Robot control method, robot control device and robot

Abstract

The present disclosure provides a robot control method, a robot control device and a robot. The robot control method includes: obtaining image information of the plug-in object at the initial position collected by the image collector, and based on the image information of the plug-in object at the initial position, controlling the robot to move from the initial position to the first position, when the robot is at the first position, the lens plane of the image collector is opposite to the end face of the plug-in object used to cooperate with the actuator; obtaining image information of the plug-in object at the first position collected by the image collector, and based on the image information of the plug-in object at the first position, controlling the robot to move from the first position to the second position, when the robot is at the second position, the geometric center line of the actuator end of the actuator is in the same straight line as the geometric center line of the plug-in object; controlling the actuator to perform plug-in and pull-out operations on the plug-in object. The present disclosure can realize the automation of the plug-in and pull-out operation process of the charging gun, thereby improving the user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent control technology, and in particular to a robot control method, a robot control device and a robot. Background Art

[0002] Charging technology is a key technology for building an Internet-based public charging service network for electric vehicles. The charging experience largely determines the user's car experience. In some electric vehicle charging scenarios, before charging the electric vehicle, it is usually necessary to manually grab the charging gun to pull out or plug the charging gun into the charging pile. The charging gun usually has a long cable. If the user uses the above manual method to plug and unplug the charging gun from the charging pile, it is undoubtedly necessary to drag the bulky cable, and the charging gun plug-in operation process cannot be automated, which reduces the user experience. Summary of the invention

[0003] The present disclosure provides a robot control method, a robot control device and a robot to realize automation of the charging gun plugging and unplugging operation process, thereby improving user experience.

[0004] On the one hand, a robot control method is provided, wherein the robot comprises an actuator and an image collector for collecting images of plugging and unplugging objects, wherein the actuator is used to perform plugging and unplugging operations between a charging gun and a gun base; wherein when the actuator is used for a gun unplugging action, the operation object of the plugging and unplugging operation is the charging gun, and when the actuator is used for a gun plugging action, the operation object of the plugging and unplugging operation is the gun base; the method comprises:

[0005] Acquire image information of the plug-in object at an initial position acquired by the image collector, and control the robot to move from the initial position to a first position based on the image information of the plug-in object at the initial position, wherein when the robot is located at the first position, the lens plane of the image collector is opposite to the end face of the plug-in object used to cooperate with the actuator;

[0006] Acquire image information of the plugging and unplugging object at a first position acquired by the image collector, and control the robot to move from the first position to a second position based on the image information of the plugging and unplugging object at the first position, so that when the robot is at the second position, the geometric center line of the execution end of the actuator is in the same straight line as the geometric center line of the plugging and unplugging object;

[0007] The actuator is controlled to perform plugging and unplugging operations on the plugging and unplugging object.

[0008] In at least one embodiment of the present disclosure, a moving path of the robot from the initial position to the first position is a curved moving path.

[0009] In at least one embodiment of the present disclosure, the movement path of the robot from the first position to the second position has a first movement sub-path and a second movement sub-path, the first movement sub-path is parallel to the end surface, and the second movement sub-path is perpendicular to the end surface.

[0010] In at least one embodiment of the present disclosure, controlling the robot to move from the initial position to the first position based on the image information of the plugging and unplugging object at the initial position includes:

[0011] Determining the position and posture of the plugging and unplugging object based on image information of the plugging and unplugging object at an initial position;

[0012] Determining the movement strategy of the robot based on the position and posture of the plugging and unplugging object;

[0013] The robot is controlled to move from the initial position to the first position based on the movement strategy of the robot.

[0014] In at least one embodiment of the present disclosure, the movement strategy of the robot includes positioning information of the first position and the movement path of the robot.

[0015] In at least one embodiment of the present disclosure, the movement strategy of the robot also includes the movement speed of the robot.

[0016] In at least one embodiment of the present disclosure, when the distance between the initial position and the plugging and unplugging object is greater than or equal to a first preset distance, the movement speed of the robot from the initial position to the first position is greater than the preset speed;

[0017] When the distance between the initial position and the plugging and unplugging object is less than a first preset distance, a moving speed of the robot from the initial position to the first position is less than the preset speed.

[0018] In at least one embodiment of the present disclosure, a moving speed of the robot from the first position to the second position is greater than a moving speed of the robot from the initial position to the first position.

[0019] In at least one embodiment of the present disclosure, when the robot is located at the first position, the lens optical axis of the image collector and the geometric center of the end face are in the same straight line; and / or,

[0020] When the robot is located at the first position, the end surface is parallel to the lens plane of the image collector.

[0021] In at least one embodiment of the present disclosure, the controlling the robot to move from the first position to the second position based on the image information of the plugging and unplugging object at the first position includes:

[0022] Determining the position and posture of the plugging and unplugging object based on the image information of the plugging and unplugging object at the first position;

[0023] Determining the movement strategy of the robot based on the position and posture of the plugging and unplugging object;

[0024] The robot is controlled to move from the first position to the second position based on the movement strategy of the robot.

[0025] In at least one embodiment of the present disclosure, when the robot is located at the second position, the axis of the execution end of the execution mechanism and the axis of the plugging and unplugging object are in the same straight line.

[0026] In at least one embodiment of the present disclosure, the distance between the first position and the plugging object is 500 mm, and the distance between the second position and the plugging object is 10 mm.

[0027] In at least one embodiment of the present disclosure, when the actuator is used for a gun-drawing action, the actuator end has a clamp;

[0028] When the actuator is used for the gun drawing action, controlling the actuator to perform the plugging and unplugging operation on the plugging and unplugging object includes:

[0029] Controlling the movement of the clamp to insert the gripping end of the charging gun into the clamp;

[0030] Controlling the clamp to grab the charging gun;

[0031] The robot is controlled to carry the charging gun and move in a direction away from the gun base and return to an initial position.

[0032] In at least one embodiment of the present disclosure, when the actuator is used for the gun insertion action, the actuator end has a clamp and a charging gun grasped by the clamp;

[0033] When the actuator is used for the gun insertion action, controlling the actuator to perform the insertion and removal operation on the insertion and removal object includes:

[0034] Controlling the movement of the charging gun to insert the charging gun into the gun base;

[0035] Controlling the clamp to release the charging gun;

[0036] The robot is controlled to move in a direction away from the charging gun and return to an initial position.

[0037] In at least one embodiment of the present disclosure, when the actuator is controlled to perform the plugging and unplugging operation on the plugging and unplugging object, the moving speed of the actuator is less than or equal to 100 mm / s.

[0038] On the other hand, a robot control device is provided, which includes a processor and a memory, wherein the memory stores computer program instructions suitable for execution by the processor, and when the computer program instructions are executed by the processor, the steps of the robot control method described in any of the above embodiments are executed.

[0039] On the other hand, a computer-readable storage medium is provided, wherein the storage medium stores computer program instructions, and when the computer program instructions are executed by a processor of a user device, the user device executes the robot control method described in any of the above embodiments.

[0040] On the other hand, a robot is provided, comprising:

[0041] The robot control device according to any one of the above embodiments;

[0042] An actuator connected to the robot control device for performing plugging and unplugging operations between the charging gun and the gun base; wherein, when the actuator is used for unplugging the gun, the operation object of the plugging and unplugging operation is the charging gun, and when the actuator is used for plugging the gun, the operation object of the plugging and unplugging operation is the gun base;

[0043] The image collector is communicatively connected to the robot control device and is used to collect images of the plugging and unplugging objects.

[0044] In at least one embodiment of the present disclosure, the image collector includes a binocular camera.

[0045] In at least one embodiment of the present disclosure, the actuator includes:

[0046] a mechanical arm communicatively connected to the robot control device, the image collector being disposed at a movable end of the mechanical arm; and

[0047] A clamp is disposed at the movable end of the robot arm.

[0048] In at least one embodiment of the present disclosure, the robot further includes: a gun locking motor disposed in the fixture, and the gun locking motor is communicatively connected to the robot control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0050] Figure 1 is a flow chart of a robot control method according to some embodiments;

[0051] Figure 2 is a schematic structural diagram of a robot according to some embodiments;

[0052] Figure 3 is a schematic structural diagram of a charging gun according to some embodiments;

[0053] Figure 4 It is a schematic diagram of the structure of a clamp and an image collector according to some embodiments.

[0054] Reference numerals:

[0055] 1-Robot control device, 2-Actuator, 3-Image collector, 4-Gun locking motor, 5-Charging gun, 6-Gun base, 7-Clamp. DETAILED DESCRIPTION

[0056] The present disclosure is further described in detail below in conjunction with the accompanying drawings and implementations. It is understood that the specific implementations described herein are only used to explain the relevant content, rather than to limit the present disclosure. It should also be noted that, for ease of description, only the parts related to the present disclosure are shown in the accompanying drawings.

[0057] It should be noted that the step numbers in the text are only for the convenience of explaining the specific embodiments and are not used to limit the order in which the steps are executed.

[0058] The method provided by the present disclosure can be executed by a related server, and the following description will be given by taking the server as an example of the execution subject. The execution subject can be adjusted according to the specific case, such as a processor, an electronic device, a computer, etc.

[0059] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0060] Some embodiments of the present disclosure provide a robot control method, wherein the robot includes an actuator 2 and an image collector 3 for collecting images of plugging and unplugging objects, and the actuator 2 is used to perform plugging and unplugging operations between a charging gun 5 and a gun base 6. When the actuator 2 is used for the gun unplugging action, the operation object of the plugging and unplugging operation is the charging gun 5, and when the actuator 2 is used for the gun plugging action, the operation object of the plugging and unplugging operation is the gun base 6. Figure 1 As shown, some embodiments of the present disclosure provide a robot control method including S1 to S3.

[0061] S1, obtain the image information of the plug-in object at the initial position captured by the image collector 3, and control the robot to move from the initial position to the first position based on the image information of the plug-in object at the initial position. When the robot is at the first position, the lens plane of the image collector 3 is opposite to the end face of the plug-in object used to cooperate with the actuator 2.

[0062] When the actuator 2 is used for gun extraction, the end surface is, for example, the butt surface of the charging gun 5 facing away from the gun base 6; when the actuator 2 is used for gun insertion, the end surface is, for example, the matching surface of the gun base 6 for realizing the plugging and unplugging operation with the charging gun 5.

[0063] S2, obtain the image information of the plugging and unplugging object at the first position collected by the image collector 3, and control the robot to move from the first position to the second position based on the image information of the plugging and unplugging object at the first position. When the robot is at the second position, the geometric center line of the execution end of the actuator 2 is in the same straight line as the geometric center line of the plugging and unplugging object.

[0064] S3, controlling the actuator 2 to perform plugging and unplugging operations on the plugging and unplugging object.

[0065] In the robot control method provided by some embodiments of the present disclosure, at the first position, the lens plane of the image collector 3 is opposite to the end face of the plug-in object used to cooperate with the actuator 2. For example, when the robot is at the first position, the lens optical axis of the image collector 3 can be in the same straight line with the geometric center of the end face; and / or, the end face is parallel to the lens plane of the image collector 3. In this way, it can be ensured that the plug-in object is within the lens range of the image collector 3, so that the image information of the plug-in object collected by the image collector 3 at the first position is more accurate. At the second position, the geometric center line of the actuator end of the actuator 2 is in the same straight line with the geometric center line of the plug-in object, so that the actuator end can face the plug-in object, preparing for the subsequent actuator 2 to approach the plug-in object to perform the plug-in operation.

[0066] In addition, by capturing an image of the plug-in object at the initial position, the position information and posture information of the plug-in object can be obtained, thereby blurring the information of the first position. The first position is a position closer to the plug-in object than the original position, and the plug-in object can be imaged at the first position, thereby obtaining more accurate position information and posture information of the plug-in object at the first position. That is, the present disclosure achieves accurate positioning of the plug-in object by adopting a phased movement and photo-taking method, thereby avoiding the influence of factors such as the actuator 2 being too far from the plug-in object or the resolution limitation of the image collector 3 on the accuracy of image acquisition, thereby achieving more accurate plug-in and pull-out operations of the charging gun 5.

[0067] In step S1, based on the image information of the plugging and unplugging object at the initial position, the robot is controlled to move from the initial position to the first position, specifically:

[0068] Determine the position and posture of the plugging and unplugging object based on the image information of the plugging and unplugging object at the initial position;

[0069] Determine the robot's movement strategy based on the position and posture of the plug-in and unplug objects;

[0070] The robot is controlled to move from an initial position to a first position based on a movement strategy of the robot.

[0071] Here, the movement strategy of the robot may be the positioning information of the first position and the movement path of the robot.

[0072] At the initial position, the image collector 3 starts taking pictures after receiving the shooting instruction, and obtains the point cloud information of the plug-in object, and then generates the position information and posture information of the plug-in object, and feeds it back to the server. The position information and posture information at this time are rough positioning information, so that the subsequent actuator 2 moves closer to the plug-in object to obtain a better shooting position (first position).

[0073] For example, the distance between the first position and the plugging object can be preset to be 500 mm. After obtaining the position information and posture information of the roughly positioned plugging object at the initial position, the positioning of the first position can be preliminarily determined based on the position information and posture information of the plugging object, and the moving path of the actuator 2 from the initial position to the first position can be obtained, that is, the positioning information of the first position and the moving path of the robot can be obtained.

[0074] Optionally, the movement path of the robot from the initial position to the first position is a curved movement path.

[0075] The orientation of the image collector 3 can be changed by moving in a curve, so that the lens plane of the image collector 3 is opposite to, or even approximately parallel to, the end face of the plug-in object used to cooperate with the actuator 2, so as to facilitate subsequent image acquisition. In addition, the curve movement can make the actuator 2 closer to the plug-in object, so that the image collector 3 can take a second photo of the plug-in object when it is in the first position, and it is convenient for the actuator 2 to approach the plug-in object more quickly, conveniently and without obstacles after the second photo.

[0076] In some embodiments, the movement strategy of the robot also includes the movement speed of the robot.

[0077] Exemplarily, when the distance between the initial position and the plugging and unplugging object is greater than or equal to a first preset distance, the moving speed of the robot from the initial position to the first position is greater than the preset speed; when the distance between the initial position and the plugging and unplugging object is less than the first preset distance, the moving speed of the robot from the initial position to the first position is less than the preset speed.

[0078] Here, the preset speed can be set according to actual needs, for example, 500mm / s, 800mm / s, etc. When the distance between the initial position and the plug-in object is far, the moving speed of the robot can be appropriately increased without changing the moving path to improve the time efficiency of the entire plug-in operation. When the distance between the initial position and the plug-in object is close, since the movement from the initial position to the first position is a curved motion, if the moving speed is too fast, the robot may cause position deviation when moving to the first position, or the image collector 3 may not be able to align with the plug-in object. Therefore, slowing down the moving speed can increase the accuracy of mobile positioning, while allowing the image collector 3 to align and taking into account the moving efficiency.

[0079] In step S2, based on the image information of the plugging and unplugging object at the first position, the robot is controlled to move from the first position to the second position, specifically:

[0080] Determining the position and posture of the plugging and unplugging object based on the image information of the plugging and unplugging object at the first position;

[0081] Determine the robot's movement strategy based on the position and posture of the plug-in and unplug objects;

[0082] The robot is controlled to move from a first position to a second position based on a movement strategy of the robot.

[0083] At the first position, the image collector 3 starts taking pictures after receiving the photo command, and obtains the point cloud information of the plug-in object, and then generates the position information and posture information of the plug-in object, and feeds it back to the server. The position information and posture information at this time are accurate positioning information, which prepares for the subsequent actuator 2 to move closer to the plug-in object from the second position to perform the plug-in operation.

[0084] Here, the distance between the second position and the plugging and unplugging object may be 10 mm.

[0085] In some embodiments, a moving path of the robot from the first position to the second position has a first moving sub-path and a second moving sub-path, the first moving sub-path is parallel to the end surface, and the second moving sub-path is perpendicular to the end surface.

[0086] That is to say, the movement path of the robot from the first position to the second position is a phased linear motion, which can greatly reduce the computational difficulty of the server in obtaining the movement strategy for moving from the first position to the second position.

[0087] Optionally, a moving speed of the robot from the first position to the second position is greater than a moving speed of the robot from the initial position to the first position.

[0088] Since the movement path of the robot from the first position to the second position is a staged linear motion, the control of the movement path is simpler than that of the curved motion. The speed of controlling the robot to move from the first position to the second position is greater than the speed of the robot to move from the initial position to the first position. The efficiency of the entire process of controlling the robot to perform plugging and unplugging operations can be fully guaranteed, so that the technical solution of staged positioning and photographing disclosed in the present invention has a better time advantage than the solution of only taking pictures and positioning once.

[0089] In addition, when the robot is in the second position, the axis of the actuator end of the actuator 2 is in the same straight line as the axis of the plugging object, thereby simplifying the subsequent movement path and facilitating the actuator 2 to move along a straight line toward the plugging object to complete the plugging operation.

[0090] In some embodiments, when the actuator 2 is used for the gun-drawing action, the actuator end of the actuator 2 has a clamp 7. When the actuator 2 is used for the gun-drawing action, controlling the actuator 2 to perform the plugging and unplugging operation on the plugging and unplugging object includes:

[0091] Control the movement of the clamp 7 so that the grabbing end of the charging gun 5 is inserted into the clamp 7;

[0092] Control the clamp 7 to grab the charging gun 5;

[0093] The robot is controlled to carry the charging gun 5 and move in a direction away from the gun base 6 and return to the initial position.

[0094] When the actuator 2 is used for the gun plugging action, the actuator end of the actuator 2 has a clamp 7 and a charging gun 5 grasped by the clamp 7. When the actuator 2 is used for the gun plugging action, the actuator 2 is controlled to perform plugging and unplugging operations on the plugging and unplugging object, including:

[0095] Control the charging gun 5 to move so that the charging gun 5 is inserted into the gun base 6;

[0096] Control the clamp 7 to release the charging gun 5;

[0097] The robot is controlled to move away from the charging gun 5 and return to the initial position.

[0098] During the movement of the actuator 2 from the second position to the plugging object, the movement speed of the actuator 2 is less than or equal to 100 mm / s to prevent the actuator end of the actuator 2 from colliding with the plugging object during contact.

[0099] Below, Figure 2 to Figure 4 Taking the robot shown in the figure as an example, the robot control method disclosed in the present invention is explained.

[0100] The robot comprises: a robot control device 1 , an actuator 2 and an image collector 3 .

[0101] The image collector 3 can be a binocular camera.

[0102] The actuator 2 may be a combination of a multi-degree-of-freedom mechanical arm and a clamp 7. The clamp 7 is used to grasp the charging gun 5.

[0103] The robot arm is, for example, a six-axis robot arm, and the fixture 7 and the binocular camera are both connected to the end of the free end of the robot arm.

[0104] In addition, a gun locking motor 4 may be provided in the fixture 7 , and the gun locking motor 4 is communicatively connected with the robot control device 1 , so that the locking and releasing of the charging gun 5 can be controlled through the robot control device 1 .

[0105] The process of drawing a gun using the method disclosed in the present invention is specifically as follows:

[0106] At the initial position, the robot control device 1 obtains a gun-drawing instruction and sends a photo-taking instruction to the image collector 3 .

[0107] After receiving the photo taking instruction, the image collector 3 starts taking photos and obtains the point cloud information of the charging gun 5 , and then generates the position information and posture information of the charging gun 5 , and feeds it back to the robot control device 1 .

[0108] The first position is preset to be 500 mm in front of the charging gun 5 (in the direction away from the gun base 6). Based on the position information and posture information of the charging gun 5, the robot control device 1 fuzzily determines the first position and formulates the movement strategy of the robot.

[0109] After receiving the movement strategy signal from the robot control device 1, the robot moves from the initial position to the first position in a curved movement manner, and sends a ready signal to the robot control device 1 after reaching the first position. When the robot is at the first position, the lens optical axis of the image collector 3 can be in the same straight line with the geometric center of the end face for easy photography.

[0110] At the first position, the robot control device 1 sends a second photo taking instruction to the image collector 3 .

[0111] After receiving the secondary photographing instruction, the image collector 3 starts photographing, obtains the position information and posture information of the charging gun 5 , and feeds back the information to the robot control device 1 .

[0112] The second position is preset to be 10 mm in front of the charging gun 5 (in the direction away from the gun base 6). Based on the position information and posture information of the charging gun 5, the robot control device 1 accurately determines the second position and formulates the movement strategy of the robot.

[0113] After receiving the movement strategy signal from the robot control device 1, the robot moves from the initial position to the second position in a movement mode of first vertical movement and then horizontal movement, or moves from the initial position to the second position in a movement mode of first horizontal movement and then horizontal movement, and sends a ready signal to the robot control device 1 after reaching the second position. When the robot is at the second position, the axis of the actuator end of the actuator 2 is in the same straight line as the axis of the plugging and unplugging object, thereby simplifying the subsequent movement path and facilitating the actuator 2 to move along a straight line toward the plugging and unplugging object to complete the plugging and unplugging operation.

[0114] The actuating end of the actuator 2 slowly moves to the charging gun 5 at a speed less than or equal to 100 mm / s, so that the gripping end of the charging gun 5 (corresponding to the butt surface of the charging gun 5 facing away from the gun base 6 ) is inserted into the fixture 7 .

[0115] The robot control device 1 controls the gun locking motor 4 to start, causing the gun locking motor 4 to rotate 120 degrees in the positive direction to trigger the limit of the charging gun 5 .

[0116] After the limit gun locking is completed, the robot control device 1 sends a signal to turn off the rotation of the gun locking motor 4. At this time, the rotation of the motor has driven the mechanism inside the clamp 7 to tighten the charging gun 5.

[0117] The robot control device 1 controls the robot to slowly retreat, move in a direction away from the gun base 6 and return to the initial position.

[0118] The process of inserting a gun using the method disclosed in the present invention is specifically as follows:

[0119] At the initial position, the robot control device 1 obtains a gun insertion instruction and sends a photo taking instruction to the image collector 3 .

[0120] After receiving the photographing instruction, the image collector 3 starts photographing and obtains the point cloud information of the gun base 6 , and then generates the position information and posture information of the gun base 6 , and feeds back to the robot control device 1 .

[0121] The first position is preset to be 500 mm in front of the gun base 6. Based on the position information and posture information of the gun base 6, the robot control device 1 fuzzily determines the first position and formulates the movement strategy of the robot.

[0122] After receiving the movement strategy signal from the robot control device 1, the robot moves from the initial position to the first position in a curved movement manner, and sends a ready signal to the robot control device 1 after reaching the first position. When the robot is at the first position, the lens optical axis of the image collector 3 can be in the same straight line with the geometric center of the end face for easy photography.

[0123] At the first position, the robot control device 1 sends a second photo taking instruction to the image collector 3 .

[0124] After receiving the secondary photographing instruction, the image collector 3 starts photographing, obtains the position information and posture information of the gun base 6 , and feeds back the information to the robot control device 1 .

[0125] The second position is preset to be 10 mm in front of the gun base 6. Based on the position information and posture information of the gun base 6, the robot control device 1 accurately determines the second position and formulates the movement strategy of the robot.

[0126] After receiving the movement strategy signal from the robot control device 1, the robot moves from the initial position to the second position in a movement mode of first vertical movement and then horizontal movement, or moves from the initial position to the second position in a movement mode of first horizontal movement and then horizontal movement, and sends a ready signal to the robot control device 1 after reaching the second position. When the robot is at the second position, the axis of the execution end of the actuator 2 is in the same straight line as the axis of the gun base 6, thereby simplifying the subsequent movement path and facilitating the actuator 2 to move along a straight line toward the gun base 6 to complete the plugging and unplugging operation.

[0127] The actuating end of the actuating mechanism 2 slowly moves to the gun base 6 at a speed less than or equal to 100 mm / s, so that the charging gun 5 locked and connected by the clamp 7 is inserted into the gun base 6 .

[0128] The robot control device 1 controls the gun locking motor 4 to start, causing the gun locking motor 4 to rotate 120 degrees in the opposite direction, so as to trigger the release of the limit of the charging gun 5, thereby releasing the charging gun 5.

[0129] Afterwards, the robot control device 1 sends a signal to turn off the rotation of the locking gun motor 4. At this time, the rotation of the motor has driven the mechanism inside the clamp 7 to release the charging gun 5.

[0130] The robot control device 1 controls the robot to slowly retreat, move away from the charging gun 5 and return to the initial position.

[0131] Some embodiments of the present disclosure further provide a robot control device 1, which includes a processor and a memory, wherein the memory stores computer program instructions suitable for execution by the processor, and when the computer program instructions are executed by the processor, the steps of the robot control method in any of the above embodiments are executed.

[0132] Some embodiments of the present disclosure further provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by a processor of a user device, the user device executes the robot control method of any of the above embodiments.

[0133] The computer-readable storage medium provided in any embodiment of the present disclosure includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0134] The robot control device 1 provided in any embodiment of the present disclosure may be a mobile phone, a computer, a tablet computer, a server, a network device, etc., or may also be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, etc.

[0135] For example, the robot control device 1 may include: a processor, a memory, an input / output interface, a communication interface and a bus, wherein the processor, the memory, the input / output interface and the communication interface are connected to each other in communication within the device via the bus.

[0136] The processor can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0137] The memory can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory can store operating systems and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory and called and executed by the processor.

[0138] The input / output interface is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component, or it can be connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0139] The communication interface is used to connect the communication module to realize the communication interaction between the device and other devices. The communication module can realize communication through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0140] The bus comprises a pathway that transmits information between the various components of a device (eg, processor, memory, input / output interface, and communication interface).

[0141] It should be noted that, although the above device only shows a processor, a memory, an input / output interface, a communication interface, and a bus, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include components necessary for implementing the embodiments of the present specification, and does not necessarily include all of the components.

[0142] It can be known from the above description of the implementation mode that the technicians in this field can clearly understand that the embodiments of this specification can be implemented by means of software plus the necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of this specification can be essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments of this specification.

[0143] like Figure 2 to Figure 4 As shown, some embodiments of the present disclosure further provide a robot, which includes: a robot control device 1, an actuator 2 and an image collector 3.

[0144] The robot control device 1 is the robot control device 1 of any of the above embodiments.

[0145] The actuator 2 is connected to the robot control device 1 for communication, and is used to perform plugging and unplugging operations between the charging gun 5 and the gun base 6. When the actuator 2 is used for unplugging, the operation object of the plugging and unplugging operation is the charging gun 5, and when the actuator 2 is used for plugging, the operation object of the plugging and unplugging operation is the gun base 6.

[0146] The image collector 3 is communicatively connected to the robot control device 1 and is used to collect images of the plugging and unplugging objects.

[0147] The image collector 3 can be a binocular camera.

[0148] The actuator 2 may be a combination of a multi-degree-of-freedom robot and a fixture 7. The fixture 7 is used to grasp the charging gun 5. The robot is, for example, a six-axis robot, and the fixture 7 and the binocular camera are both connected to the end of the free end of the robot.

[0149] In some embodiments, the robot further includes: a gun locking motor 4 disposed in the fixture 7 , and the gun locking motor 4 is communicatively connected to the robot control device 1 .

[0150] It should be noted that, in order to avoid repeated description, the characteristics and beneficial effects of the robot can refer to the description in the robot control method and will not be repeated here.

[0151] In the description of this specification, the description with reference to the terms "one embodiment / method", "some embodiments / methods", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments / methods or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments / methods or examples described in this specification and the features of the different embodiments / methods or examples, unless they are contradictory.

[0152] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. "And / or" only describes the association relationship of associated objects, indicating three relationships, for example, A and / or B, which is expressed as: A exists alone, A and B exist at the same time, and B exists alone. At the same time, in the description of the present disclosure, unless otherwise clearly specified and defined, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0153] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A robot control method, characterized in that: The robot comprises an actuator and an image collector for collecting images of plugging and unplugging objects, wherein the actuator is used to perform plugging and unplugging operations between a charging gun and a gun base; wherein when the actuator is used for the gun unplugging action, the operation object of the plugging and unplugging operation is the charging gun, and when the actuator is used for the gun plugging action, the operation object of the plugging and unplugging operation is the gun base; the method comprises: Acquire image information of the plug-in object at an initial position acquired by the image collector, the image information including posture information, and control the robot to move from the initial position to a first position based on the image information of the plug-in object at the initial position, wherein the movement path of the robot from the initial position to the first position is a curved movement path, and when the robot is located at the first position, the lens plane of the image collector is opposite to the end face of the plug-in object used to cooperate with the actuator; Acquire image information of the plugging and unplugging object at a first position acquired by the image collector, and control the robot to move from the first position to a second position based on the image information of the plugging and unplugging object at the first position, so that when the robot is at the second position, the geometric center line of the execution end of the actuator is in the same straight line as the geometric center line of the plugging and unplugging object; Controlling the actuator to perform plugging and unplugging operations on the plugging and unplugging object, It is characterized in that when the distance between the initial position and the plugging and unplugging object is greater than or equal to a first preset distance, the movement speed of the robot from the initial position to the first position is greater than a preset speed; When the distance between the initial position and the plugging and unplugging object is less than a first preset distance, a moving speed of the robot from the initial position to the first position is less than the preset speed.

2. The method according to claim 1, characterized in that The movement path of the robot from the first position to the second position has a first movement sub-path and a second movement sub-path, the first movement sub-path is parallel to the end surface, and the second movement sub-path is perpendicular to the end surface.

3. The method according to claim 1, characterized in that The controlling the robot to move from the initial position to the first position based on the image information of the plugging and unplugging object at the initial position includes: Determining the position and posture of the plugging and unplugging object based on image information of the plugging and unplugging object at an initial position; Determining the movement strategy of the robot based on the position and posture of the plugging and unplugging object; The robot is controlled to move from the initial position to the first position based on the movement strategy of the robot.

4. The method according to claim 3, characterized in that The movement strategy of the robot includes positioning information of a first position and a movement path of the robot.

5. The method according to claim 3, characterized in that: The movement strategy of the robot also includes the movement speed of the robot.

6. The method according to any one of claims 1 to 5, characterized in that: A moving speed of the robot from the first position to the second position is greater than a moving speed of the robot from the initial position to the first position.

7. The method according to any one of claims 1 to 5, characterized in that: When the robot is located at the first position, the optical axis of the lens of the image collector and the geometric center of the end face are in the same straight line; and / or, When the robot is located at the first position, the end surface is parallel to the lens plane of the image collector.

8. The method according to any one of claims 1 to 5, characterized in that: The controlling the robot to move from the first position to the second position based on the image information of the plugging and unplugging object at the first position comprises: Determining the position and posture of the plugging and unplugging object based on the image information of the plugging and unplugging object at the first position; Determining the movement strategy of the robot based on the position and posture of the plugging and unplugging object; The robot is controlled to move from the first position to the second position based on the movement strategy of the robot.

9. The method according to claim 8, characterized in that When the robot is located at the second position, the axis of the execution end of the execution mechanism and the axis of the plugging and unplugging object are in the same straight line.

10. The method according to any one of claims 1 to 5, characterized in that: The distance between the first position and the plugging object is 500 mm, and the distance between the second position and the plugging object is 10 mm.

11. The method according to any one of claims 1 to 5, characterized in that: When the actuator is used for the action of drawing a gun, the actuator end has a clamp; When the actuator is used for the gun drawing action, controlling the actuator to perform the plugging and unplugging operation on the plugging and unplugging object includes: Controlling the movement of the clamp to insert the gripping end of the charging gun into the clamp; Controlling the clamp to grab the charging gun; The robot is controlled to carry the charging gun and move in a direction away from the gun base and return to an initial position.

12. The method according to any one of claims 1 to 5, characterized in that: When the actuator is used for the gun insertion action, the actuator end has a clamp and a charging gun grasped by the clamp; When the actuator is used for the gun insertion action, controlling the actuator to perform the insertion and removal operation on the insertion and removal object includes: Controlling the movement of the charging gun to insert the charging gun into the gun base; Controlling the clamp to release the charging gun; The robot is controlled to move in a direction away from the charging gun and return to an initial position.

13. The method according to any one of claims 1 to 5, characterized in that: When controlling the actuator to perform plugging and unplugging operations on the plugging and unplugging object, the moving speed of the actuator is less than or equal to 100 mm / s.

14. A robot control device, characterized in that: The device comprises a processor and a memory, wherein the memory stores computer program instructions suitable for execution by the processor, and the computer program instructions are executed by the processor to execute the steps of the robot control method according to any one of claims 1 to 13.

15. A computer-readable storage medium, characterized in that: The storage medium stores computer program instructions, and when the computer program instructions are executed by a processor of a user device, the user device executes the robot control method according to any one of claims 1 to 13.

16. A robot, characterized in that: include: The robot control device according to claim 14; An actuator connected to the robot control device for performing plugging and unplugging operations between the charging gun and the gun base; wherein, when the actuator is used for unplugging the gun, the operation object of the plugging and unplugging operation is the charging gun, and when the actuator is used for plugging the gun, the operation object of the plugging and unplugging operation is the gun base; The image collector is communicatively connected to the robot control device and is used to collect images of the plugging and unplugging objects.

17. The robot according to claim 16, characterized in that: The image collector includes a binocular camera.

18. The robot according to claim 16, characterized in that: The executive mechanism comprises: a mechanical arm communicatively connected to the robot control device, the image collector being disposed at a movable end of the mechanical arm; and A clamp is disposed at the movable end of the robot arm.

19. The robot according to claim 18, characterized in that The robot further comprises: a gun locking motor disposed in the fixture, and the gun locking motor is communicatively connected with the robot control device.

Images