Control method, device, system and storage medium of work robot

Abstract

The application provides a control method, device and system of a work robot and a storage medium, and relates to the technical field of artificial intelligence. The control method of the work robot can receive an opening signal transmitted after a user opens a trigger switch, and control a locking mechanism to unlock the position of the work robot. After the user applies pressure to the work robot, a force sensor transmits a force signal every preset time interval. In each preset time interval, the movement speed of the work robot is determined according to the force value carried by the force signal, and the movement direction of the work robot is determined according to the force direction carried by the force signal. In each preset time interval, the movement of the work robot along the force direction according to the movement speed is controlled by a motion mechanism. When the work robot reaches a target position, a closing signal transmitted after the user closes the trigger switch is received, and the locking mechanism is controlled to lock the position of the work robot. The operation process is simple and efficient.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a control method, device, system and storage medium for a work robot. Background Technology

[0002] In some mechanical manufacturing industries (such as welding), robots can be used to perform tasks, ensuring the health and safety of workers.

[0003] Currently, the robot operates as follows: the operator triggers a remote control to control the motion mechanism, driving the robot to the workstation and initiating the operation. Specifically, the remote control has forward, backward, left, right, up, and down buttons. By pressing any of these directional buttons for different durations, the operator can drive the motion mechanism, carrying the robot, a distance corresponding to that duration. In this way, the operator can combine different durations of pressing the various directional buttons to bring the robot to the workstation.

[0004] However, because operators need to combine different durations of triggering the various directional buttons to make the robot reach the workstation, the operation process is complex and inefficient. Summary of the Invention

[0005] This application provides a control method, device, system, and storage medium for a work robot, which solves the problem in the prior art that operators need to combine and trigger different durations of the above-mentioned directional buttons to make the robot reach the work station, resulting in a complicated operation process and low efficiency.

[0006] In a first aspect, this application provides a control method for a work robot, applied to a robot work system. The robot work system includes a controller, a work robot, a motion mechanism, and a locking mechanism for locking the position of the work robot. The work robot is mounted on the motion mechanism and is equipped with a force sensor and a trigger switch. The motion mechanism, the force sensor, and the trigger switch are electrically connected to the controller. The method provided in this application includes:

[0007] The controller receives the activation signal transmitted after the user turns on the trigger switch and controls the locking mechanism to unlock the position of the working robot.

[0008] The controller receives force signals transmitted by the force sensor at preset intervals after the user applies pressure to the robot.

[0009] Within each preset time period, the controller determines the robot's moving speed based on the force value carried by the force signal, and determines the robot's moving direction based on the force direction carried by the force signal.

[0010] Within each preset time period, the controller controls the motion mechanism to drive the robot to move along the direction of force according to the moving speed;

[0011] When the robot reaches the target position, it receives the shutdown signal transmitted after the user turns off the trigger switch, and controls the locking mechanism to lock the position of the robot.

[0012] In one possible implementation, the motion mechanism includes: a central rotating shaft, a first shaft connected to the central rotating shaft and located horizontally, and a second shaft located vertically, wherein the second shaft is movably connected to the first shaft in the extension direction of the first shaft, and the second shaft is also movably connected to the first shaft in the vertical direction. The working robot is located on the second shaft. Within each preset time period, the controller controls the motion mechanism to drive the working robot to move along the direction of force according to the moving speed, including:

[0013] The controller controls the rotation of the central pivot to drive the first and second axes to move, and controls the second axis to move along the extension direction of the first axis and in the vertical direction, so that the second axis drives the working robot to move in the direction of force according to the moving speed.

[0014] Since the first axis is in the horizontal direction, the second axis is in the vertical direction, and the second axis is movably connected to the first axis in the extension direction of the first axis, and the second axis is also movably connected to the first axis in the vertical direction, the robot is located on the second axis. In this way, the controller can drive the robot to move in any direction by controlling the movement of the first axis and the second axis.

[0015] In one possible implementation, within each preset time period, the controller determines the robot's moving speed based on the force value carried by the force signal, and determines the robot's moving direction based on the force direction carried by the force signal, including:

[0016] Within each preset time period, when the force value carried by the force signal is within the preset pressure range, the controller determines the moving speed of the robot based on the force value carried by the force signal, and determines the moving direction of the robot based on the force direction carried by the force signal.

[0017] This avoids accidentally touching the robot and causing it to move.

[0018] In one possible implementation, the method provided in this application further includes:

[0019] When the force value carried by the force signal exceeds the upper limit of the preset pressure range, the controller will activate the alarm.

[0020] When the force signal carries a force value greater than the upper limit of the preset pressure range, it indicates that the user may have accidentally touched the robot. In this case, the controller will activate the alarm to alert the user.

[0021] In one possible implementation, after the controller controls the motion mechanism to drive the robot to move along the direction of force according to the moving speed within each preset time period, the method provided in this application further includes:

[0022] At each preset time interval, the controller records the robot's direction of movement and distance traveled;

[0023] The controller determines the current position of the robot based on its initial position and the distance it has traveled in the direction of movement.

[0024] The controller determines whether the distance between the current position of the robot and the boundary of the preset allowed movement area is less than a first distance threshold;

[0025] When the distance between the controller's current position and the boundary of the preset allowed movement area is less than a first distance threshold, the controller stops the motion mechanism from moving the robot.

[0026] This avoids damage caused by collisions between the robot and the workpiece.

[0027] In one possible implementation, the movement direction includes the rotation direction of the central axis, the extension direction of the first axis, and the extension direction of the second axis. The current position includes the current angle of the robot relative to the X-axis of the preset coordinate system, the first current distance of the robot relative to the connection point of the first axis and the central axis, and the second current distance of the robot relative to the horizontal plane. The controller determines the current position of the robot based on its initial position and the distance traveled in the movement direction, including:

[0028] The controller determines the current angle of the robot relative to the X-axis based on the initial angle of the robot relative to the X-axis of the preset coordinate system and the rotation angle of the robot in the rotation direction.

[0029] The controller determines the first current distance of the robot relative to the connection point between the first axis and the central rotating axis based on the initial distance of the robot relative to the connection point between the first axis and the central rotating axis in the extension direction of the first axis, and the distance the robot has moved in the extension direction of the first axis.

[0030] The controller determines the second current distance of the robot relative to the horizontal plane in the vertical direction based on the initial distance of the robot in the vertical direction relative to the horizontal plane of the first axis and the distance the robot has moved in the vertical direction.

[0031] The controller determines whether the distance between the current position of the robot and the boundary of the preset allowed movement area is less than a first distance threshold, including:

[0032] The controller determines whether the current angle of the robot relative to the X-axis is greater than the set angle threshold, whether the first current distance of the robot relative to the connection between the first axis and the central axis is greater than the upper limit of the distance, and whether the second current distance of the robot relative to the horizontal plane is greater than the upper limit of the distance.

[0033] When the current angle of the robot relative to the X-axis is greater than the set angle threshold, or the first current distance of the robot relative to the connection between the first axis and the central axis is greater than the upper limit of the distance, or the second current distance of the robot relative to the horizontal plane is greater than the upper limit of the distance, it is determined that the distance between the current position of the robot and the boundary of the preset allowed movement area is less than the first distance threshold.

[0034] In one possible implementation, after the controller determines the current position of the robot based on its initial coordinates, direction of movement, and distance traveled, the method provided in this application further includes:

[0035] The controller determines whether the distance between the current position of the robot and the boundary of the preset allowed movement area is less than a second distance threshold, wherein the second distance threshold is greater than a first distance threshold;

[0036] When the distance between the controller's current position and the boundary of the preset allowed movement area is less than a second distance threshold, the controller reduces the movement speed of the robot.

[0037] Understandably, when the distance between the controller and the boundary of the preset allowed movement area is less than the second distance threshold, the controller reduces the movement speed of the robot to avoid collision between the robot and the workpiece, which could cause damage.

[0038] Secondly, this application provides a control device for a work robot, comprising:

[0039] The equipment unlocking unit is used to receive the unlocking signal transmitted after the user turns on the trigger switch, and to control the locking mechanism to unlock the position of the working robot.

[0040] The signal receiving unit is used to receive the force signals transmitted by the force sensor at preset intervals after the user applies pressure to the working robot;

[0041] The data determination unit is used to determine the moving speed of the robot based on the force value carried by the force signal within each preset time period, and to determine the moving direction of the robot based on the force direction carried by the force signal.

[0042] The equipment control unit is used to control the motion mechanism to drive the robot to move along the direction of force according to the moving speed within each preset time period;

[0043] The equipment locking unit is used to receive the shutdown signal transmitted after the user turns off the trigger switch when the robot reaches the target position, and to control the locking mechanism to lock the position of the robot.

[0044] Thirdly, this application also provides a control system for a work robot, including a controller, a work robot, a motion mechanism, a memory, and a locking mechanism for locking the position of the work robot. The work robot is mounted on the motion mechanism and is equipped with a force sensor and a trigger switch. The motion mechanism, the force sensor, and the trigger switch are electrically connected to the controller, and the memory stores computer execution instructions.

[0045] The controller executes computer-executable instructions stored in the memory to implement the method provided in the first aspect of this application.

[0046] Fourthly, this application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the method provided in the first aspect.

[0047] This application provides a control method, device, system, and storage medium for a work robot. When a user wants to move the work robot to a target location, they can apply pressure to the robot by pulling it at preset time intervals. The controller receives force signals transmitted by a force sensor at preset time intervals after the user applies pressure to the robot. Within each preset time interval, the controller determines the robot's moving speed and direction based on the force value carried by the force signal. Within each preset time interval, the controller controls the motion mechanism to move the robot along the force direction according to the moving speed. In this way, the controller controls the motion mechanism to move the robot along the trajectory of the force, i.e., the trajectory of the robot pulled by the user, enabling the robot to reach the target location. When the robot reaches the target location, it receives a closing signal transmitted after the user closes the trigger switch and controls the locking mechanism to lock the robot's position. Therefore, the above process only requires the user to pull the robot to reach the target location, making the operation simple and efficient. Attached Figure Description

[0048] 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, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the motion mechanism provided in the embodiments of this application;

[0050] Figure 2 This is one of the flowcharts for the control method of the work robot provided in the embodiments of this application;

[0051] Figure 3 A second flowchart illustrating the control method for a work robot provided in this application embodiment;

[0052] Figure 4 A schematic diagram illustrating the establishment of a spatial coordinate system provided in an embodiment of this application;

[0053] Figure 5 A schematic diagram illustrating the total travel distance of a computational robot in the extension direction of the first axis, as provided in an embodiment of this application.

[0054] Figure 6 A schematic diagram of the total angle of the computational robot in the rotation direction of the first axis, provided in an embodiment of this application;

[0055] Figure 7 A schematic diagram illustrating the total travel distance of the computational robot in the Z-axis direction, provided in an embodiment of this application.

[0056] Figure 8 A functional block diagram of the control device for the work robot provided in the embodiments of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments made by those skilled in the art under the guidance of these embodiments are within the scope of protection of this application.

[0058] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0059] In some mechanical manufacturing industries (such as welding), robots can be used to perform tasks while ensuring the health and safety of workers. Currently, the robot operates by having an operator trigger a remote control to move the robot to its workstation and then control it to begin work. However, this process is complex and inefficient because the operator needs to combine different durations of pressing various directional buttons to get the robot to the workstation.

[0060] Based on the above-mentioned technical problems, the inventive concept of this application is to make the operation process simple and efficient for users when controlling the robot to reach the workstation.

[0061] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0062] This application provides a control method for a work robot 104, applied to a robot work system. The robot work system includes a controller, a work robot 104, a motion mechanism, and a locking mechanism for locking the position of the work robot 104. The work robot 104 is disposed on the motion mechanism and is equipped with a force sensor and a trigger switch 105. The motion mechanism, the force sensor, and the trigger switch 105 are electrically connected to the controller.

[0063] Specifically, such as Figure 1As shown, the motion mechanism may include: a central rotating shaft 103, a first shaft 101 connected to the central rotating shaft 103 and located in the horizontal direction, and a second shaft 102 located in the vertical direction. The second shaft 102 is movably connected to the first shaft 101 in the extension direction of the first shaft 101, and the second shaft 102 is also movably connected to the first shaft 101 in the vertical direction. The working robot 104 is located on the second shaft 102.

[0064] like Figure 2 As shown, the method provided in this application embodiment includes:

[0065] S201: The controller receives the activation signal transmitted after the user turns on the trigger switch 105, and controls the locking mechanism to unlock the position of the work robot 104.

[0066] S202: The controller receives the force signal transmitted by the force sensor at preset intervals after the user applies pressure to the working robot 104.

[0067] S203: Within each preset time period, the controller determines the moving speed of the work robot 104 based on the force value carried by the force signal, and determines the moving direction of the work robot 104 based on the force direction carried by the force signal.

[0068] S204: Within each preset time period, the controller controls the motion mechanism to drive the working robot 104 to move along the direction of force according to the moving speed.

[0069] For example, still as Figure 2 As shown, when the motion mechanism may include a central rotating shaft 103, a first shaft 101 connected to the central rotating shaft 103 and located in the horizontal direction, and a second shaft 102 located in the vertical direction, and the second shaft 102 is movably connected to the first shaft 101 in the extension direction of the first shaft 101, and the second shaft 102 is also movably connected to the first shaft 101 in the vertical direction, when the working robot 104 is located on the second shaft 102, the controller controls the central rotating shaft 103 to rotate to drive the first shaft 101 and the second shaft 102 to move, and controls the second shaft 102 to move along the extension direction of the first shaft 101 and in the vertical direction, so that the second shaft 102 drives the working robot 104 to move in the direction of force according to the moving speed.

[0070] Since the first axis 101 is in the horizontal direction, the second axis 102 is in the vertical direction, and the second axis 102 is movably connected to the first axis 101 in the extension direction of the first axis 101, and the second axis 102 is also movably connected to the first axis 101 in the vertical direction, the working robot 104 is located on the second axis 102. In this way, the controller can drive the working robot 104 to move in any direction by controlling the movement of the first axis 101 and the second axis 102.

[0071] Specifically, within each preset time interval (e.g., 10ms, 20ms, etc.), when the force value carried by the force signal is within a preset pressure range, the controller determines the moving speed of the work robot 104 based on the force value carried by the force signal, and determines the moving direction of the work robot 104 based on the force direction carried by the force signal. This avoids accidentally touching the work robot 104 and causing it to move.

[0072] In addition, the method provided in the embodiments of this application may also include:

[0073] When the force signal carries a force value greater than the upper limit of the preset pressure range, the controller activates the alarm. This indicates that the user may have accidentally touched the operating robot 104. In this case, the controller activates the alarm to alert the user.

[0074] S205: When the work robot 104 reaches the target position, it receives the closing signal transmitted after the user closes the trigger switch 105, and controls the locking mechanism to lock the position of the work robot 104.

[0075] In summary, this application provides a control method for a work robot 104. When a user wants to move the work robot 104 to a target location, the user can apply pressure to the work robot 104 by pulling it at preset time intervals. The controller receives force signals transmitted by a force sensor at preset time intervals after the user applies pressure to the work robot 104. Within each preset time interval, the controller determines the moving speed of the work robot 104 based on the force value carried by the force signal, and determines the moving direction of the work robot 104 based on the force direction carried by the force signal. Within each preset time interval, the controller controls the motion mechanism to move the work robot 104 along the force direction according to the moving speed. In this way, the controller controls the motion mechanism to move the work robot 104 along its trajectory, i.e., the trajectory of the user pulling the work robot 104, enabling the work robot 104 to reach the target location. When the work robot 104 reaches the target location, it receives a closing signal transmitted after the user closes the trigger switch 105, and controls the locking mechanism to lock the position of the work robot 104. As can be seen, in the above process, the user only needs to pull the robot 104 to move to reach the target position. The operation is simple and efficient.

[0076] Optionally, after S204, such as Figure 3 As shown, the method provided in this application embodiment further includes:

[0077] S301: At each preset duration, the controller records the direction and distance of movement of the work robot 104.

[0078] S302: The controller determines the current position of the robot 104 based on the initial position of the robot 104 and the distance the robot 104 has moved in the direction of movement.

[0079] For example, a spatial coordinate system can be established to determine the initial position of the working robot 104. Wherein,

[0080] like Figure 4 As shown, the top of the second axis 102 can be defined as the origin (0, 0) of the spatial coordinate system. The angle bisector of the rotation region of the first axis 101 is the Y-axis of the spatial coordinate system. The direction of the first axis 101 away from the origin is the positive direction of the Y-axis. The positive direction of the Y-axis, rotated 90° clockwise around the origin, is defined as the positive direction of the X-axis of the spatial coordinate system, and the XY plane is a horizontal plane. The Z-axis passes through the origin and is perpendicular to the XY plane, and the positive direction of the Z-axis points to the ground. In this way, the initial position (x1, y1, z1) of the working robot 104 in the spatial coordinate system can be determined.

[0081] S303: The controller determines whether the distance between the current position of the work robot 104 and the boundary of the preset allowed movement area is less than the first distance threshold. If so, S304 is executed.

[0082] For example, the movement direction includes the rotation direction of the central axis 103, the extension direction of the first axis 101, and the extension direction of the second axis 102. The current position includes the current angle of the working robot 104 relative to the X-axis of the preset coordinate system, the first current distance of the working robot 104 relative to the connection point of the first axis 101 and the central axis 103, and the second current distance of the working robot 104 relative to the horizontal plane. S203 can be specifically implemented as follows:

[0083] Step 1: The controller determines the first current distance of the working robot 104 relative to the connection point of the first axis 101 and the central rotating shaft 103 in the extension direction of the first axis 101 and the moving distance of the working robot 104 in the extension direction of the first axis 101.

[0084] Specifically, such as Figure 5 As shown, assume that the robot 104 starts from point A (x) in the spatial coordinate system. i-1 ,yi-1,z i-1 Move to point B (x) i-1 +ΔL xi y i-1 +ΔL xi , z i-1 +ΔL zi), where the origin of the spatial coordinate system is point O.

[0085] The controller can determine the initial angle α0 between the first axis 101 and the positive x-axis, and the force value F carried by the force signal. i Determine the first component force F in the XY plane. x-yi First component force F x-yi The angle θ with the positive x-axis i (i = [1, n]), where n is the number of preset durations, and the controller calculates F. x-yi The second component force F along the x-axis and y-axis xi The third component force F yi , of which F xi =cos(θ) i )·F x-yi ;F yi =sin(θ) i )·F x-yi The velocity of the first axis 101 along the x-axis and the second component force F xi If they are directly proportional, then the velocity v of the first axis 101 along the x-axis is... xi =cF xi The velocity of the first axis 101 on the Y-axis and the third component force F yi Proportional, then the velocity v of the first axis 101 on the Y-axis yi =cF yi c is a constant greater than zero. Furthermore, the controller determines the value based on the formula ΔLx. i =v xi Δt, ΔLy i =v yi Δt, calculate the displacement ΔL of the robot 104 in the x-axis direction within the preset time Δt. xi Displacement ΔL in the y-axis direction yi Furthermore, the length from point B to point O... Because the length from point A to point O The distance the robot 104 moves in the extension direction of the first axis 101 within a single preset time period.

[0086] When the preset duration is n, it can be calculated according to the formula. Determine the total travel distance S in the extension direction of the first axis 101. x-yn Since the distance from point A to the origin of the spatial coordinate system is... but

[0087] Step 1: The controller determines the current angle of the robot 104 relative to the X-axis based on the initial angle of the robot 104 relative to the X-axis of the preset coordinate system and the rotation angle of the robot 104 in the rotation direction.

[0088] Specifically, such as Figure 6 As shown, assume that the robot 104 starts from point A (x) in the spatial coordinate system. i-1 ,yi-1,z i-1 Move to point B (x) i-1 +ΔL xi y i-1 +ΔL xi , z i-1 +ΔL zi The origin of the spatial coordinate system is point O. When the robot 104 is at point A, the angle between the first axis 101 and the positive x-axis is α. i-1 When the robot 104 is at point B, the angle between the first axis 101 and the positive x-axis is β. i Then there is but Therefore, the rotation angle of the first axis 101 within a single preset time period is Δα. i =α i-1 -β i .

[0089] When the preset duration is n, it can be calculated according to the formula. The total rotation angle α of the first axis 101 is determined. n Understandably, the angle β between the first axis 101 and the positive x-axis direction... i =α i-1 +α n .

[0090] Step 3: The controller determines the second current distance of the working robot 104 relative to the horizontal plane in the vertical direction based on the initial distance of the working robot 104 in the vertical direction relative to the horizontal plane where the first axis 101 is located and the distance the working robot 104 moves in the vertical direction.

[0091] Specifically, such as Figure 7 As shown, assume that the robot 104 starts from point A (x) in the spatial coordinate system. i-1 y i-1 , z i-1 Move to point B (x) i-1 +ΔL xi y i-1 +ΔL xi , z i-1 +ΔL zi ), where the origin of the spatial coordinate system is point O.

[0092] Assuming the force component Fy-zi carried by the force signal makes an angle γi with the positive z-axis direction, the controller calculates the force according to formula F... zi =cos(γi)·F y-zi Calculate the component force F y-zi The fourth component force F in the positive Z-axis direction zi .

[0093] Understandably, the movement speed vzi of the second axis 102 carrying the work robot 104 in the z-axis direction is proportional to the magnitude of Fzi, with the following relationship: v zi =cF zi Where c is a constant greater than zero, the displacement ΔL of the second axis 102 carrying the working robot 104 in the positive z-axis direction is... zi =Δt·cF zi According to the formula ΔS zi =ΔL zi =Δt·cF zi Determine the amount of movement ΔS of the second axis 102 carrying the work robot 104 along the positive z-axis within a single preset time period. zi .

[0094] Furthermore, when the preset duration is n, the controller determines the duration according to the formula. Determine the total displacement S in the direction of the second axis 102 zn Furthermore, the second current distance of the robot 104 relative to its horizontal plane is z. i-1 +S zn .

[0095] S304: The controller determines whether the current angle of the working robot 104 relative to the X-axis is greater than the set angle threshold, or whether the first current distance of the working robot 104 relative to the connection point of the first axis 101 and the central rotating axis 103 is greater than the upper limit of the distance, or whether the second current distance of the working robot 104 relative to the horizontal plane is greater than the upper limit of the distance. If so, S305 is executed.

[0096] S305: The controller determines that the current position of the work robot 104 is less than the first distance threshold from the boundary of the preset allowed movement area.

[0097] For example, the first distance threshold can be 200mm, 100mm, or 50mm, etc., and is not limited here.

[0098] S306: When the distance between the current position and the boundary of the preset allowed movement area is less than the first distance threshold, the controller stops the motion mechanism from moving the work robot 104.

[0099] Based on the above S301-S306, this can prevent the robot 104 from being damaged due to collision with the workpiece.

[0100] In one possible implementation, after S203, the method provided in this application embodiment may further include:

[0101] Step 1: The controller determines whether the distance between the current position of the work robot 104 and the boundary of the preset allowed movement area is less than a second distance threshold, wherein the second distance threshold is greater than the first distance threshold;

[0102] Step 2: When the distance between the current position and the boundary of the preset allowed movement area is less than the second distance threshold, the controller controls the motion mechanism to reduce the moving speed of the working robot 104.

[0103] For example, reduce the moving speed of the robot 104 in the extension direction of the first axis 101, reduce the moving speed of the robot 104 in the Z-axis, and reduce the rotation angle of the robot 104 in the rotation direction.

[0104] Understandably, when the distance between the controller and the boundary of the preset allowed movement area at the current position is less than the second distance threshold, the control motion mechanism reduces the moving speed of the working robot 104 to avoid the working robot 104 from colliding with the workpiece and being damaged.

[0105] Please see Figure 8 This application provides a control device for a work robot. It should be noted that the basic principle and technical effects of the control device for the work robot provided in this application are the same as those described above. Figure 2 The corresponding embodiments are the same. For the sake of brevity, any parts not mentioned in the embodiments of this application can be referred to the corresponding content in the above embodiments. The control device for the work robot provided in the embodiments of this application includes a device unlocking unit, a signal receiving unit, a data determining unit, a device control unit, and a device locking unit, wherein,

[0106] The device unlocking unit is used to receive the unlocking signal transmitted after the user turns on the trigger switch, and to control the locking mechanism to unlock the position of the robot.

[0107] The signal receiving unit is used to receive the force signals transmitted by the force sensor at preset intervals after the user applies pressure to the working robot.

[0108] The data determination unit is used to determine the moving speed of the robot based on the force value carried by the force signal within each preset time period, and to determine the moving direction of the robot based on the force direction carried by the force signal.

[0109] The equipment control unit is used to control the motion mechanism to drive the robot to move along the direction of force according to the moving speed within each preset time period.

[0110] The equipment locking unit is used to receive the shutdown signal transmitted after the user turns off the trigger switch when the robot reaches the target position, and to control the locking mechanism to lock the position of the robot.

[0111] In one possible implementation, the motion mechanism includes: a central pivot, a first axis connected to the central pivot and located in a horizontal direction, and a second axis located in a vertical direction, wherein the second axis is movably connected to the first axis in the extension direction of the first axis, and the second axis is also movably connected to the first axis in the vertical direction, and the working robot is located on the second axis.

[0112] The equipment control unit is specifically used to control the rotation of the central shaft to drive the first shaft and the second shaft to move, and to control the second shaft to move along the extension direction of the first shaft and along the vertical direction, so that the second shaft drives the working robot to move along the direction of force according to the moving speed.

[0113] In one possible implementation, the data determination unit is specifically used to determine the moving speed of the work robot based on the force value carried by the force signal within each preset time period, and to determine the moving direction of the work robot based on the force direction carried by the force signal.

[0114] In one possible implementation, the equipment control unit is also configured to control the alarm to sound when the force value carried by the force signal is greater than the upper limit of a preset pressure range.

[0115] In one possible implementation, the equipment control unit is further configured to: record the movement direction and distance of the robot at each preset time interval; determine the current position of the robot based on its initial position and the distance traveled in the movement direction; determine whether the distance between the robot's current position and the boundary of a preset allowed movement area is less than a first distance threshold; and control the motion mechanism to stop moving the robot when the distance between the current position and the boundary of the preset allowed movement area is less than the first distance threshold.

[0116] In one possible implementation, the movement direction includes the rotation direction of the central axis, the extension direction of the first axis, and the extension direction of the second axis, and the current position includes the current angle of the robot relative to the X-axis of the preset coordinate system, the first current distance of the robot relative to the connection point of the first axis and the central axis, and the second current distance of the robot relative to the horizontal plane.

[0117] The data determination unit is specifically used to determine the current angle of the robot relative to the X-axis based on the initial angle of the robot relative to the X-axis of the preset coordinate system and the rotation angle of the robot in the rotation direction; to determine the first current distance of the robot relative to the connection point of the first axis and the central axis in the extension direction of the first axis, based on the initial distance of the robot relative to the connection point of the first axis and the central axis, and the distance the robot has moved in the extension direction of the first axis; to determine the second current distance of the robot relative to the horizontal plane where the first axis is located in the vertical direction, based on the initial distance of the robot relative to the horizontal plane where the first axis is located in the vertical direction, and the distance the robot has moved in the vertical direction; and to determine whether the current position of the robot is within the preset allowable movement range. Determining whether the distance to the boundary of the area is less than a first distance threshold includes: determining whether the current angle of the robot relative to the X-axis is greater than a set angle threshold, whether the first current distance of the robot relative to the connection between the first axis and the central axis is greater than a distance limit, and whether the second current distance of the robot relative to the horizontal plane is greater than a distance limit; when the current angle of the robot relative to the X-axis is greater than a set angle threshold, or the first current distance of the robot relative to the connection between the first axis and the central axis is greater than a distance limit, or the second current distance of the robot relative to the horizontal plane is greater than a distance limit, it is determined that the distance between the current position of the robot and the boundary of the preset allowed movement area is less than the first distance threshold.

[0118] In one possible implementation, the equipment control unit is further configured to determine whether the distance between the current position of the work robot and the boundary of a preset allowed movement area is less than a second distance threshold, wherein the second distance threshold is greater than a first distance threshold; when the distance between the current position and the boundary of the preset allowed movement area is less than the second distance threshold, the control motion mechanism is configured to reduce the moving speed of the work robot.

[0119] In addition, this application also provides a control system for a work robot, including a controller, a work robot, a motion mechanism, a memory, and a locking mechanism for locking the position of the work robot. The work robot is disposed on the motion mechanism and is equipped with a force sensor and a trigger switch. The motion mechanism, the force sensor, and the trigger switch are electrically connected to the controller. The memory stores computer execution instructions. The controller executes the computer execution instructions stored in the memory to implement the method provided in the above embodiments of this application.

[0120] In addition, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, perform the method provided in the above embodiments of this application.

[0121] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0122] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A control method for a work robot, characterized in that, An application is made to a robot operation system, the robot operation system including a controller, a robot, a motion mechanism, and a locking mechanism for locking the position of the robot. The robot is disposed on the motion mechanism and is equipped with a force sensor and a trigger switch. The motion mechanism, the force sensor, and the trigger switch are electrically connected to the controller. The motion mechanism includes: a central rotating shaft, a first axis connected to the central rotating shaft and located horizontally, and a second axis located vertically. The second axis is movably connected to the first axis in the extension direction of the first axis, and the second axis is also movably connected to the first axis in the vertical direction. The robot is located on the second axis. The method includes: The controller receives an activation signal transmitted after the user activates the trigger switch, and controls the locking mechanism to unlock the position of the working robot. The controller receives the force signal transmitted by the force sensor at preset intervals after the user applies pressure to the working robot; Within each preset time period, the controller determines the moving speed of the robot based on the force value carried by the force signal, and determines the moving direction of the robot based on the force direction carried by the force signal. The controller controls the central rotating shaft to rotate, thereby driving the first shaft and the second shaft to move, and controls the second shaft to move along the extension direction of the first shaft and along the vertical direction, so that the second shaft drives the working robot to move along the direction of force according to the moving speed; During each preset time period, the controller records the movement direction and movement distance of the work robot, wherein the movement direction includes the rotation direction of the central axis, the extension direction of the first axis, and the extension direction of the second axis, and the current position includes the current angle of the work robot relative to the X-axis of the preset coordinate system, the first current distance of the work robot relative to the connection point of the first axis and the central axis, and the second current distance of the work robot relative to the horizontal plane. The controller determines the current angle of the robot relative to the X-axis based on the initial angle of the robot relative to the X-axis of the preset coordinate system and the rotation angle of the robot in the rotation direction. The controller determines the first current distance of the working robot relative to the connection point of the first axis and the central rotating shaft in the extension direction of the first axis, based on the initial distance of the working robot in the extension direction of the first axis and the distance the working robot moves in the extension direction of the first axis. The controller determines the second current distance of the working robot relative to the horizontal plane where the first axis is located in the vertical direction by taking the initial distance of the working robot in the vertical direction and the distance the working robot moves in the vertical direction. The controller determines whether the current angle of the working robot relative to the X-axis is greater than a set angle threshold, whether the first current distance of the working robot relative to the connection point of the first axis and the central rotating axis is greater than a distance limit, and whether the second current distance of the working robot relative to the horizontal plane is greater than a distance limit. When the current angle of the working robot relative to the X-axis is greater than the set angle threshold, or the first current distance of the working robot relative to the connection between the first axis and the central rotating axis is greater than the upper limit of the distance, or the second current distance of the working robot relative to the horizontal plane is greater than the upper limit of the distance, it is determined that the distance between the current position of the working robot and the boundary of the preset allowed movement area is less than the first distance threshold. When the distance between the current position and the boundary of the preset allowed movement area is less than a first distance threshold, the controller controls the motion mechanism to stop moving the work robot. When the robot reaches the target position, it receives a shutdown signal transmitted after the user turns off the trigger switch, and controls the locking mechanism to lock the position of the robot.

2. The method according to claim 1, characterized in that, Within each preset time period, the controller determines the moving speed of the robot based on the force value carried by the force signal, and determines the moving direction of the robot based on the force direction carried by the force signal, including: Within each preset time period, when the force value carried by the force signal is within a preset pressure range, the controller determines the moving speed of the working robot based on the force value carried by the force signal, and determines the moving direction of the working robot based on the force direction carried by the force signal.

3. The method according to claim 2, characterized in that, The method further includes: When the force value carried by the force signal is greater than the upper limit of the preset pressure range, the controller controls the alarm to sound.

4. The method according to claim 1, characterized in that, Before determining that the distance between the current position of the work robot and the boundary of the preset allowed movement area is less than the first distance threshold when the current angle of the work robot relative to the X-axis is greater than a set angle threshold, or the first current distance of the work robot relative to the connection point of the first axis and the central rotating axis is greater than the upper limit of distance, or the second current distance of the work robot relative to the horizontal plane is greater than the upper limit of distance, the method further includes: The controller determines whether the distance between the current position of the robot and the boundary of the preset allowed movement area is less than a second distance threshold, wherein the second distance threshold is greater than the first distance threshold; When the distance between the current position and the boundary of the preset allowed movement area is less than a second distance threshold, the controller controls the motion mechanism to reduce the moving speed of the working robot.

5. A control device for a work robot, characterized in that, An application is made in a robot operation system, which includes a controller, a robot, a motion mechanism, and a locking mechanism for locking the position of the robot. The robot is mounted on the motion mechanism and is equipped with a force sensor and a trigger switch. The motion mechanism, the force sensor, and the trigger switch are electrically connected to the controller. The motion mechanism includes a central rotating shaft, a first axis connected to the central rotating shaft and positioned horizontally, and a second axis positioned vertically. The second axis is movably connected to the first axis in the extension direction of the first axis and is also movably connected to the first axis in the vertical direction. The robot is located on the second axis. The device unlocking unit is used to receive the opening signal transmitted after the user turns on the trigger switch, and to control the locking mechanism to unlock the position of the working robot; The signal receiving unit is used to receive the force signal transmitted by the force sensor at preset intervals after the user applies pressure to the working robot. The data determination unit is used to determine the moving speed of the working robot based on the force value carried by the force signal within each preset time period, and to determine the moving direction of the working robot based on the force direction carried by the force signal. The equipment control unit is used to control the rotation of the central rotating shaft to drive the first shaft and the second shaft to move, and to control the second shaft to move along the extension direction of the first shaft and along the vertical direction, so that the second shaft drives the working robot to move along the direction of the force according to the moving speed; The equipment control unit is also configured to record the movement direction and movement distance of the work robot at each preset time interval, wherein the movement direction includes the rotation direction of the central axis, the extension direction of the first axis, and the extension direction of the second axis, and the current position includes the current angle of the work robot relative to the X-axis of the preset coordinate system, the first current distance of the work robot relative to the connection point of the first axis and the central axis, and the second current distance of the work robot relative to the horizontal plane. The data determination unit is specifically used to determine the current angle of the working robot relative to the X-axis based on the initial angle of the working robot relative to the X-axis of the preset coordinate system and the rotation angle of the working robot in the rotation direction. The initial distance of the working robot relative to the connection point of the first axis and the central rotating shaft in the extension direction of the first axis, and the moving distance of the working robot in the extension direction of the first axis, determine the first current distance of the working robot relative to the connection point of the first axis and the central rotating shaft; The initial distance of the working robot in the vertical direction relative to the horizontal plane where the first axis is located, and the distance the working robot moves in the vertical direction, are used to determine the second current distance of the working robot relative to the horizontal plane where it is located; The equipment control unit is used to determine whether the current angle of the working robot relative to the X-axis is greater than a set angle threshold, whether the first current distance of the working robot relative to the connection point of the first axis and the central rotating axis is greater than a distance limit, and whether the second current distance of the working robot relative to the horizontal plane is greater than a distance limit. When the current angle of the working robot relative to the X-axis is greater than the set angle threshold, or the first current distance of the working robot relative to the connection between the first axis and the central rotating axis is greater than the upper limit of the distance, or the second current distance of the working robot relative to the horizontal plane is greater than the upper limit of the distance, it is determined that the distance between the current position of the working robot and the boundary of the preset allowed movement area is less than the first distance threshold. When the distance between the current position and the boundary of the preset allowed movement area is less than a first distance threshold, the motion mechanism is controlled to stop moving the work robot. The equipment locking unit is used to receive a shutdown signal transmitted by the user after turning off the trigger switch when the operation robot reaches the target position, and to control the locking mechanism to lock the position of the operation robot.

6. A control system for a work robot, characterized in that, The system includes a controller, a working robot, a motion mechanism, a memory, and a locking mechanism for locking the position of the working robot. The working robot is mounted on the motion mechanism and is equipped with a force sensor and a trigger switch. The motion mechanism, the force sensor, and the trigger switch are electrically connected to the controller. The memory stores computer execution instructions. The controller executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 4.

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