Method, apparatus, terminal device and storage medium for controlling robot operation

Abstract

The application provides a method and device for controlling robot operation, a terminal device and a storage medium, and relates to the technical field of robots. The method comprises the following steps: when a robot moves to a specified position in front of a target object, a signal transceiver on the robot is controlled to emit a first detection signal to a first area, the first area being an area in which an edge part of the target object is correctly placed; and if the signal transceiver does not receive a reflection signal corresponding to the first detection signal, the robot is controlled to perform a preset operation on the target object. Through the scheme provided in the application, a collision accident can be avoided when the robot participates in production activities.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a method and device for controlling robot operation, a terminal device and a storage medium. BACKGROUND

[0002] In order to improve production efficiency, robots are generally used in current production activities to replace manual operation. For example, in the mold production process, electrode pull pins need to be installed on electrode base jigs, and the electrode base jigs are gripped by robots so as to facilitate the production of molds based on the gripped electrode base jigs.

[0003] However, since installation errors are prone to occur when the electrode pull pins are installed on the electrode base jigs, collisions often occur in the process of the robot taking and placing the electrode base jigs. Therefore, when robots are used to participate in production activities, collisions are prone to occur due to the mechanical nature of robot control. SUMMARY

[0004] The embodiments of the present application provide a method and device for controlling robot operation, a terminal device and a storage medium to solve the problem that collisions are prone to occur when robots are used to participate in production activities due to the mechanical nature of robot control.

[0005] In a first aspect, the embodiments of the present application provide a method for controlling robot operation, comprising:

[0006] When the robot moves to a specified position in front of the target object, a signal transceiving device on the robot is controlled to emit a first detection signal to a first area, and the first area is an area where an edge part of the correctly placed target object is located.

[0007] If the signal transceiving device does not receive a reflected signal corresponding to the first detection signal, the robot is controlled to perform a preset operation on the target object.

[0008] The method for controlling the robot to run provided in the embodiments of the present application determines that the robot moves to a specified position in front of a target object, controls a signal transceiver on the robot to emit a first detection signal to a first area where an edge part of the correctly placed target object is located, detects whether a reflection signal corresponding to the first detection signal is received through the signal transceiver, and when the signal transceiver does not receive the reflection signal corresponding to the first detection signal, it indicates that there is no obstacle in the first area, and the robot will not collide when performing a preset operation on the target object, so the robot can be controlled to perform the preset operation on the target object, and when the signal transceiver receives the reflection signal corresponding to the first detection signal, the robot is controlled not to perform the preset operation on the target object. Based on the above scheme, the collision accident caused by the mechanical nature of the robot when the robot participates in the production activities can be effectively avoided.

[0009] In a second aspect, the embodiments of the present application provide a device for controlling a robot to run, comprising:

[0010] A first control module is configured to control a signal transceiver on the robot to emit a detection signal to a first area when the robot moves to a specified position in front of a target object, the first area being an area where an edge part of the correctly placed target object is located;

[0011] A second control module is configured to control the robot to perform a preset operation on the target object if the signal transceiver does not receive a reflection signal corresponding to the detection signal.

[0012] In a third aspect, the embodiments of the present application provide a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for controlling the robot to run when executing the computer program.

[0013] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method for controlling the robot to run.

[0014] In a fifth aspect, the embodiments of the present application provide a computer program product, which, when executed on a terminal device, causes the terminal device to perform the method for controlling the robot to run according to any one of the first aspect.

[0015] It can be understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0017] Figure 1 is a flowchart of a method for controlling the operation of a robot provided by an embodiment of the present application.

[0018] Figure 2 is a schematic diagram of an application scenario of a method for controlling the operation of a robot provided by an embodiment of the present application.

[0019] Figure 3 is a flowchart of a method for controlling the operation of a robot provided by another embodiment of the present application.

[0020] Figure 4 is a flowchart of a method for controlling the operation of a robot provided by another embodiment of the present application.

[0021] Figure 5 is a flowchart of a method for controlling the operation of a robot provided by another embodiment of the present application.

[0022] Figure 6 is a structural schematic diagram of an apparatus for controlling the operation of a robot provided by an embodiment of the present application.

[0023] Figure 7 is a structural schematic diagram of a terminal device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures, techniques, etc. are presented in order to thoroughly understand the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details.

[0025] As used in the present application and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to a determination" or "in response to detecting" depending on the context. Similarly, the phrase "if it is determined" or "if [a described condition or event] is detected" can be interpreted as meaning "upon determining" or "in response to determining" or "upon detecting [the described condition or event]" or "in response to detecting [the described condition or event]" depending on the context.

[0026] In addition, in the description of the present application and the appended claims, the terms "first", "second", "third", etc. are used only to distinguish descriptions and cannot be understood as indicating or implying relative importance.

[0027] Reference to "one embodiment" or "some embodiments" or "one implementation" or "some implementations" described in the present application means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearance of the phrases "in one embodiment", "in some embodiments", "in other some embodiments", "in yet some embodiments" or the like in various places in the specification is not necessarily all referring to the same embodiment, but means that "one or more but not all embodiments", unless otherwise specifically noted. The terms "include", "contain", "have" and their variants mean "including but not limited to", unless otherwise specifically noted.

[0028] In order to illustrate the technical solutions described in the present application, the following will be described by specific embodiments.

[0029] Please refer to Figure 1 , Figure 1 is an implementation flowchart of a method for controlling robot operation provided by an embodiment of the present application. In the embodiment, the method for controlling robot operation is used for gradient field switching control in magnetic resonance imaging, and the execution subject is a terminal device.

[0030] The terminal device can be a robot itself configured with a processor, or other devices other than the robot. When the terminal device is other than the robot, the terminal device and the robot can communicate data to realize data interaction between them, and control the robot and other operations.

[0031] The following will be described by an embodiment taking the execution subject of the method for controlling robot operation as the robot:

[0032] As shown in Figure 1 , the method for controlling robot operation provided by an embodiment of the present application includes the following steps:

[0033] S11: When the robot moves to a specified position in front of the target object, control the signal transceiver device on the robot to emit a first detection signal to a first area, and the first area is an area where the edge part of the correctly placed target object is located.

[0034] As an example of the application, the target object is an object to be executed by the robot to perform a preset operation. For example, an electrode puller to be executed by the robot to perform a carrying operation.

[0035] The specified position is a position where the robot waits before performing the predicted operation on the target object. For example,Figure 2 The D region corresponds to the A region where the target object is placed.

[0036] The first detection signal is a signal emitted by the signal transceiver device operating under the control of the robot. For example, based on the control of the processor of the robot, the photoelectric sensor as the signal transceiver device emits a light signal.

[0037] In this embodiment, when it is determined that the robot moves to the specified position in front of the target object, it indicates that the robot has prepared to perform the preset operation on the target object. Therefore, in order to determine whether the target execution effect can be achieved when the robot performs the preset operation on the target object, the signal transceiver device on the robot is first controlled to emit a first detection signal to the first region, so as to detect whether the target object is placed correctly through the first detection signal.

[0038] For example, in combination with Figure 2 When it is determined that the robot moves to the D region in front of the target object, the photoelectric sensor as the signal transceiver device on the robot is controlled to emit a first detection signal to the B region where the edge part of the A region where the target object is placed is located.

[0039] In an embodiment, if the pressure sensor signal at the specified position is detected, it is determined that the robot moves to the specified position in front of the target object.

[0040] In this embodiment, when the robot moves to the specified position, the pressure sensor arranged at the specified position is pressed, and then the pressed pressure sensor feeds back the pressure sensor signal to the processor of the robot. Therefore, if the pressure sensor signal at the specified position is detected, it can be determined that the robot moves to the specified position in front of the target object.

[0041] In an embodiment, a plurality of pressure sensors are arranged at the specified position, and if the number of pressure sensor signals at the specified position is greater than or equal to a preset number, it is determined that the robot moves to the specified position in front of the target object.

[0042] As an example of the present application, the preset number can be set in advance according to actual needs.

[0043] For example, in combination with Figure 2 , the specified position is the D region in the form of a rectangle in the figure, and 10 pressure sensors are arranged in the D region, and the corresponding preset number is set to 9.

[0044] In this embodiment, in order to be able to detect whether the robot moves to the specified position in front of the target object, the specified position is arranged in front of the position corresponding to the target object, and a plurality of pressure sensors are arranged at the specified position, so as to be based on the pressure sensors arranged at the specified position when the robot moves to the specified position.

[0045] Example, combination Figure 2 The designated location is the rectangular area D in the figure. Multiple pressure sensors are set on the edge of area D. If the robot moves to area D and presses on the multiple pressure sensors set on the edge of area D, it means that the robot has moved to the designated position directly in front of the target object.

[0046] S12: If the signal transceiver does not receive the reflected signal corresponding to the first detection signal, the robot is controlled to perform a preset operation on the target object.

[0047] As an example of this application, the preset operation is an operation to be executed set according to a pre-determined work task.

[0048] For example, if the preset task is to pick up the electrode pull pin from the material position and move it to the next position, the corresponding preset operation can be to pick up the electrode pull pin from the material position and move it to the next position where the electrode pull pin is placed.

[0049] In this embodiment, when the target object is correctly placed, when the signal transceiver transmits a first detection signal to the first area, the first detection signal will not be blocked by the target object, meaning there will be no reflected signal corresponding to the first detection signal. At this time, when the robot performs a preset operation on the target object, the robot will not collide with the target object. Conversely, if the target object is not correctly placed, causing a part of the target object to protrude into the first area, when the signal transceiver on the robot transmits the first detection signal to the first area, that part of the target object will block the first detection signal, and the reflected signal corresponding to the first detection signal will be reflected back to the signal transceiver along its original path, thus allowing the signal transceiver to receive the reflected signal corresponding to the first detection signal.

[0050] Example, combination Figure 2 When the robot moves to region D directly in front of the target object, the photoelectric sensor on the robot, which acts as a signal transceiver, emits a light signal towards region B, where the edge of region A containing the target object is located. If the target object is correctly placed in region A, its edge will not protrude into region B, which is connected to region A. Since there is no target object in region B, when the robot performs preset operations such as gripping the target object from a designated position, its robotic arm will not collide with the target object. Conversely, if the target object is not correctly placed in region A, its edge will protrude into region B, which is connected to region A. Since a portion of the target object is in region B, when the robot performs preset operations such as gripping the target object from a designated position, its robotic arm will collide with the target object.

[0051] In an embodiment, in order to avoid the first detection signal returning to the signal transceiver device, a reflection device is arranged at the back side of the target object to reflect the detection signal to other directions.

[0052] For example, in combination with Figure 2 , the A area is the area where the target object is placed, the B area is the first area, and the reflection device is arranged at the side of the first area away from the D area to reflect the detection signal to other directions when the detection signal emitted from the D area to the B area by the robot can pass through the B area without obstruction.

[0053] For example, in combination with Figure 3 In an embodiment of the present application, before controlling the signal transceiver device on the robot to emit the first detection signal to the first area, further comprising:

[0054] S21: detecting whether a start signal is received, the start signal being used to indicate that the target object has completed placement.

[0055] S22: if the start signal is received, controlling the robot to move to a specified position.

[0056] In this embodiment, in order to better perform the preset operation on the target object, it is first determined whether the target object has completed placement, i.e., whether the start signal is received, and when the start signal is received, it indicates that the target object has completed placement, and further, the robot needs to be controlled to move to a specified position so as to be able to emit the detection signal to the first area to understand whether the target object that has completed placement is in a correctly placed state.

[0057] In an embodiment, when the target object is placed to the bin, and the bin corresponds to a closed bin door, the control device that controls the movement of the bin door feeds back a start signal to the robot.

[0058] In an embodiment of the present application, the first area is associated with a plurality of different first emission angles.

[0059] Controlling the signal transceiver device on the robot to emit the first detection signal to the first area comprises:

[0060] Controlling the signal transceiver device on the robot to emit a plurality of first detection signals to the first area at a plurality of different first emission angles, respectively.

[0061] If the signal transceiver device does not receive the reflection signal corresponding to the first detection signal, controlling the robot to perform the preset operation on the target object comprises:

[0062] If the signal transceiving device does not receive the reflected signal corresponding to any of the first probe signals, the robot is controlled to perform a preset operation on the target object. As an example of the present application, the first emission angle is determined by the specified position as the vertex, the boundary between the first region and the region occupied by the correctly placed target object as one side, and the emission direction of the probe signal as the other side. The first emission angle is determined by the specified position as the vertex, the boundary between the first region and the region occupied by the correctly placed target object as one side, and the emission direction of the probe signal as the other side.

[0063] For example, in combination with Figure 2 , the A region is the region occupied by the correctly placed target object, the B region is the first region, and the D region is the position of the signal transceiving device on the robot as the emission vertex. Then, the emission direction of the first probe signal in the B region is determined according to the emission vertex and the boundary between the A region and the B region, and the first emission angle is determined.

[0064] In the present embodiment, in order to determine whether the target object is correctly placed, when the robot moves to the specified position directly in front of the target object, the signal transceiving device on the robot is controlled to emit a plurality of first probe signals at a plurality of different first emission angles to the first region, respectively, to determine whether there is an obstacle, such as the target object, in the first region in the direction corresponding to each first emission angle. Then, if the signal transceiving device does not receive the reflected signal corresponding to any of the first probe signals, it indicates that there is no obstacle in the first region, that is, the target object is correctly placed in the position for placing the target object, and there is no part of the target object in the first region, so when the robot is controlled to perform a preset operation on the target object, it will not collide with the obstacle in the first region, thereby causing an accident. In an embodiment, when the signal transceiving device on the robot is controlled to emit a plurality of first probe signals at a plurality of different first emission angles to the first region, respectively, the first probe signals are emitted at different first emission angles from small to large.

[0065] For example, the first emission angle associated with the first region includes 10 degrees and 20 degrees. The emission direction of the first probe signal is determined at the first emission angle of 10 degrees, and then a first probe signal is emitted to the first region at the emission direction.

[0066] In an embodiment, in order to be able to receive the emitted signal, when the signal transceiving device on the robot is controlled to emit a plurality of first probe signals at a plurality of different first emission angles to the first region, respectively, after emitting a first probe signal at a first emission angle to the first region, if the reflected signal of the first probe signal corresponding to the current first emission angle is not received within a preset waiting time period, then the next first probe signal is emitted to the first region at the next first emission angle.

[0067] In combination withFigure 4 In one embodiment of the present application, there is a possible scenario that the number of robots used to perform the preset operation on the target object is relatively scarce, or the cost of repairing the robot is relatively low, so that the robot can be tolerated to a certain extent when the robot performs the preset operation on the target object. Therefore, the present embodiment provides a method for controlling the operation of the robot, which mainly relates to how to perform the preset operation on the target object when the robot can be tolerated to a certain extent. The method mainly comprises:

[0068] S31: If the signal transceiver device receives a reflection signal corresponding to any one or more first probe signals in the plurality of first probe signals, the signal transceiver device is controlled to emit a plurality of second probe signals at a plurality of second emission angles different from the first emission angle to a second region connected to the first region.

[0069] S32: If the signal transceiver device receives a reflection signal corresponding to one or more second probe signals in the plurality of second probe signals, a preset damage value corresponding to the one or more second probe signals is obtained, and the preset damage value is used to describe the possible damage degree of the robot when performing the preset operation on the target object.

[0070] S33: If the maximum value in the obtained preset damage value is less than or equal to the target damage value, the robot is controlled to perform the preset operation on the target object.

[0071] As an example of the present application, the second region is a region connected to the edge of the first region.

[0072] It can be understood that the second region can be demarcated according to the actual tolerable damage degree of the robot.

[0073] For example, in combination with Figure 2 , the A region is a region for placing the target object, the B region is the first region, and the C region is the second region. Wherein, after determining that the width of the first region in which the edge part of the correctly placed target object is located is 2 cm, the width of the second region is determined to be 1.5 cm again.

[0074] The preset damage value can be determined according to the damage degree of the robot caused by the robot performing the preset operation on the target object when the robot emits the second probe signal at the second emission angle in the direction in which there is an obstacle.

[0075] It can be understood that for each second emission angle, each second emission angle is associated with a preset damage value, so that the second probe signal corresponding to the second emission angle is also corresponding to the preset damage value corresponding to the second emission angle.

[0076] The target damage value can be determined according to the degree of damage that the robot can actually tolerate.

[0077] In the embodiment, the signal transceiving device receives the reflection signals corresponding to any one or more than one of the first probe signals, which indicates that a part of the first region has been occupied by the obstacle, or the obstacle has crossed the first region, that is, the target object can not be placed correctly, resulting in that a part of the target object occupies part of the first region, and thus the signal transceiving device emits the first probe signals at different first emission angles to the first region, and only then the reflection signals corresponding to the first probe signals are generated due to the first probe signals being blocked by the part of the target object occupying the first region. Therefore, in order to determine the specific situation in which the target object can not be placed correctly, the control signal transceiving device emits a plurality of second probe signals at a plurality of second emission angles different from the first emission angles to a second region connected with the first region, and when the signal receiving device receives the reflection signals corresponding to any one or more than one of the second probe signals, the preset damage value corresponding to the second probe signal with the reflection signal is obtained. If there are a plurality of obtained preset damage values, the maximum preset damage value is compared with the target damage value, and when the obtained maximum preset damage value is less than or equal to the target damage value, it indicates that the possible damage degree corresponding to the robot performing the preset operation on the target object is within the tolerable range, and thus the robot can be further controlled to perform the preset operation on the target object.

[0078] In combination Figure 5 In an embodiment of the present application, there is a possible scenario that the number of robots used to perform the preset operation on the target object is relatively scarce, or the cost of repairing the robot is relatively low, so that a certain damage to the robot can be tolerated when the robot performs the preset operation on the target object. Therefore, the present embodiment provides a method for controlling the operation of the robot, which mainly relates to how to perform the preset operation on the target object when it is considered that a certain damage to the robot can be tolerated. The method mainly comprises:

[0079] S41: If the signal transceiving device receives the reflection signals corresponding to any one or more than one of the first probe signals, the control signal transceiving device emits a plurality of second probe signals at a plurality of second emission angles different from the first emission angles to a second region connected with the first region.

[0080] S42: If the signal transceiving device receives the reflection signals corresponding to all the second probe signals, it is determined that the target object is not placed correctly, and an alarm signal is issued.

[0081] As an example of the present application, the alarm signal can be one or more of a combination of text, voice, light or other means. For example, after determining that the target object is not placed correctly, the warning is given by a combination of sound and light.

[0082] In the embodiment, the signal transceiving device receives the reflection signal corresponding to any one or more of the plurality of first probe signals, indicating that a part of the first region has been occupied by the obstacle, or the obstacle has crossed the first region, that is, the target object may not be placed correctly, resulting in that a part of the target object occupies a part of the first region, and then the signal transceiving device emits the first probe signal at different first emission angles to the first region, and only then the reflection signal corresponding to the first probe signal is generated due to the part of the target object occupying the first region. Therefore, in order to determine the specific situation that the target object may not be placed correctly, the control signal transceiving device emits a plurality of second probe signals at a plurality of second emission angles different from the first emission angles to a second region connected to the first region, so as to understand whether there is an obstacle in the second region by detecting whether the reflection signal corresponding to each second probe signal is received. Wherein, the signal transceiving device receives the reflection signal corresponding to all the second probe signals, indicating that the target object may occupy the first region and the second region, that is, the target object is not placed correctly, at this time, when the robot performs the preset operation on the target object, the damage degree caused by the robot may exceed the tolerable degree, therefore, an alarm signal needs to be sent so that the management personnel can understand that the target object is not placed correctly, and then the target object can be processed in time.

[0083] It can be understood that when it is determined that the target object is not placed correctly, the control of the robot performing the preset operation on the target object is stopped.

[0084] In an embodiment of the present application, the target object is an electrode puller.

[0085] The control of the robot performing the preset operation on the target object includes:

[0086] The control of the robot performing the clamping operation on the electrode puller.

[0087] In the embodiment, in order to complete the target production task based on the electrode puller, when it is determined based on the signal transceiving device according to the received reflection signal that the target object is placed correctly, or the possible damage degree corresponding to the robot performing the preset operation on the target object after the target object is placed is within the tolerable range, the control of the robot performing the clamping operation on the electrode puller placed is performed, so as to carry the electrode puller to a suitable place, for example, to the place of assembling the mold, so as to assemble the electrode puller with other parts of the mold together to complete the production of the mold.

[0088] In an embodiment, after the signal transceiving device does not receive the reflected signal corresponding to the first probe signal, and the robot is controlled to perform the preset operation on the target object, then the robot is controlled to move to the specified position corresponding to the next target object, and the step of controlling the signal transceiving device on the robot to emit the first probe signal to the first region corresponding to the next target object, and if the signal transceiving device does not receive the reflected signal corresponding to the first probe signal, then the robot is controlled to perform the preset operation on the target object.

[0089] The method for controlling the robot to operate provided by the embodiments of the present application, when determining that the robot moves to the specified position in front of the target object, controls the signal transceiving device on the robot to emit the first probe signal to the first region where the edge part of the correctly placed target object is located, and detects whether the reflected signal corresponding to the first probe signal is received through the signal transceiving device. When the signal transceiving device does not receive the reflected signal corresponding to the first probe signal, it indicates that there is no obstacle in the first region, and no collision will occur when the robot performs the preset operation on the target object, so the robot can be controlled to perform the preset operation on the target object. When the signal transceiving device receives the reflected signal corresponding to the first probe signal, the robot is controlled not to perform the preset operation on the target object. Based on the above scheme, the collision accident caused by the mechanical nature of the robot when the robot participates in the production activities can be effectively avoided.

[0090] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0091] The method for controlling the robot to operate corresponding to the above embodiments, Figure 6 The structure block diagram of the device for controlling the robot to operate provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for ease of description.

[0092] Referring to Figure 6 The device 100 comprises:

[0093] The first control module 101 is configured to control the signal transceiving device on the robot to emit the probe signal to the first region when the robot moves to the specified position in front of the target object, and the first region is the region where the edge part of the correctly placed target object is located.

[0094] The second control module 102 is configured to control the robot to perform the preset operation on the target object if the signal transceiving device does not receive the reflected signal corresponding to the probe signal.

[0095] In an embodiment, the third control module is configured to determine whether a start signal is received, the start signal indicating that the target object has completed the prevention; and control the robot to move to the specified position if the start signal is received.

[0096] In an embodiment, the first region is associated with a plurality of different first emission angles.

[0097] The first control module 101 is further configured to control the signal transceiver on the robot to emit a plurality of first detection signals to the first region at a plurality of different first emission angles, respectively.

[0098] The second control module 102 is further configured to control the robot to perform a preset operation on the target object if the signal transceiver does not receive a reflection signal corresponding to any one of the plurality of first detection signals.

[0099] In an embodiment, the second control module 102 is further configured to, if the signal transceiver receives a reflection signal corresponding to more than one of the plurality of first detection signals, control the signal transceiver to emit a plurality of second detection signals to a second region connected to the first region at a plurality of second emission angles different from the first emission angles; obtain a preset damage value corresponding to more than one of the plurality of second detection signals if the signal transceiver receives a reflection signal corresponding to more than one of the plurality of second detection signals; and control the robot to perform a preset operation on the target object if a maximum value of the obtained preset damage values is less than or equal to a target damage value.

[0100] In an embodiment, the second control module 102 is further configured to, if the signal transceiver receives a reflection signal corresponding to more than one of the plurality of first detection signals, control the signal transceiver to emit a plurality of second detection signals to a second region connected to the first region at a plurality of second emission angles different from the first emission angles; and determine that the target object is not correctly placed and issue an alarm signal if the signal transceiver receives a reflection signal corresponding to all of the plurality of second detection signals.

[0101] In an embodiment, the target object is an electrode puller.

[0102] The second control module 102 is further configured to control the robot to perform a clamping operation on the electrode puller.

[0103] The robot control device provided in this application, when determining that the robot has moved to a designated position directly in front of a target object, controls the signal transceiver on the robot to emit a first detection signal towards a first area where the edge of the correctly placed target object is located. The transceiver also detects whether it receives a reflected signal corresponding to the first detection signal. If the transceiver does not receive a reflected signal corresponding to the first detection signal, it indicates that there are no obstacles in the first area, and the robot will not collide with the target object when performing a preset operation. Therefore, the robot can be controlled to perform the preset operation on the target object. Conversely, if the transceiver receives a reflected signal corresponding to the first detection signal, the robot is controlled not to perform the preset operation on the target object. Based on this solution, collision accidents can be effectively avoided when robots participate in production activities due to the mechanical nature of robot control.

[0104] This embodiment provides a device for controlling the operation of a robot, used to implement any of the methods for controlling the operation of a robot in the method embodiments. The functions of each module can be referred to the corresponding descriptions in the method embodiments, and their implementation principles and technical effects are similar, so they will not be repeated here.

[0105] Figure 7 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application. Figure 7 As shown, the terminal device 7 of this embodiment includes: at least one processor 70 ( Figure 7 The diagram shows only one processor, memory 71, and computer program 72 stored in memory 71 and executable on at least one processor 70. When processor 70 executes computer program 72, it implements the steps in any of the above-described method embodiments for controlling the operation of the robot.

[0106] Terminal device 7 can be a computing device such as a robot, desktop computer, laptop, handheld computer, or cloud server. This terminal device may include, but is not limited to, processor 70 and memory 71. Those skilled in the art will understand that... Figure 7 The example of terminal device 7 is merely an illustration and does not constitute a limitation on terminal device 7. It may include more or fewer components than shown in the figure, or combine certain components, or different components, such as input / output devices, network access devices, etc.

[0107] The processor 70 can be a central processing unit (CPU), and can also be other general-purpose processors, 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, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0108] The memory 71 can be an internal storage unit of the terminal device 7 in some embodiments, for example, a hard disk or a memory of the terminal device 7. The memory 71 can also be an external storage device of the terminal device 7 in other embodiments, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 71 can include both the internal storage unit and the external storage device of the terminal device 7. The memory 71 is used to store an operating system, application programs, a boot loader, data and other programs, for example, program codes of computer programs, etc. The memory 71 can also be used to temporarily store data that has been output or is to be output.

[0109] It should be noted that the information interaction, execution process, etc. between the above apparatuses / units, since based on the same concept as the method embodiments of the present application, the specific functions and the brought technical effects can be referred to the method embodiments part, and will not be described here in detail.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is exemplified, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit. In addition, the specific name of each functional unit and module is only for convenient distinction, and does not limit the protection scope of the present application. The specific working process of the unit and module in the system can refer to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] The embodiment of the present application further provides a terminal device, which comprises at least one processor, a memory and a computer program stored in the memory and executable on the at least one processor, and the processor implements the steps in any of the method embodiments described above when executing the computer program.

[0112] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the steps in any of the method embodiments described above.

[0113] The embodiment of the present application provides a computer program product, which, when running on a terminal device, enables the terminal device to implement the steps in any of the method embodiments described above.

[0114] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the computer program for instructing the related hardware to complete all or part of the processes in the above-mentioned embodiment methods can be stored in a computer readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium at least includes any entity or device capable of carrying the computer program code to the device / terminal equipment, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk and the like.

[0115] In the above embodiments, the description of each embodiment has its own focus, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0116] Those skilled in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0117] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / terminal equipment and methods can be implemented in other ways. For example, the apparatus / terminal equipment embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0118] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may also be distributed to multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiment scheme according to actual needs.

[0119] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of controlling operation of a robot, characterized by, The method comprises the following steps: controlling a signal transceiver on the robot to emit a first detection signal to a first area when the robot moves to a specified position in front of a target object, the first area being an area where an edge part of the target object is correctly placed; if the signal transceiver does not receive a reflection signal corresponding to the first detection signal, controlling the robot to perform a preset operation on the target object; the first area is associated with a plurality of different first emission angles; the step of controlling the signal transceiver on the robot to emit a first detection signal to a first area comprises: controlling the signal transceiver on the robot to emit a plurality of first detection signals to the first area at the plurality of different first emission angles respectively; if the signal transceiver does not receive a reflection signal corresponding to the first detection signal, controlling the robot to perform a preset operation on the target object comprises: if the signal transceiver does not receive a reflection signal corresponding to any one of the plurality of first detection signals, controlling the robot to perform the preset operation on the target object; if the signal transceiver receives a reflection signal corresponding to more than one of the plurality of first detection signals, controlling the signal transceiver to emit a plurality of second detection signals to a second area connected to the first area at a plurality of second emission angles different from the first emission angles; wherein the second area is an area connected to the edge of the first area; if the signal transceiver receives a reflection signal corresponding to more than one of the plurality of second detection signals, obtaining a preset damage value corresponding to the more than one of the second detection signals, the preset damage value being used to describe a possible damage degree corresponding to the performance of the preset operation on the target object by the robot; if a maximum value in the obtained preset damage values is less than or equal to a target damage value, controlling the robot to perform the preset operation on the target object.

2. The method of claim 1, wherein, Before the step of controlling the signal transceiver on the robot to emit a first detection signal to the first area, the method further comprises: detecting whether a start signal is received, the start signal being used to indicate that the target object has been placed; if the start signal is received, controlling the robot to move to the specified position.

3. The method of claim 1 or 2, wherein, The target object is an electrode pull pin. The step of controlling the robot to perform a preset operation on the target object comprises: controlling the robot to perform a clamping operation on the electrode pull pin.

4. An apparatus for controlling operation of a robot, characterized by The method comprises the following steps: a first control module is configured to control a signal transceiver on the robot to emit a detection signal to a first area when the robot moves to a specified position in front of a target object, the first area being an area where an edge part of the target object is correctly placed; a second control module is configured to control the robot to perform a preset operation on the target object if the signal transceiver does not receive a reflection signal corresponding to the detection signal; the first area is associated with a plurality of different first emission angles; The first control module is further configured to control a signal transceiving device on the robot to emit a plurality of first probe signals to the first region at a plurality of different first emission angles respectively. The second control module is further configured to control the robot to perform the preset operation on the target object if the signal transceiving device does not receive a reflection signal corresponding to any one of the plurality of first probe signals. The second control module is further configured to: If the signal transceiving device receives a reflection signal corresponding to more than one of the plurality of first probe signals, control the signal transceiving device to emit a plurality of second probe signals to a second region connected to the first region at a plurality of second emission angles different from the first emission angles; wherein the second region is a region connected to an edge of the first region. If the signal transceiving device receives a reflection signal corresponding to more than one of the plurality of second probe signals, obtain a preset damage value corresponding to the more than one of the plurality of second probe signals, the preset damage value being used to describe a possible damage degree corresponding to the robot performing the preset operation on the target object. If a maximum value of the obtained preset damage values is less than or equal to a target damage value, control the robot to perform the preset operation on the target object.

5. The apparatus of claim 4, wherein, Further comprising a third control module. The third control module is configured to detect whether a start signal is received, the start signal being used to indicate that the target object has been placed; and if the start signal is received, control the robot to move to the specified position.

6. A terminal device, characterized by comprising: The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method according to any one of claims 1 to 3.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the method according to any one of claims 1 to 3.

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