Robot, robot control method, electronic device, and readable storage medium

Abstract

This application discloses a robot, a robotic arm control method, an electronic device, and a readable storage medium, relating to the field of robot control technology. The robot includes: a fixed robotic arm, a first robotic arm joint, a first robotic arm, a second robotic arm joint, and a second robotic arm, wherein the fixed robotic arm, the first robotic arm joint, the first robotic arm, the second robotic arm joint, and the second robotic arm are sequentially connected. The first robotic arm joint has a first rotating shaft, on which a first communication chip, a second communication chip, and a first actuator are mounted. The second robotic arm joint has a second rotating shaft, on which a second actuator is mounted. This application solves the technical problem that cables at the robotic arm joints limit the range of motion of the robotic arm.

Description

Technical Field

[0001] This application relates to the field of robot control technology, and in particular to a robot, a robotic arm control method, an electronic device, and a readable storage medium. Background Technology

[0002] With the continuous development of industrialization and automation, more and more industrial robots are being applied to production environments. Industrial robots have robotic arms capable of performing various production tasks, and each level of the robotic arm moves through the rotation of its joints to complete various work tasks. Typically, a single robot has multiple robotic arms. Currently, the joints of robots are connected by cables, which transmit control signals from the control terminal to each level of the robotic arm through the cables inside the robotic arm and at the joints. However, sometimes when the robotic arm rotates, the wired cables can become tangled at the joints between the two robotic arms, thus limiting the range of motion of the robotic arm. Summary of the Invention

[0003] The main objective of this application is to provide a robot, a robotic arm control method, an electronic device, and a readable storage medium, aiming to solve the technical problem that cables at the joints of the robotic arm limit the range of motion of the robotic arm.

[0004] To achieve the above objectives, this application provides a robot, the robot comprising:

[0005] A fixed robotic arm, a first robotic arm joint, a first robotic arm, a second robotic arm joint, and a second robotic arm are connected in sequence.

[0006] The first robotic arm joint is provided with a first rotating shaft, and the first rotating shaft is provided with a first communication chip, a second communication chip and a first actuator.

[0007] The first robotic arm is connected to the fixed robotic arm via the first rotating shaft, the first communication chip and the second communication chip are wirelessly connected, and the first actuator is connected to the first rotating shaft.

[0008] The second robotic arm joint is provided with a second rotating shaft, and a second actuator is provided on the second rotating shaft. The second actuator is connected to the second communication chip.

[0009] The second robotic arm is connected to the first robotic arm via the second rotating shaft, and the second actuator is connected to the second rotating shaft.

[0010] This application also provides a robotic arm control method applied to the robot, the robotic arm control method comprising:

[0011] The first actuator receives the first control signal and controls the rotation of the first robotic arm through the first actuator and the first control signal.

[0012] The first communication chip receives the second control signal and sends the second control signal to the second communication chip in millimeter wave mode, wherein the first communication chip and the second communication chip are located at different positions on the rotation axis of the first robotic arm;

[0013] The second control signal is received through the second communication chip, and the second control signal is sent to the second actuator;

[0014] The second actuator controls the rotation of the second robotic arm according to the second control signal.

[0015] Optionally, the step of receiving the second control signal through the first communication chip and transmitting the second control signal to the second communication chip in millimeter-wave signal mode includes:

[0016] The first communication chip converts the received second control signal from electrical signal form into millimeter wave signal form.

[0017] The first communication chip transmits a second control signal in millimeter-wave form to the second communication chip.

[0018] Optionally, the step of receiving the second control signal through the second communication chip and sending the second control signal to the second actuator includes:

[0019] The second control signal is received through the second communication chip, and the second control signal is converted from millimeter wave signal form into electrical signal form;

[0020] The second control signal, in the form of an electrical signal, is sent to the second actuator via the second communication chip.

[0021] Optionally, the robot is used for control terminal connection, and the step of receiving a first control signal through a first actuator and controlling the rotation of the first robotic arm through the first actuator and the first control signal includes:

[0022] When the first actuator receives the first control signal sent by the control terminal, the first actuator executes the control command corresponding to the first control signal to control the rotation of the first robotic arm.

[0023] After the step of receiving the first control signal through the first actuator and controlling the rotation of the first robotic arm through the first actuator and the first control signal, the method further includes:

[0024] The first motion information of the first robotic arm is collected by a preset first sensor and transmitted back to the control terminal. The first motion information includes at least the position information and rotation speed of the first robotic arm.

[0025] Optionally, the step of controlling the rotation of the second robotic arm via the second actuator according to the second control signal includes:

[0026] The second actuator executes the control command corresponding to the second control signal to control the rotation of the second robotic arm;

[0027] The second motion information of the second robotic arm is collected by the second sensor and then transmitted back to the control terminal.

[0028] Optionally, the step of transmitting the second motion information back to the control terminal includes:

[0029] The second motion information is transmitted to the second communication chip via the second sensor, wherein the second motion information includes at least the position information and rotation speed of the second robotic arm;

[0030] The second motion information is transmitted to the first communication chip via a millimeter-wave signal through the second communication chip.

[0031] The second motion information is sent to the control terminal via the first communication chip.

[0032] Optionally, after the step of receiving the second control signal through the second communication chip and sending the second control signal to the second actuator, the method further includes:

[0033] If the second control signal contains a third control signal, then the third control signal is sent to the third communication chip through the second communication chip, wherein the third control signal is used to control the third robotic arm;

[0034] The third control signal is transmitted to the fourth communication chip via the third communication chip in millimeter wave mode, wherein the third communication chip and the fourth communication chip are located on the second rotation axis;

[0035] The third control signal is received through the fourth communication chip, and the third control signal is sent to the third actuator;

[0036] The third actuator controls the rotation of the third robotic arm according to the third control signal.

[0037] This application also provides an electronic device, which is a physical device, comprising: a memory, a processor, and a program of the robotic arm control method stored in the memory and executable on the processor. When the program of the robotic arm control method is executed by the processor, it can implement the steps of the robotic arm control method as described above.

[0038] This application also provides a computer-readable storage medium storing a program for implementing a robotic arm control method, wherein when the program for the robotic arm control method is executed by a processor, it implements the steps of the robotic arm control method as described above.

[0039] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the robotic arm control method described above.

[0040] This application provides a robot, a robotic arm control method, an electronic device, and a readable storage medium. The technical solution of this application first receives a first control signal through a first actuator and controls the rotation of a first robotic arm using the first actuator and the first control signal. Then, a second control signal is sent to a first communication chip through a control terminal. The first communication chip then receives the second control signal and sends it to a second communication chip via millimeter-wave signals. The first and second communication chips are located at different positions on the rotation axis of the first robotic arm. The second communication chip then receives the second control signal and sends it to a second actuator. Finally, the second actuator controls the rotation of the second robotic arm according to the second control signal. In controlling the rotation of a multi-stage robotic arm, this application's technical solution uses communication chips on the rotation axis of the robotic arm for wireless communication. These communication chips transmit control signals for the second robotic arm, and since both communication chips are located on the rotation axis of the first robotic arm, their relative positions remain unchanged during the rotation of the first robotic arm, thus not affecting millimeter-wave communication between them. The technical solution of this application avoids the problem of cable entanglement when the robotic arm rotates by using millimeter-wave communication to transmit control signals at the connection point of the robotic arm, thereby enabling the first robotic arm to rotate freely on the corresponding rotation axis and expanding the range of motion of the first robotic arm. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0042] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic diagram of the robot's structural composition in an embodiment of this application;

[0044] Figure 2 This is a flowchart illustrating the second embodiment of the robotic arm control method of this application;

[0045] Figure 3 This is a schematic diagram of the structural components of each robotic arm in the robotic arm control method of this application.

[0046] Figure 4 This is a flowchart illustrating the third embodiment of the robotic arm control method of this application;

[0047] Figure 5 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the robotic arm control method in the embodiments of this application.

[0048] Explanation of icon numbers:

[0049] label name label name 100 Fixed robotic arm 110 First robotic arm joint 120 First robotic arm 130 Second robotic arm joint 140 Second robotic arm 111 First rotating shaft 112 First communication chip 113 Second communication chip 114 First Actuator 131 Second rotating shaft 132 Second actuator 150 robotic arm base 101 First Cable 160 Control terminal 121 Second cable

[0050] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] Example 1

[0053] With the continuous development of industrialization and automation, more and more industrial robots are being applied to production environments. Industrial robots have robotic arms capable of performing various production tasks, and each level of the robotic arm can perform rotational movements through actuators at the joints to complete various work tasks. Typically, each industrial robot has multiple robotic arms. Currently, the joints of these arms are connected by cables, which transmit control signals from the control unit to each level of the robotic arm through the cables inside the arm and at the joints. However, when a large range of motion is required, the wired cables can become entangled at the joints of the two arms as they rotate, significantly limiting the range of motion. This application's embodiment eliminates the cable entanglement problem by utilizing millimeter-wave short-range communication at the robot's joints, enabling arbitrary rotation of the axis and making the robot more flexible.

[0054] This application provides a robot, as shown in the embodiments below. Figure 1 The robot includes:

[0055] A fixed robotic arm 100, a first robotic arm joint 110, a first robotic arm 120, a second robotic arm joint 130, and a second robotic arm 140 are connected in sequence.

[0056] The first robotic arm joint 110 is provided with a first rotating shaft 111, and a first communication chip 112, a second communication chip 113 and a first actuator 114 are provided on the first rotating shaft.

[0057] The first robotic arm 120 is connected to the fixed robotic arm 100 via the first rotating shaft 111, the first communication chip 112 and the second communication chip 113 are wirelessly connected, and the first actuator 114 is connected to the first rotating shaft 111.

[0058] The second robotic arm joint 130 is provided with a second rotating shaft 131, and a second actuator 132 is provided on the second rotating shaft. The second actuator 132 is connected to the second communication chip 113.

[0059] The second robotic arm 140 is connected to the first robotic arm 120 via the second rotating shaft 131, and the second actuator 132 is connected to the second rotating shaft 131.

[0060] Optionally, a first sensor is provided in the first robotic arm joint 110.

[0061] Optionally, a second sensor is provided in the second robotic arm joint 130.

[0062] Optionally, the fixed robotic arm 100 is fixed to the robotic arm base 150.

[0063] Optionally, the fixed robotic arm 100 includes a first cable 101, one end of which is connected to the control terminal 160 and the other end of which is connected to the first communication chip 112.

[0064] Optionally, the first robotic arm 120 includes a second cable 121, one end of which is connected to the second communication chip 113 and the other end of which is connected to the second actuator 132.

[0065] Optionally, the first communication chip 112, the first actuator 114, and the first sensor are all connected to the control terminal 160.

[0066] When the robot performs a work task, the specific implementation process includes: sending a first control signal to the first actuator 114 through the control terminal 160, and executing the control command corresponding to the first control signal through the first actuator 114 to control the first robotic arm 120 to rotate on the first rotation axis 111; sending a second control signal to the first communication chip 112 through the control terminal 160, and sending the second control signal to the second communication chip 113 through the first communication chip 112 in millimeter wave mode, and sending the second control signal to the second actuator 132 through the third communication chip 113, and executing the control command corresponding to the second control signal through the second actuator 132 to control the second robotic arm 140 to rotate on the second rotation axis 131.

[0067] This application provides a robot, including a fixed robotic arm and a second robotic arm. This application provides a robot by setting a first communication chip and a second communication chip at the joint of the first robotic arm and the fixed robotic arm. These chips can be used to transmit control signals for controlling the rotation of the robotic arm via wireless communication, so that there are no cables restricting the joint of the first robotic arm, thereby increasing the rotation range of the first robotic arm.

[0068] Example 2

[0069] This application also provides a robotic arm control method, applied to the robot described in the previous embodiment. In the second embodiment of the robotic arm control method of this application, referring to... Figure 2 The robotic arm control method includes:

[0070] Step S10: Receive a first control signal through the first actuator and control the rotation of the first robotic arm through the first actuator and the first control signal;

[0071] Step S20: Receive the second control signal through the first communication chip and send the second control signal to the second communication chip in millimeter wave mode, wherein the first communication chip and the second communication chip are located at different positions on the rotation axis of the first robotic arm;

[0072] Step S30: Receive the second control signal through the second communication chip and send the second control signal to the second actuator;

[0073] Step S40: The second actuator controls the rotation of the second robotic arm according to the second control signal.

[0074] In this embodiment of the application, it should be noted that the first robotic arm and the second robotic arm are applied to an industrial robot, and the robotic arm located on the robotic arm base is referred to as... Figure 3 In this design, the first robotic arm is closer to the control terminal, while the second robotic arm is farther away. The control terminal sends a first control signal to a built-in first actuator at the joint of the first robotic arm via an internal cable that secures the robotic arm. This internal cable is installed inside the robotic arm (shown externally in the diagram for better visualization). A second control signal is then transmitted via the same internal cable to a first communication chip, which in turn sends the second control signal via millimeter-wave signals to a second communication chip. Both the first and second communication chips are located on the rotation axis of the first robotic arm, and their relative positions remain unchanged during rotation, without affecting their wireless communication. The second control signal is then transmitted via the internal cable to a built-in second actuator, which controls the rotation of the second robotic arm. This allows for wireless transmission of control signals at the joint of the first robotic arm, while the wired cables are also located inside the robotic arm, enabling unrestricted rotation and a wider range of motion. Similarly, if a third robotic arm connected to the second robotic arm is also provided on the mechanical watch base, the third control signal at the joint of the second robotic arm between the first and second robotic arms is sent through the third communication chip and the fourth communication chip, so that the rotation of the second robotic arm is not limited by the cable, thereby increasing the rotation range of the robotic arm.

[0075] The first and second communication chips can be millimeter-wave chips for transmitting and receiving millimeter-wave signals. Furthermore, the first and second control signals are signals used to control the rotation of the robotic arm. These control signals can originate from either an automatic or manual control terminal. Automatic control signals can be issued by the control terminal based on a pre-set control program, and include at least a first control signal controlling the first robotic arm and a second control signal controlling the second robotic arm. Alternatively, the control terminal can be a manual control terminal, for example, by manually inputting control commands and converting them into corresponding control signals to control the rotation of the robotic arm.

[0076] As an example, when an industrial robot needs to perform a task of gripping a target object, a worker inputs control commands at the control terminal. These commands include moving the gripper at the end of the industrial robot to the target position. The industrial robot consists of multiple robotic arms, including at least a first robotic arm and a second robotic arm. Therefore, moving the gripper requires the cooperation of both the first and second robotic arms. The control commands include a first instruction to control the first robotic arm and a second instruction to control the second robotic arm, respectively, and are converted into corresponding first and second control signals. The first control signal is transmitted via internal cables to a first actuator corresponding to the first robotic arm, allowing the first actuator to execute the first instruction corresponding to the first control signal to control the rotation of the first robotic arm. The second control signal is transmitted via internal cables to a first communication chip, which then transmits it as a millimeter-wave signal to a second communication chip. The second communication chip then transmits the second control signal via internal cables to a second actuator, which executes the second instruction corresponding to the second control signal to control the rotation of the second robotic arm, thereby moving the gripper at the end of the robotic arm above the target object.

[0077] As a preferred embodiment, the control terminal adjusts the issued control signals based on the motion information of each robotic arm collected by sensors installed on the robotic arm joints. Specifically, the motion information may include position information and movement speed. For example, when the control terminal is manually controlled, the operator can receive motion information of the currently operating robotic arm through the control terminal, such as whether the robotic arm is in the correct position and whether the rotation speed of the robotic arm is appropriate, so that the operator can refer to this information and adjust the subsequent control commands.

[0078] As an example, steps S10 to S40 include: sending a first control signal to a first actuator mounted at the rotation joint of a first robotic arm via wired communication; executing a control command corresponding to the first control signal via the first actuator to control the first robotic arm to rotate on the rotation axis of the first robotic arm; sending a second control signal to a first communication chip via the control terminal via wired communication, wherein the second control signal is used to control the rotation of a second robotic arm and is transmitted via an internal cable mounted on the fixed robotic arm; sending the second control signal to a second communication chip via the first communication chip in millimeter-wave signal mode, wherein the installation positions of the first communication chip and the second communication chip are located on the rotation axis of the first robotic arm, and their relative positions do not change with the rotation of the first robotic arm; receiving the second control signal via the second communication chip and sending the second control signal to the second actuator; executing the control command of the second control signal via the second actuator to control the second robotic arm to rotate on the rotation axis of the second robotic arm.

[0079] The step of receiving the second control signal through the first communication chip and transmitting the second control signal to the second communication chip in millimeter-wave signal mode includes:

[0080] Step S31: The received second control signal is converted from an electrical signal to a millimeter-wave signal via the first communication chip;

[0081] Step S32: The second control signal in millimeter wave form is sent to the second communication chip through the first communication chip.

[0082] In this embodiment, it should be noted that when wireless communication is performed between the first and second communication chips, millimeter-wave signals are used for signal transmission. Millimeter-wave signals are electromagnetic waves with a frequency domain of 30-300 GHz and a wavelength of 1-10 mm. They have strong anti-interference capabilities and are suitable for point-to-point short-distance signal transmission, ensuring the stability of the robotic arm's control signals during transmission. Furthermore, when the second control signal is emitted through the control terminal, it is transmitted as an electrical signal via a cable installed inside the robotic arm. Upon reaching the first communication chip, the electrical second control signal needs to be converted into a millimeter-wave signal by the converter built into the first communication chip.

[0083] As an example, when converting from an electrical signal to a millimeter-wave signal, if the second control signal is an analog signal, the frequency corresponding to the waveform of the electrical signal can be appropriately scaled according to the operating frequency of the communication chip to obtain a frequency suitable for the millimeter-wave signal, thereby generating the second control signal in the millimeter-wave signal form. Here, the wavelength changes accordingly with the frequency. Similarly, when converting from a millimeter-wave signal to an electrical signal, the frequency of the received millimeter-wave signal can also be appropriately scaled by the second communication chip to obtain the second control signal in the electrical signal form. In addition, other methods for converting between electrical signals and millimeter-wave signals within the scope of this technical field can also be used, and no limitation is made here.

[0084] As an example, steps S31 to S32 include: extracting the waveform of the received second control signal in the form of an electrical signal through the first communication chip; scaling the frequency of the waveform of the second control signal in the form of an electrical signal to a preset operating frequency to obtain the waveform of the second control signal in the form of a millimeter wave signal and a scaling ratio, wherein the preset operating frequency is the frequency range of the millimeter wave signals sent and received by the first communication chip and the second chip, and the scaling ratio is the ratio between the scaled frequency and the frequency before scaling; generating the second control signal in the form of a millimeter wave signal through the first communication chip according to the waveform of the second control signal in the form of a millimeter wave signal, and sending the second control signal in the form of a millimeter wave signal to the second communication chip.

[0085] Based on steps S31 to S32, the step of receiving the second control signal through the second communication chip and sending the second control signal to the second actuator includes:

[0086] Step S41: Receive the second control signal through the second communication chip and convert the second control signal from millimeter wave signal form into electrical signal form;

[0087] Step S42: The second control signal in the form of an electrical signal is sent to the second actuator through the second communication chip.

[0088] In this embodiment of the application, the specific conversion process is similar to the process of steps S31 to S32. The second control signal in the form of millimeter wave signal is mainly restored to the form of electrical signal by the second communication chip, so as to be transmitted to the second actuator through wired communication via cable, and the control command corresponding to the second control signal is executed by the second actuator.

[0089] As an example, steps S41 to S42 include: extracting the waveform of the received millimeter-wave signal in the form of a second control signal through a second communication chip; restoring the frequency of the waveform of the millimeter-wave signal in the form of a second control signal to the frequency of the waveform of the electrical signal in the form of a second control signal according to a scaling ratio, thereby obtaining the waveform of the electrical signal in the form of a second control signal; wherein, the scaling ratio is the ratio between the scaled frequency and the original frequency when the first communication chip converts the electrical signal in the form of a second control signal into a millimeter-wave signal in the form of a second control signal; generating the electrical signal in the form of a second control signal through the second communication chip according to the waveform of the electrical signal in the form of a second control signal, and sending the second control signal to the second actuator in the form of wired communication.

[0090] The robot is connected to a control terminal, and the step of receiving a first control signal through a first actuator and controlling the rotation of the first robotic arm through the first actuator and the first control signal includes:

[0091] Step S11: When the first actuator receives the first control signal sent by the control terminal, the first actuator executes the control command corresponding to the first control signal to control the rotation of the first robotic arm.

[0092] After the step of receiving the first control signal through the first actuator and controlling the rotation of the first robotic arm through the first actuator and the first control signal, the method further includes:

[0093] Step S12: Collect the first motion information of the first robotic arm through a preset first sensor, and transmit the first motion information back to the control terminal. The first motion information includes at least the position information and rotation speed of the first robotic arm.

[0094] In this embodiment of the application, it should be noted that when controlling the first robotic arm to rotate, the first control signal is transmitted via wired communication. Specifically, when the first control signal is sent to the first actuator through the control terminal, the first control signal is transmitted through an internal cable installed inside the fixed robotic arm. Since the cable is installed inside the robotic arm, there will be no situation where the cable gets tangled around the joints of the robotic arm, nor will it affect the rotation of the first robotic arm.

[0095] As an example, steps S11 to S13 include: sending a first control signal to a first actuator via a control terminal, wherein the first control signal is transmitted via an internal cable installed in the fixed robotic arm; executing a control command corresponding to the first control signal via the first actuator to control the first robotic arm to rotate on the rotation axis of the first robotic arm; simultaneously with the rotation of the robotic arm, acquiring first motion information of the first robotic arm via a first sensor installed at the joint between the first robotic arm and the fixed robotic arm, wherein the first motion information includes at least the position information and rotation speed of the first robotic arm; and transmitting the first motion information back to the control terminal via wired communication for reference by the control terminal to facilitate adjustment of the first control signal, wherein the first motion information is transmitted via an internal cable in the fixed robotic arm.

[0096] The step of controlling the rotation of the second robotic arm via the second actuator according to the second control signal includes:

[0097] Step S51: The second actuator executes the control command corresponding to the second control signal to control the rotation of the second robotic arm;

[0098] Step S52: Collect the second motion information of the second robotic arm through the second sensor, and transmit the second motion information back to the control terminal.

[0099] In this embodiment, it should be noted that the second motion information specifically includes the position information and rotation speed of the second robotic arm, for the control terminal to reference and facilitate adjustment of subsequent control signals issued by the control terminal. For example, if the control terminal is a manual control terminal, the robotic arm is controlled by the operator inputting control commands. When the robotic arm grips the target object, the operator needs to monitor the motion information of the robotic arm in real time, i.e., the current position and speed of the robotic arm, so that the operator can issue commands to stop the movement and grip in a timely manner, thus completing the work task more efficiently. In addition, when transmitting the second motion information, it can still be transmitted according to the transmission path of the second control signal, i.e., via the path of the second sensor - the second communication chip - the first communication chip - the control terminal.

[0100] As an example, steps S51 to S52 include: executing the control command corresponding to the second control signal through the second actuator to control the second robotic arm to rotate on the rotation axis of the second robotic arm; collecting second motion information of the second robotic arm through a second sensor installed at the joint of the first and second robotic arms, wherein the second motion information includes at least the position information and rotation speed of the second robotic arm; transmitting the second motion information back to the second communication chip through the second sensor, then transmitting the second motion information back to the first communication chip through the second communication chip, and finally transmitting the second motion information back to the control terminal through the first communication chip.

[0101] The step of transmitting the second motion information back to the control terminal includes:

[0102] Step S521: The second motion information is sent to the second communication chip via the second sensor, wherein the second motion information includes at least the position information and rotation speed of the second robotic arm;

[0103] Step S522: The second motion information is sent to the first communication chip via the second communication chip in millimeter wave signal mode;

[0104] Step S523: The second motion information is sent to the control terminal through the first communication chip.

[0105] In this embodiment of the application, it should be noted that the transmission path and transmission method of the second motion information are the same as those of the second control signal. This includes transmitting the information wirelessly through the second communication chip and the first communication chip at the joint of the first robotic arm and the fixed robotic arm. This avoids the limitation of the rotation range of the first robotic arm caused by transmission through cables at the joint of the robotic arm, and improves the rotation flexibility of the first robotic arm.

[0106] As an example, steps S521 to S523 include: sending the second motion information to the second communication chip via the second sensor, wherein the second motion information includes at least the position information and rotation speed of the second robotic arm, and the second motion information is transmitted via the internal cable of the first robotic arm; sending the second motion information to the first communication chip via the second communication chip in millimeter-wave signal mode, wherein the wireless communication mode is in millimeter-wave signal form; and sending the second motion information to the control terminal via the first communication chip, wherein the second motion information is transmitted via the internal cable of the fixed robotic arm.

[0107] This application provides a robotic arm control method. First, a first actuator receives a first control signal and controls the rotation of a first robotic arm using the first actuator and the first control signal. Then, a second control signal is sent to a first communication chip via a control terminal. The first communication chip receives the second control signal and sends it to a second communication chip via millimeter-wave signals. The first and second communication chips are located at different positions on the rotation axis of the first robotic arm. The second communication chip then receives the second control signal and sends it to a second actuator. Finally, the second actuator controls the rotation of the second robotic arm based on the second control signal. In controlling the rotation of a multi-stage robotic arm, this application's technical solution uses communication chips on the rotation axis of the robotic arm for wireless communication. These communication chips transmit control signals for the second robotic arm, and since both communication chips are located on the rotation axis of the first robotic arm, their relative positions remain unchanged during rotation, thus not affecting millimeter-wave communication between them. The technical solution of this application avoids the problem of cable entanglement when the robotic arm rotates by using millimeter-wave communication to transmit control signals at the connection point of the robotic arm, thereby enabling the first robotic arm to rotate freely on the corresponding rotation axis and expanding the range of motion of the first robotic arm.

[0108] Example 3

[0109] Furthermore, based on the first embodiment of this application, in another embodiment of this application, the same or similar content as in Embodiment 1 can be referred to the above description, and will not be repeated hereafter. Based on this, after the step of receiving the second control signal through the second communication chip and sending the second control signal to the second actuator, refer to... Figure 4 The method further includes:

[0110] Step A10: If the second control signal contains a third control signal, then the third control signal is sent to the third communication chip through the second communication chip, wherein the third control signal is used to control the third robotic arm;

[0111] Step A20: The third control signal is sent to the fourth communication chip via the third communication chip in millimeter wave mode, wherein the third communication chip and the fourth communication chip are located on the second rotating shaft;

[0112] Step A30: Receive the third control signal through the fourth communication chip and send the third control signal to the third actuator;

[0113] Step A40: The third actuator controls the rotation of the third robotic arm according to the third control signal.

[0114] In this embodiment of the application, it should be noted that this embodiment provides a control method for a robotic arm divided into two or more levels, namely, at the end of the second robotic arm, there is a third robotic arm connected to it. The second control signal, in addition to controlling the rotation of the second robotic arm, also includes a third control signal to control the rotation of the third robotic arm. At this time, the transmission of the third control signal between the first robotic arm and the second robotic arm is also carried out through wireless communication. The communication process is completed through the third communication chip and the fourth communication chip installed at the joint of the first robotic arm and the second robotic arm. The specific communication method refers to steps S30 to S40 in the previous embodiment, which will not be repeated here.

[0115] In this embodiment, the third control signal is transmitted through a third communication chip and a fourth communication chip installed on the rotation axis of the second robotic arm at the joint of the robotic arm. Although the positions of the joints of the first and second robotic arms will change with the rotation of the first and second robotic arms, the relative positions of the third and fourth communication chips will not change and will not affect the communication between them because the third and fourth communication chips are located on the rotation axis of the second robotic arm.

[0116] In addition, if the robotic arm controlled by the control terminal includes other robotic arms besides the third robotic arm, it is also controlled in the same way as described above. Wireless communication is transmitted through a communication chip at each robotic arm joint, which avoids the influence of cables at the robotic arm joints on the rotation range of the robotic arm.

[0117] As an example, steps A10 to A40 include: if the second control signal contains a third control signal, i.e., the robotic arm controlled by the control terminal also includes a third robotic arm, then the third control signal is sent to the third communication chip via the second communication chip, wherein the third control signal is used to control the third robotic arm, and the third control signal is transmitted via an internal cable installed in the first robotic arm; the third control signal is sent to the fourth communication chip via the third communication chip in millimeter-wave signal mode, wherein the third communication chip and the fourth communication chip are located on the second rotation axis, and the wireless communication mode is millimeter-wave signal transmission; the third control signal is received by the fourth communication chip and sent to the third actuator, wherein the third control signal is transmitted via an internal cable installed in the second robotic arm; the control command corresponding to the third control signal is executed by the third actuator to control the rotation of the third robotic arm.

[0118] This application provides a robotic arm control method. If the second control signal includes a third control signal, the third control signal is sent to the third communication chip via the second communication chip. The third control signal is used to control the third robotic arm. The third communication chip then sends the third control signal to the fourth communication chip via millimeter wave signal. The third and fourth communication chips are located on the second rotation axis. The fourth communication chip receives the third control signal and sends it to the third actuator. Finally, the third actuator controls the rotation of the third robotic arm according to the third control signal. The technical solution of this application uses a communication chip installed at the joint of the robotic arm to transmit the third control signal. The communication chip is installed on the rotation axis of the second robotic arm. Although the positions of the joints of the first and second robotic arms change with their rotation, the relative positions of the third and fourth communication chips do not change because they are located on the rotation axis of the second robotic arm. This does not affect the communication between them. It also avoids the influence of cables at the joints on the rotation range of the robotic arm, thus expanding the rotation flexibility and range of each stage of the robotic arm.

[0119] Example 4

[0120] This application provides an electronic device, which includes: at least one processor; and a memory communicatively linked to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the robotic arm control method in the first embodiment described above.

[0121] The following is for reference. Figure 5 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable media players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0122] like Figure 5As shown, an electronic device may include a processing unit (such as a central processing unit, graphics processing unit, etc.) that can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) or loaded from storage devices into random access memory (RAM). The RAM also stores various programs and data required for the operation of the electronic device. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also linked to the bus.

[0123] Typically, the following systems can be linked to the I / O interface: input devices such as touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices such as liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices such as magnetic tapes, hard drives, etc.; and communication devices. Communication devices allow electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although electronic devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0124] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from a ROM. When the computer program is executed by a processing device, it performs the functions defined above in the methods of embodiments of this disclosure.

[0125] The electronic device provided in this application, employing the robotic arm control method described in the above embodiments, solves the technical problem that cables at the joints of the robotic arm limit its range of motion. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the robotic arm control method provided in Embodiment 1 above, and other technical features of this electronic device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0126] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0127] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0128] Example 5

[0129] This embodiment provides a computer-readable storage medium having computer-readable program instructions stored thereon, the computer-readable program instructions being used to execute the method for controlling the first robotic arm in the first embodiment described above.

[0130] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical link having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM, or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0131] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0132] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to: receive a first control signal via a first actuator and control the rotation of a first robotic arm via the first actuator and the first control signal; send a second control signal to a first communication chip via the control terminal; receive the second control signal via the first communication chip and send the second control signal to a second communication chip via a millimeter-wave signal, wherein the first communication chip and the second communication chip are located at different positions on the rotation axis of the first robotic arm; receive the second control signal via the second communication chip and send the second control signal to a second actuator; and control the rotation of a second robotic arm via the second actuator according to the second control signal.

[0133] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be linked to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be linked to an external computer (e.g., via the Internet using an Internet service provider).

[0134] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0135] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0136] The computer-readable storage medium provided in this application stores computer-readable program instructions for executing the above-described robotic arm control method, thus solving the technical problem that cables at the joints of the robotic arm limit its range of motion. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the robotic arm control method provided in the above-described embodiments, and will not be repeated here.

[0137] Example 6

[0138] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the robotic arm control method described above.

[0139] The computer program product provided in this application solves the technical problem that cables at the joints of a robotic arm limit its range of motion. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the robotic arm control method provided in the above embodiments, and will not be repeated here.

[0140] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A robot, characterized in that, The robot includes: A fixed robotic arm, a first robotic arm joint, a first robotic arm, a second robotic arm joint, and a second robotic arm are connected in sequence. The first robotic arm joint is provided with a first rotating shaft, and the first rotating shaft is provided with a first communication chip, a second communication chip and a first actuator. The first communication chip and the second communication chip are located on the same rotation axis of the first robotic arm, and their relative positions remain unchanged as they rotate. The first robotic arm is connected to the fixed robotic arm via the first rotating shaft. The first communication chip and the second communication chip are wirelessly connected via millimeter-wave signals. The first communication chip is used to scale the frequency of the received control signal waveform in the form of an electrical signal to a preset operating frequency to generate a control signal in the form of a millimeter-wave signal. The second communication chip is used to restore the frequency of the millimeter-wave signal waveform to the frequency of the electrical signal waveform according to the scaling ratio. The preset operating frequency is the frequency range of the millimeter-wave signals sent and received by the first communication chip and the second communication chip. The scaling ratio is the ratio between the scaled frequency and the original frequency. The first actuator is connected to the first rotating shaft. The second robotic arm joint is provided with a second rotating shaft, and a second actuator is provided on the second rotating shaft. The second actuator is connected to the second communication chip. The second robotic arm is connected to the first robotic arm via the second rotating shaft, and the second actuator is connected to the second rotating shaft. A first sensor is provided in the joint of the first robotic arm, and a second sensor is provided in the joint of the second robotic arm. The first sensor is used to collect the first motion information of the first robotic arm and transmit the first motion information back to the control terminal. The second sensor is used to collect the second motion information of the second robotic arm. The first motion information and the second motion information include at least the position information and rotation speed of the corresponding robotic arm. The second rotating shaft is also provided with a third communication chip and a fourth communication chip. The third communication chip is connected to the second communication chip and the third communication chip and the fourth communication chip are wirelessly connected. The fourth communication chip is used to connect to a third actuator, and the third actuator is used to control the rotation of the third robotic arm.

2. A robotic arm control method, characterized in that, Applied to the robot as described in claim 1, the robotic arm control method includes: The first actuator receives the first control signal and controls the rotation of the first robotic arm through the first actuator and the first control signal. The first communication chip receives the second control signal and sends the second control signal to the second communication chip in millimeter wave mode; The second control signal is received through the second communication chip, and the second control signal is sent to the second actuator; The second actuator controls the rotation of the second robotic arm according to the second control signal.

3. The robotic arm control method as described in claim 2, characterized in that, The step of receiving the second control signal through the first communication chip and transmitting the second control signal to the second communication chip in millimeter wave mode includes: The first communication chip converts the received second control signal from electrical signal form into millimeter wave signal form. The first communication chip transmits a second control signal in millimeter-wave form to the second communication chip.

4. The robotic arm control method as described in claim 3, characterized in that, The step of receiving the second control signal through the second communication chip and sending the second control signal to the second actuator includes: The second control signal is received through the second communication chip, and the second control signal is converted from millimeter wave signal form into electrical signal form; The second control signal, in the form of an electrical signal, is sent to the second actuator via the second communication chip.

5. The robotic arm control method as described in claim 2, characterized in that, The robot is connected to a control terminal, and the step of receiving a first control signal through a first actuator and controlling the rotation of the first robotic arm through the first actuator and the first control signal includes: When the first actuator receives the first control signal sent by the control terminal, it executes the control command corresponding to the first control signal to control the rotation of the first robotic arm.

6. The robotic arm control method as described in claim 5, characterized in that, The step of controlling the rotation of the second robotic arm via the second actuator according to the second control signal includes: The second actuator executes the control command corresponding to the second control signal to control the rotation of the second robotic arm; The second motion information of the second robotic arm is collected by the second sensor and then transmitted back to the control terminal.

7. The robotic arm control method as described in claim 6, characterized in that, The step of transmitting the second motion information back to the control terminal includes: The second motion information is transmitted to the second communication chip via the second sensor, wherein the second motion information includes at least the position information and rotation speed of the second robotic arm; The second motion information is transmitted to the first communication chip via a millimeter-wave signal through the second communication chip. The second motion information is sent to the control terminal via the first communication chip.

8. The robotic arm control method as described in claim 2, characterized in that, After the steps of receiving the second control signal via the second communication chip and sending the second control signal to the second actuator, the method further includes: If the second control signal contains a third control signal, then the third control signal is sent to the third communication chip through the second communication chip, wherein the third control signal is used to control the third robotic arm; The third control signal is transmitted to the fourth communication chip via the third communication chip in millimeter wave mode; The third control signal is received through the fourth communication chip, and the third control signal is sent to the third actuator; The third actuator controls the rotation of the third robotic arm according to the third control signal.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory that is communicatively linked to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the robotic arm control method according to any one of claims 2 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for implementing a robotic arm control method, which is executed by a processor to implement the steps of the robotic arm control method as described in any one of claims 2 to 8.

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