Robot motion control method, device and electronic equipment

Abstract

The embodiment of the present invention discloses a robot motion control method, device and electronic device. The method includes: controlling the robot to start circular arc circling from the current position; determining the real-time circling deviation information of the robot during circular arc circling; the real-time circling deviation information is characterized by the real-time radius residual and / or radius ratio of the actual circling radius relative to the expected circling radius; the circular arc circling of the robot is controlled according to the real-time circling deviation information, so that the direction of travel of the robot at the end of the circular arc circling is consistent with the operation direction of the target object. The technical solution of the present application introduces the radius residual and / or radius ratio in real time to represent the circling deviation occurring during the circular arc motion of the robot, and adaptively adjusts the circular arc motion of the robot based on the radius residual and / or radius ratio determined in real time, so that the robot moves close to the circular arc line, and achieves high efficiency and high precision alignment with the operation direction of the target object.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a robot motion control method, device and electronic equipment. Background Art

[0002] With the continuous emergence of automated equipment, robots such as automated guided vehicles (AGVs), mobile robots, and unmanned forklifts are widely used in industrial handling scenarios.

[0003] In robot handling scenarios, robots are usually required to automatically align with targets to perform task operations, such as unmanned forklifts automatically aligning with and picking up pallets to perform handling tasks. However, there are certain position and posture deviations between the robot and the target, resulting in the robot being unable to perform high-precision and high-efficiency motion control during the picking process, which in turn makes it more difficult to align with the target to perform the handling task. Summary of the invention

[0004] The present invention provides a robot motion control method, device and electronic equipment, which can effectively realize the vehicle's adaptive adjustment of its own direction, and quickly, efficiently and accurately align and fork pallets and other target objects.

[0005] According to one aspect of the present invention, a robot motion control method is provided, the method comprising:

[0006] Control the robot to start from the current position and make circular arc movement;

[0007] Determine the real-time detour deviation information of the robot when it detours in an arc; the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii;

[0008] The circular arc detour of the robot is controlled according to the real-time detour deviation information, so that the travel direction of the robot at the end of the circular arc detour is consistent with the operation direction of the target object.

[0009] According to another aspect of the present invention, there is provided a robot motion control device, the device comprising:

[0010] The starting module is used to control the robot to start from the current position and make circular arc movements;

[0011] A residual determination module is used to determine the real-time detour deviation information of the robot when it detours in an arc; the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii;

[0012] The control module is used to control the circular arc detour of the robot according to the real-time detour deviation information, so that the travel direction of the robot at the end of the circular arc detour is consistent with the operation direction of the target object.

[0013] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot motion control method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the robot motion control method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention controls the robot to start circular arc circumvention from the current position, determines the real-time radius residual and / or the real-time radius ratio of the actual circumvention radius of the robot relative to the expected circumvention radius during circular arc circumvention; controls the robot's circular arc circumvention according to the real-time radius residual and / or the real-time radius ratio, so that the robot's direction of travel at the end of the circular arc circumvention is consistent with the operating direction of the target object. The technical solution of the present application introduces the radius residual and / or the radius ratio in real time to represent the circumvention deviation occurring during the circular arc motion of the robot, and adaptively adjusts the circular arc motion of the robot based on the radius residual and / or radius ratio determined in real time, so that the robot moves close to the circular arc line, and achieves efficient and high-precision alignment with the operating direction of the target object.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1is a flow chart of a robot motion control method provided according to an embodiment of the present invention;

[0022] Figure 2 is a schematic diagram of a detour trajectory of a robot making an arc detour according to an embodiment of the present invention;

[0023] Figure 3 is a flow chart of another robot motion control method provided according to an embodiment of the present invention;

[0024] Figure 4 is a flow chart of another robot motion control method provided according to an embodiment of the present invention;

[0025] Figure 5 is a schematic structural diagram of a robot motion control device provided according to an embodiment of the present invention;

[0026] Figure 6 It is a structural schematic diagram of an electronic device for implementing a robot motion control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0028] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Figure 1A flowchart of a robot motion control method is provided for an embodiment of the present invention. This embodiment is applicable to the case where the robot accurately docks with a target object during operation. The method can be executed by a robot motion control device, which can be implemented in the form of hardware and / or software. The robot motion control device can be configured in an electronic device with data processing capabilities. Figure 1 As shown, the robot motion control method of this embodiment may include the following steps:

[0030] S110, controlling the robot to start from the current position and perform circular arc movement.

[0031] The technical solution of this embodiment can be implemented by a robot, a control unit integrated in the robot, and electronic devices such as a backend server for managing the robot. Among them, the robot may include an automatic guided vehicle AGV, a mobile robot, and an unmanned forklift.

[0032] Optionally, the relative distance between the current position of the robot and the target object is detected in real time. When it is detected that the relative distance between the robot and the target object is within a preset distance range, the robot is controlled to start the circular arc operation with the current position as the starting point of the circular arc.

[0033] In different application scenarios, the preset distance range used to determine whether the robot starts to make a circular detour will be different. Taking unmanned forklifts and other robots as an example, in the scenario where the fork arm of the unmanned forklift picks up a pallet, when it is detected that the unmanned forklift is 2.0m away from the target object, the unmanned forklift is controlled to start preparing to pick up the pallet, and the unmanned forklift starts to make a circular detour from the current position; in the scenario where the unmanned forklift adjusts its direction to align with the charging pile, when it is detected that the unmanned forklift is 2.0m away from the target object, the unmanned forklift is controlled to start preparing to match the direction of the charging port and the charging pile, and the unmanned forklift starts to make a circular detour from the current position, and adjusts its direction during the circular motion.

[0034] S120. Determine the real-time detour deviation information when the robot makes circular arc detour; wherein the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii.

[0035] See also Figure 2In the process of the robot making an arc detour around the center of the arc according to the expected detour radius, the ideal situation is that the robot makes an arc detour along the expected arc detour route, but the robot will inevitably have motion deviations, and the accumulated deviations will eventually lead to the deviation of the arc detour route. To this end, the actual detour radius of the robot during the arc detour can be periodically (for example, at intervals of 0.05s), and the difference between the actual detour radius of the robot during the arc detour and the expected detour radius can be calculated to obtain the real-time radius residual of the robot during the arc detour. In addition, the radius ratio between the expected detour radius of the robot's arc detour and the actual detour radius can also be calculated as the ratio between the actual radii during the robot's arc detour.

[0036] S130. Control the circular arc movement of the robot according to the real-time movement deviation information, so that the movement direction of the robot at the end of the circular arc movement is consistent with the operation direction of the target object.

[0037] See also Figure 2 The real-time detour deviation information described by the real-time radius residual and / or the real-time radius ratio can reflect the deviation of the robot from the expected circular arc detour route during circular arc detour. The real-time radius residual can be used to analyze whether there is a travel deviation during the robot's circular arc detour, so that the robot can make adaptive adjustments to the travel direction in time when the robot has an arc detour, and finally achieve the goal of keeping the robot's travel direction the same as the operating direction of the target object when the robot's circular arc detour ends.

[0038] In this way, when the robot finishes moving around the center of the arc according to the expected radius corresponding to the arc rotation, since the robot's moving direction at the end of the arc rotation is the same as the operation direction of the target object, the robot can be directly controlled to move in a straight line toward the target object along the tangent direction of the end point of the arc rotation at the end of the arc rotation. The robot does not need to adjust its direction over a larger range and can directly reach the position of the target object and dock with it with high precision.

[0039] According to the technical solution of the embodiments of the present invention, the detour deviation occurring during the circular motion of the robot is represented by the real-time introduction of radius residual and / or radius ratio, and the circular motion of the robot is adaptively adjusted based on the real-time determined radius residual and / or radius ratio, so that the robot can move close to the circular arc line, thereby achieving efficient and high-precision alignment with the operating direction of the target object.

[0040] Based on the above embodiments, optionally, the robot motion control method of this embodiment also includes: at the end of the robot's circular arc, controlling the robot to move in a straight line toward the target object and controlling the target operating component on the robot to perform vertical up and down distance fine-tuning to align with the target object.

[0041] For example, when the robot finishes its circular orbit, it can be controlled to go straight to the location of the target object. Since the direction of travel of the robot at the end of the circular orbit is consistent with the operating direction of the target object, it is only necessary to adjust the vertical height of the docking component on the robot (such as the fork arm of the unmanned forklift and the charging port of the unmanned forklift) to align the docking component of the robot with the target object (such as a pallet or charging pile) to realize charging or picking operations.

[0042] Figure 3 The present invention provides a flowchart of another robot motion control method. Based on the above embodiment, this embodiment further optimizes the process of controlling the robot to start from the current position and perform circular arc detour in the above embodiment. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 3 As shown, the robot motion control method of this embodiment may include the following steps:

[0043] S310, determining the tangent direction of the arc starting point when the robot starts to move in an arc.

[0044] See also Figure 2 After planning an arc detour route for a robot (such as an AGV), there may be a problem that the robot's travel direction does not match the arc, resulting in the robot being unable to follow the arc within a certain distance at the beginning of the arc detour. It takes a long time to drastically adjust the travel direction before it can move close to the arc.

[0045] For long-distance arc detours, the time consumed by drastically adjusting the robot's direction of travel may be negligible, but for short-distance arc detours, the time consumed by drastically adjusting the direction of travel may be enough for the robot to complete the arc detour. For this reason, before controlling the robot to perform an arc detour, it is necessary to first determine the tangent direction of the arc starting point corresponding to the start of the arc detour, so as to facilitate the adjustment of the robot's direction of travel. At the beginning of the arc detour, the robot moves close to the arc from the direction of travel of the robot, so that there will be no large adjustment of the robot's direction of travel in the future, and it is convenient to achieve the purpose of fitting the arc detour by only fine-tuning the radius residual and / or radius ratio near the arc.

[0046] In an optional solution of this embodiment, determining the tangent direction of the arc starting point when the robot starts to travel in an arc may include steps A1-A2:

[0047] Step A1, determining the first distance and the second distance required for the robot to start circular arc movement.

[0048] Among them, the first distance includes the preset travel distance of the robot from the start of the arc to the end of the arc and parallel to the operation direction of the target object; the second distance includes the vertical travel distance of the robot from the current position to the operation direction of the target object.

[0049] See also Figure 2 , the first distance d1 can be the preset travel distance of the robot from the start of the arc to the end of the arc at the current moment, which is parallel to the operation direction of the target object. By satisfying the first distance d1, the robot can reach the front of the target object along the operation direction of the target object at the end of the arc, that is, the operation direction of the target object coincides with the tangent direction of the arc end point at the end of the arc. Among them, the first distance d1 is a preset value, and the first distance d1 is less than the third distance d3. The third distance d3 is the travel distance of the robot from the current position to the target position and parallel to the operation direction of the target object.

[0050] See also Figure 2 , the current position of the robot (x1, y1), the position of the target object (x0, y0) and the operating direction th1 of the target object can also be determined, and the vertical travel distance of the robot from the current position to the operating direction of the target object is calculated by the vector outer product geometry method, and the second distance d2 can be obtained. The calculation formula of the second distance d2 is as follows: d2 = (y1-y0)*cos(th1)-(x1-x0)*sin(th1), where the calculated d2 has positive and negative signs, for example, it is positive when the robot is on the left side of the target object and negative when it is on the right side.

[0051] Step A2: Determine the tangent direction of the arc starting point when the robot starts to move around the arc according to the first distance, the second distance and the operation direction of the target object.

[0052] The tangent direction of the arc starting point is used to provide a direction of travel at the beginning of the arc that enables the robot to start the arc from the current position and to keep the direction of travel of the robot consistent with the operating direction of the target object when the arc ends.

[0053] See also Figure 2 The tangent direction angle th3 of the arc starting point when the robot starts to travel around the arc can be calculated by performing an inverse tangent function based on the determined first distance d1 and second distance d2. The specific calculation formula of the tangent direction angle of the arc starting point is: th3=th1+2*atan2(d2,d1).

[0054] S320, controlling the robot to rotate its moving direction at the current position to the tangent direction of the arc starting point when the arc circling begins, and controlling the robot to start the arc circling after the rotation is completed.

[0055] See also Figure 2After determining the tangent direction th3 of the arc starting point when the robot starts to orbit the arc and the original travel direction th2 of the robot at the current position, the angle thr=th3-th2 that the robot needs to rotate at the current position can be calculated. The robot can be controlled to rotate in situ at the current position according to the required rotation angle, and the travel direction of the robot at the current position can be rotated to the tangent direction of the arc starting point when the arc orbit starts.

[0056] In an optional solution of this embodiment, controlling the robot to start to perform circular arc movement may include steps B1-B2:

[0057] Step B1, determining the expected circling radius and the center position of the arc when the robot starts circling the arc according to the first distance, the second distance and the operation direction of the target object.

[0058] Step B2: Based on the expected detour radius and the center position of the arc, control the robot to start detour in the arc.

[0059] See also Figure 2 In addition to the robot determining the tangent direction of the arc starting point at the start of the arc detour to adjust the robot's travel direction at the start of the arc detour, the first distance, the second distance, and the target object's operating direction are also required to calculate the expected detour radius and the arc center position at the start of the robot's arc detour. Only by allowing the robot to start the arc detour along the tangent direction of the arc starting point at the start of the arc detour and to detour around the arc center according to the expected detour radius can the robot start the arc detour from the current position and keep the robot's travel direction consistent with the target object's operating direction at the end of the arc detour.

[0060] Alternatively, see Figure 2 , the calculation process of the expected detour radius and the arc center position at the beginning of the robot's arc detour is as follows:

[0061] r1=(d1^2+d2^2) / (2*d2);

[0062] xm=x0+(d-d1)*cos(th1),

[0063] ym=y0+(d-d1)*sin(th1);

[0064] xc=xm+r1*cos(th1+Pi / 2),

[0065] yc=ym+r1*sin(th1+Pi / 2);

[0066] Wherein, r1 represents the expected radius of the robot's circular orbit, (xc, yc) represents the center position of the arc, (xm, ym) represents the middle point connecting the arc orbit route and the straight route toward the target object at the end of the arc orbit, (x0, y0) represents the position of the target object, pi represents pi, and th1 represents the operation direction of the target object.

[0067] S330, determining the real-time detour deviation information when the robot makes circular arc detour; wherein the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii.

[0068] S340. Control the circular arc movement of the robot according to the real-time movement deviation information, so that the movement direction of the robot at the end of the circular arc movement is consistent with the operation direction of the target object.

[0069] According to the technical solution of the embodiment of the present invention, the detour deviation occurring during the circular motion of the robot is represented by introducing the radius residual and / or the ratio between radii in real time, and the circular motion of the robot is adaptively adjusted based on the radius residual and / or the ratio between radii determined in real time, so that the robot moves close to the circular arc line, and the operation direction of the target object is aligned with high efficiency and high precision. It is particularly important that, since the AGV used in industrial handling scenes usually cannot perform translational motion, for high-precision motion, it is usually necessary to rotate, move straight, rotate again, and move straight again to move to the target point for forking, resulting in low motion efficiency, and the accuracy does not meet the requirements due to various reasons. However, this solution is based on the radius residual and / or the ratio between radii to control the robot with high precision to make the robot as close to the circular arc route as possible for circular detour, and only rotation, circular arc motion, and straight motion are required to directly reach the target point for automatic forking action, which not only reduces the motion control steps and improves efficiency, but also realizes the alignment of the robot and the target object with high precision during the motion process.

[0070] Figure 4 The present invention provides a flowchart of another robot motion control method. Based on the above embodiments, this embodiment further optimizes the process of controlling the circular arc detour of the robot according to the real-time detour deviation information in the above embodiments. This embodiment can be combined with various optional solutions in one or more of the above embodiments. Figure 4 As shown, the robot motion control method of this embodiment may include the following steps:

[0071] S410, controlling the robot to start from the current position and perform circular movement.

[0072] S420, determining the real-time detour deviation information when the robot makes circular arc detour; wherein the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii.

[0073] See also Figure 2 , calculate the real-time radius residual dr(t)=r2-r1 of the actual detour radius r2 of the robot relative to the expected detour radius r1 and the radius ratio kb1=r1 / r2 between the expected detour radius and the actual detour radius of the robot's circular detour in real time, so as to characterize the real-time detour deviation. The actual detour radius of the robot's circular detour is collected periodically, that is, the distance between the robot and the arc center position (xc, yc) is r2. The calculation process of the actual detour radius r2 of the robot's circular detour is as follows:

[0074] If r1>0, r2=sqrt((x1-xc)^2+(y1-yc)^2);

[0075] If r1<0, r2=-sqrt((x1-xc)^2+(y1-yc)^2);

[0076] Among them, r1 is positive when the robot is on the left side of the target object, and r1 is negative when it is on the right side. (x1, y1) represents the current position of the robot, and (xc, yc) represents the center position of the arc.

[0077] S430: adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain an adjusted detour radius.

[0078] Since the robot may deviate during its movement, such as due to aging of moving parts, travel deviation caused by the inevitable traction resistance of circular motion, etc., the actual detour radius of the robot may deviate from the expected detour radius. The deviation is described by the radius residual and / or the ratio between radii. If the radius residual is large and / or the ratio between radii deviates greatly from a fixed value (such as 1), it indicates that the actual detour radius is greatly deviated from the expected detour radius. If the expected detour radius is used for circular detour, the subsequent superimposed deviation will be even greater.

[0079] To this end, the real-time radius residual and / or the ratio between radii when the robot is circling an arc can be calculated in real time, and the real-time radius residual and / or the ratio between radii calculated in real time can be used to fine-tune the expected bypass radius during the circular bypass. Before the next new real-time radius residual and / or the ratio between radii is obtained, the adjusted bypass radius can be used to control the robot to perform an arc bypass around the center of the arc according to the adjusted bypass radius, instead of using the expected bypass radius. In this way, the robot can be brought closer to the circular bypass route by adjusting the bypass radius, so that the robot can perform an arc bypass as close to the arc line as possible, avoiding the accumulation of deviations and causing greater travel deviations.

[0080] In an optional solution of this embodiment, adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain the adjusted detour radius may include steps C1-C2:

[0081] Step C1, according to the real-time radius residual indicated by the real-time detour deviation information, the PID control parameters are calculated according to the preset proportional coefficient, integral coefficient and differential coefficient.

[0082] In order to fine-tune the desired detour radius more smoothly, ensure that the subsequent arc detour can be achieved more smoothly and reduce the fluctuation amplitude of the arc detour, the real-time radius residual indicated by the real-time detour deviation information can be used as the PID control deviation, and the PID control parameters are calculated according to the preset proportional coefficient, integral coefficient and differential coefficient.

[0083] The PID control parameter calculation process is as follows:

[0084]

[0085] Among them, Kp, Ki, and Kd are the proportional coefficient, integral coefficient, and differential coefficient, respectively. PID control implies the main information of the past, present, and future in the dynamic control process. The proportional coefficient Kp represents the current information, plays a role in correcting deviations, and makes the process respond quickly; the differential coefficient Kp has a leading control effect when the signal changes, represents future information, forces the process to proceed at the beginning of the process, and reduces overshoot at the end of the process, overcomes oscillation, improves the stability of the system, and speeds up the transition process of the system; the integral coefficient Ki represents the information accumulated in the past, which can eliminate static errors and improve the static characteristics of the system. The PID control parameters are obtained based on the radius residual, and the PID control parameters accurately represent the detour deviations that occur during the circular motion of the robot.

[0086] Step C2: adjusting the desired detour radius during circular arc detour according to the PID control parameters to obtain an adjusted detour radius.

[0087] When the PID control parameter Codr(t) is obtained, the difference between the expected detour radius and the PID control parameter Codr(t) can be used as the adjusted detour radius, that is, r(t)=r1-Codr(t). Based on the PID control parameters, the robot's circular motion is adaptively adjusted. The PID control parameters adjust the expected detour radius during circular detour, which can make the dynamic process fast, stable and accurate, and ensure that the robot can more smoothly and closely perform circular detours.

[0088] In an optional solution of this embodiment, adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain the adjusted detour radius may include the following steps:

[0089] The inverse of the ratio between the real-time radii indicated by the real-time detour deviation information is multiplied by the expected detour radius during circular detour to obtain the adjusted detour radius.

[0090] The inverse of the ratio between the actual winding radius and the expected winding radius is used as the adjustment coefficient of the expected winding radius, that is, the radius ratio kb1=r1 / r2 between the expected winding radius of the robot's circular arc winding and the actual winding radius is used as the adjustment coefficient of the expected winding radius. The calculation process of the adjusted winding radius is as follows: r(t)=kb1*kb1*r1.

[0091] By adopting the above scheme, the ratio between radii is introduced in real time, and the desired detour radius is directly adjusted and controlled based on the ratio between radii. The detour deviation occurring during the circular motion of the robot is represented with high precision and the circular motion of the robot is adaptively adjusted accordingly. Subsequently, the linear velocity and angular velocity of the robot are given so that the robot moves close to the circular arc line, thereby achieving efficient and high-precision operation direction of the target object.

[0092] S440. Send the angular velocity and linear velocity to the robot according to the adjusted detour radius, and control the robot to make a circular detour close to the arc line, so that the travel direction of the robot at the end of the circular detour is consistent with the operation direction of the target object.

[0093] After determining the adjusted detour radius, the linear velocity used by the robot during the circular arc detour is determined to be Vx(t), and the angular velocity to be issued is Vth(t) = Vx(t) / r(t). By issuing linear velocity and angular velocity commands, the robot can move along the arc to the middle position (xm, ym) as much as possible, and at the end of the circular arc detour, the robot's moving direction is consistent with the operating direction of the target object.

[0094] When the robot completes the arc, the robot is controlled to enter the straight-line travel phase, and the robot is controlled to travel in a straight line toward the target object, so that the robot can move to the front of the target object along the operation direction of the target object with high precision. In this straight-line travel phase, the robot can retreat to the position of the target object with high precision by fine-tuning the robot's posture according to the vertical distance between the robot and the operation direction of the target object.

[0095] According to the technical solution of the embodiments of the present invention, the detour deviation occurring during the circular motion of the robot is represented by the real-time introduction of radius residuals and / or radius ratios, and the circular motion of the robot is adaptively adjusted based on the radius residuals and / or radius ratios determined in real time. By giving the robot a linear velocity and an angular velocity so that the robot moves close to the circular arc line, the operation direction of the target object can be aligned efficiently and accurately.

[0096] Figure 5 The present invention provides a block diagram of a robot motion control device. This embodiment is applicable to the situation where the robot accurately docks with a target object during operation. The robot motion control device can be implemented in the form of hardware and / or software. The robot motion control device can be configured in an electronic device with data processing capabilities. Figure 5 As shown, the robot motion control device of this embodiment may include the following: a starting module 510, a residual determination module 520, and a detour control module 530. Among them:

[0097] The starting module 510 is used to control the robot to start from the current position and perform circular arc movement.

[0098] The residual determination module 520 is used to determine the real-time detour deviation information of the robot when it is circling in an arc; the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii.

[0099] The control module 530 is used to control the circular arc detour of the robot according to the real-time detour deviation information, so that the travel direction of the robot at the end of the circular arc detour is consistent with the operation direction of the target object.

[0100] Based on the above embodiment, optionally, the starting module 510 includes:

[0101] Determine the tangent direction of the arc starting point when the robot begins to move around the arc;

[0102] The robot is controlled to rotate its direction of travel at the current position to the tangent direction of the arc starting point when the arc is circling, and after the rotation is completed, the robot is controlled to start the arc circling.

[0103] Based on the above embodiment, optionally, determining the tangent direction of the arc starting point when the robot starts to travel in an arc includes:

[0104] Determine a first distance and a second distance required for the robot to start the circular arc; the first distance includes a preset travel distance of the robot from the start of the circular arc to the end of the circular arc and parallel to the operation direction of the target object; the second distance includes a vertical distance from the current position of the robot to the operation direction of the target object;

[0105] Determine the tangent direction of the arc starting point when the robot starts to move around the arc according to the first distance, the second distance and the operation direction of the target object;

[0106] The tangent direction of the arc starting point is used to enable the robot to start the arc from the current position and to ensure that the robot's moving direction is consistent with the operating direction of the target object when the arc is finished.

[0107] Based on the above embodiment, optionally, controlling the robot to start to perform circular arc circumvention includes:

[0108] Determine the expected detour radius and the center position of the arc at the beginning of the circular arc detour of the robot according to the first distance, the second distance and the operation direction of the target object;

[0109] Based on the expected detour radius and the center position of the arc, the robot is controlled to start the arc detour.

[0110] Based on the above embodiment, optionally, the control module 530 includes:

[0111] Adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain an adjusted detour radius;

[0112] The angular velocity and the linear velocity are sent to the robot according to the adjusted detour radius, so as to control the robot to detour in an arc close to the arc line.

[0113] On the basis of the above embodiment, optionally, adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain the adjusted detour radius includes:

[0114] According to the real-time radius residual indicated by the real-time detour deviation information, a PID control parameter is calculated according to a preset proportional coefficient, an integral coefficient and a differential coefficient;

[0115] The desired detour radius during circular arc detour is adjusted according to the PID control parameters to obtain the adjusted detour radius.

[0116] On the basis of the above embodiment, optionally, adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain the adjusted detour radius includes:

[0117] The inverse of the ratio between the real-time radii indicated by the real-time detour deviation information is multiplied by the expected detour radius during circular arc detour to obtain the adjusted detour radius.

[0118] Based on the above embodiment, optionally, the device is further used for:

[0119] When the robot's circular arc movement ends, the robot is controlled to move in a straight line toward the target object, and the target operation component on the robot is controlled to perform vertical up and down distance fine adjustment to align with the target object.

[0120] The robot motion control device provided in the embodiment of the present invention can execute the robot motion control method provided in any embodiment of the present invention mentioned above, and has the corresponding functions and beneficial effects of executing the robot motion control method. For detailed process, please refer to the relevant operations of the robot motion control method in the above embodiment.

[0121] Figure 6 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0122] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0123] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0124] The processor 11 may be various general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a robot motion control method.

[0125] In some embodiments, the robot motion control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot motion control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the robot motion control method in any other appropriate manner (e.g., by means of firmware).

[0126] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0127] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0128] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0129] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0130] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0131] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0132] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0133] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot motion control method, characterized in that: The method comprises: Control the robot to start from the current position and make circular movement; Determine the real-time detour deviation information of the robot when it detours in an arc; the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii; Controlling the circular arc detour of the robot according to the real-time detour deviation information so that the travel direction of the robot at the end of the circular arc detour is consistent with the operation direction of the target object; Wherein, controlling the circular arc detour of the robot according to the real-time detour deviation information comprises: Adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain an adjusted detour radius; Sending an angular velocity and a linear velocity to the robot according to the adjusted detour radius, and controlling the robot to detour in an arc close to the arc line; The method of adjusting the expected detour radius during arc detour according to the real-time detour deviation information to obtain the adjusted detour radius includes: The inverse of the ratio between the real-time radii indicated by the real-time detour deviation information is multiplied by the expected detour radius during circular arc detour to obtain the adjusted detour radius.

2. The method according to claim 1, characterized in that: Control the robot to start from the current position and make a circular arc, including: Determine the tangent direction of the arc starting point when the robot begins to move around the arc; The robot is controlled to rotate its direction of travel at the current position to the tangent direction of the arc starting point when the arc is circling, and after the rotation is completed, the robot is controlled to start the arc circling.

3. The method according to claim 2, characterized in that Determine the tangent direction of the arc starting point when the robot begins to orbit the arc, including: Determine a first distance and a second distance required for the robot to start the circular arc; the first distance includes a preset travel distance of the robot from the start of the circular arc to the end of the circular arc and parallel to the operation direction of the target object; the second distance includes a vertical travel distance of the robot from the current position to the operation direction of the target object; Determine the tangent direction of the arc starting point when the robot starts to move around the arc according to the first distance, the second distance and the operation direction of the target object; The tangent direction of the arc starting point is used to provide a direction of travel at the beginning of the arc that enables the robot to start the arc from the current position and to keep the direction of travel of the robot consistent with the operating direction of the target object when the arc ends.

4. The method according to claim 3, characterized in that Control the robot to start circular movement, including: Determine the expected detour radius and the center position of the arc at the beginning of the circular arc detour of the robot according to the first distance, the second distance and the operation direction of the target object; Based on the expected detour radius and the center position of the arc, the robot is controlled to start the arc detour.

5. The method according to claim 1, characterized in that The method further comprises: When the robot's circular arc movement ends, the robot is controlled to move in a straight line toward the target object, and the target operation component on the robot is controlled to perform vertical up and down distance fine adjustment to align with the target object.

6. A robot motion control device, characterized in that: The device comprises: The starting module is used to control the robot to start from the current position and make circular arc movements; A residual determination module is used to determine the real-time detour deviation information of the robot when it detours in an arc; the real-time detour deviation information is represented by the real-time radius residual of the actual detour radius relative to the expected detour radius and / or the ratio between radii; A control module, used for controlling the circular arc detour of the robot according to the real-time detour deviation information, so that the travel direction of the robot at the end of the circular arc detour is consistent with the operation direction of the target object; Wherein, the control module is specifically used for: Adjusting the expected detour radius during circular arc detour according to the real-time detour deviation information to obtain an adjusted detour radius; Sending an angular velocity and a linear velocity to the robot according to the adjusted detour radius, and controlling the robot to detour in an arc close to the arc line; The method of adjusting the expected detour radius during arc detour according to the real-time detour deviation information to obtain the adjusted detour radius includes: The inverse of the ratio between the real-time radii indicated by the real-time detour deviation information is multiplied by the expected detour radius during circular arc detour to obtain the adjusted detour radius.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot motion control method according to any one of claims 1 to 5.

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