continues to run according to the current track path from 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 run 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 continues to run, and the adaptability of the robot is improved.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a robot, a control method and apparatus thereof, and a computer readable storage medium.
Background
Robots are widely used in industry at present, and in the process of debugging a robot motion program, a user may move the robot out of a current running track path, and a certain strategy is needed to enable the robot to return to a planning path before the robot continues to run.
Disclosure of Invention
The application provides at least one robot, a control method and device thereof and a computer readable storage medium, which can improve the adaptability of the robot.
In order to solve the technical problems, the technical proposal adopted by the application is to provide a robot control method,
the robot control method comprises the following steps:
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 a current position and a current track path of the robot, wherein the current position comprises 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 run 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 running 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 a 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.
To solve the above technical problem, another technical solution adopted in the present application is to provide a robot control device, the robot control device includes:
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 used for acquiring the current position and the current track path of the robot, wherein the current position comprises the position information of each axis in the current robot;
a judging module 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 run 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 running 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 a 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 problems, another technical solution adopted in the present application is to provide a robot, which includes a memory and a processor that are coupled to each other, where the processor is configured to execute program instructions stored in the memory, so as to implement the above robot control method.
To solve the above-mentioned technical problem, another technical solution adopted in the present application is to provide a computer readable storage medium, on which program instructions are stored, which when executed by a processor, implement the robot control method described above.
Through above-mentioned scheme, the beneficial effect of this application is: the method comprises the steps that a robot control device receives a pause instruction, a first track path when the robot receives the pause instruction is obtained, and a first position of the robot in the first track path when the robot receives the pause instruction is obtained; acquiring a current position and a current track path of a robot, wherein the current position comprises current position information of each axis in the robot; comparing the current position with the first position and comparing the current track path with the first track path; if the current position is the same as the first position, controlling the robot to continue running 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, after the control robot returns to the first position, the control robot continues to run 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. According to the scheme, the robot can be controlled to automatically return to the track path, so that the robot can continue to 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 application and, together with the description, serve to explain the technical aspects of the application.
FIG. 1 is a flow chart of an embodiment of a robot control method provided herein;
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 schematic diagram of a robotic control device according to one embodiment of the disclosure;
FIG. 4 is a schematic diagram of a frame of an embodiment of a robot provided herein;
FIG. 5 is a schematic diagram of a framework of one embodiment of a computer readable storage medium provided herein.
Detailed Description
The following describes the embodiments of the present application in detail with reference to the drawings.
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, interfaces, techniques, etc., in order to provide a thorough understanding of the present application.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship. Further, "a 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 flow chart of an embodiment of a robot control method provided in the present application.
The robot control method may be executed by a robot control apparatus, for example, the robot control method may be executed by a robot or a server or other processing device, wherein 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 way of a processor invoking computer readable instructions stored in a memory.
Specifically, the method of the embodiment of the present disclosure may include the steps of:
s101: and 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 method comprises the steps of obtaining a first track path of the robot and obtaining a corresponding first position when the robot is suspended on the first track path, wherein the robot runs on a planned track path when not adjusted or moved, so as to obtain whether the robot deviates from the specified track path when suspended.
The first track path is a track path running when the robot is not adjusted by a user. The first position corresponding to the pause instruction in the first track path refers to position information of each axis in the robot when the robot pauses at the first track path pause position.
S102: the method comprises the steps of obtaining a current position and a current track path of the robot, wherein the current position comprises current position information of each axis in the robot.
After the robot is paused, the robot may be adjusted or moved, and the position and the track path of the current moment of the robot after the pause are acquired.
S103: the current position is compared to the first position and the current track path is compared to the first track path.
In order to know whether the robot deviates from the suspended track path after suspension, the robot control device may perform comparison and judgment according to the current position of the robot after suspension and the first position of the robot when suspension on the first track path, and perform comparison and judgment according to the current track path of the robot after suspension and the first track path.
Methods of determining whether the trajectory paths are identical include, but are not limited to:
first, respectively acquiring a first track function corresponding to a first track path and a second track function of a current track path. 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 in the case where 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 control device determines that the first trajectory path is different from the current trajectory path.
And secondly, acquiring a corresponding normalized path parameter when the robot receives a pause instruction, wherein the normalized path parameter represents the percentage of the total distance of the walking path of the robot. The robot control device further acquires a second position of the current track path corresponding to the normalized path parameter, and the robot control device judges whether the first position of the first track path is the same as the second position of the current track path. If the track points are the same, a plurality of track points are continuously acquired on the first track path, and whether the track points are all on the current track path is judged. If yes, judging that the first track path is 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 according to the current track path from the current position.
In this case, since the motion path of the robot may be changed using a new path plan after the suspension, it is necessary to determine whether the current trajectory path is the same as the first trajectory path if the current position is the same as the first position. Referring to fig. 2 specifically, fig. 2 is a simplified schematic diagram of a first track path a and a current track path B in the robot control method provided in the present application, where a current position Jc of the robot is different from a first position Jp corresponding to the first track path when the robot pauses, and a running track of the robot is also replaced with the current track path.
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 and the first position are the same, but the first position is not on the current track path, that is, the robot position is not moved, but the track is re-planned, so that the current track path is different from the first track path, and thus neither the first position nor the current position is on the current track path, the robot control device needs to calculate the return position of the robot, wherein the return position is on the current track path, then controls the robot to reach the return position, and controls the robot to continue to move according to the current track path from the return position.
Among them, the method of the robot control device calculating the return position of the robot includes, but is not limited to:
the first 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 track path based on the normalized path parameter, that is, a percentage of the return position to the current track path (from a start point of the current track path) is equal to a percentage of the first position to the first track path (from the start point of the first track path).
And second, the robot control device acquires teaching points according to which the current track path is generated, wherein the teaching points can comprise a starting point, an ending point and one or more auxiliary points of the current track path. Specifically, the starting point and the ending point of the current track path are the same as the starting point and the ending point of the first track path, and the auxiliary point of the current track path can be the track point of the normalized track parameter corresponding to the current track path when the robot receives the pause instruction. And calculating the distances between the starting point and the end point of the current track path of the robot and the current position of one or more auxiliary points, and taking the position closest to the current position on the current track path 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 can be calculated by using the first-order norm of the axis space, and the calculated distances satisfy the following formula:
wherein n is the number of robot axes, A i An axis position component with the i-th axis as the current position, B i An axis position component of the i-th axis that is any one of a start point, an end point, or an auxiliary point on the second trajectory path.
S105: if the current position is different from the first position and the current track path is the same as the first track path, the control robot returns to the first position and then continues to run according to the current track path from the first position.
And 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, directly controlling the robot to return to the first position and controlling the robot to continue to run 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.
If the robot control device determines that the current position is different from the first position and the current track path is different from the first track path, calculating a return position of the robot on the current track path, wherein the calculation method of the return position is according to the method described above and will not be described herein. The robot control device controls the robot to reach the return position and controls the robot to continue running 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 a robot receives the pause instruction, and acquires a first position of the robot in the first track path when the robot receives the pause instruction; acquiring a current position and a current track path of a robot, wherein the current position comprises current position information of each axis in the robot; comparing the current position with the first position and comparing the current track path with the first track path; if the current position is the same as the first position, controlling the robot to continue running 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, the control robot returns to the first position and then continues to run according to the current track path from the first position. According to the scheme, the robot can be controlled to automatically return to the track path, so that the robot can continue to run, and the adaptability of the robot is improved.
Referring to fig. 3, fig. 3 is a schematic frame diagram of an embodiment of a robot control device provided in the present application. The robot control device 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 determination module 32 for comparing the current position with the first position and comparing the current trajectory path with the first trajectory path.
A control module 33, configured to control the robot to continue to operate according to the current trajectory 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 running 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 a 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 frame diagram of an embodiment of a robot provided in the present application. The robot 40 comprises a memory 41 and a processor 42 coupled to each other, the processor 42 being adapted to execute program instructions stored in the memory 41 for carrying out the steps of any of the robot control method embodiments described above. In one particular implementation, robots 40 may include, but are not limited to: the robot 40 may include a mobile device such as a notebook computer and a tablet computer, and is not limited thereto.
In particular, the processor 42 is adapted to control itself as well as the memory 41 to implement the steps of any of the robot control method embodiments described above. The 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 (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a Field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, 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 schematic diagram of a frame of 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 for implementing the steps of any one of the robot control method embodiments described above.
In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
The foregoing description of various embodiments is intended to highlight differences between the various embodiments, which may be the same or similar to each other by reference, and is not repeated herein for the sake of brevity.
In the several embodiments provided in the present application, it should be understood that the disclosed methods and apparatus may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of modules or units is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical, or other forms.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all or part of the technical solution contributing to the prior art or in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Claims (10)
1. A robot control method, characterized in that the robot control method comprises:
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 a current position and a current track path of the robot, wherein the current position comprises 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 run 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 running 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 a return position of the robot on the current track path according to a track point on the current track path corresponding to a normalized track parameter when the robot receives a pause instruction and/or a closest point to the current position in a teaching point on the current track path, 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 method for controlling a robot according to claim 1, wherein,
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 of the robot to the path of the track;
and calculating the return position of the robot in the current track path based on the normalized path points.
3. The method for controlling a robot according to claim 1, wherein,
the step of calculating the return position of the robot includes:
acquiring a teaching point according to which the current track path is generated, wherein the teaching point comprises a starting point, an ending point and an auxiliary point of the current track path;
and taking the positions corresponding to the point closest to the current position in the starting point, the ending point and the auxiliary point as the return positions in the current track path.
4. A robot control method according to claim 3, characterized in that the robot control method further comprises:
and respectively calculating the distance between the starting point, the ending point and the auxiliary point and the current position.
5. The method for controlling a robot according to claim 1, wherein,
and if the current position is the same as the first position, controlling the robot to continue running according to the current track path from the current position, wherein the method 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 run 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 run according to the current track path from the return position.
6. The method for controlling a robot according to claim 1, wherein,
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 identical to the second track function, judging that the first track path is identical to the current track path.
7. The method for controlling a robot according to claim 1, wherein,
the step of comparing the first trajectory path and the current trajectory path comprises:
acquiring normalized path parameters when the robot receives the pause instruction;
acquiring a second position of the current track path corresponding to 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, a plurality of track points are obtained on the first track path;
judging whether the track points are all on the current track path or not;
if yes, the first track path is judged to be the same as the current track path.
8. A robot control device, characterized in that the robot control device comprises:
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 robot when the robot receives the pause instruction;
the acquisition module is further used for acquiring the current position and the current track path of the robot, wherein the current position comprises the position information of each axis in the current robot;
a judging module 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 run 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 running 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 a return position of the robot on the current track path according to a track point on the current track path corresponding to a normalized track parameter when the robot receives a pause instruction and/or a closest point to the current position in a teaching point on the current track path, 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 one of claims 1 to 7.
10. A computer readable storage medium having stored thereon program instructions, which when executed by a processor, implement the robot control method of any of claims 1 to 7.
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| 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 |
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