A robot and its control method and control device

Abstract

This application relates to a robot and its control method and device, comprising: acquiring the coordinates, type, robotic arm operation parameters, and actuator operation parameters of each station sequentially traversed by the robot during operation; controlling the chassis to sequentially traverse each station according to the coordinates of each station; when the chassis arrives at a station, the chassis stops moving; if the type of the station is a station for which an operation is to be performed, then controlling the robotic arm and actuator to perform the operation action according to the robotic arm operation parameters and actuator operation parameters of that station; when the operation action of the current station is completed, controlling the chassis to move according to the coordinates of the next station, and determining whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters of the next station; if not, adjusting the robotic arm operation trajectory according to the maximum dynamic adjustment amount during the movement; otherwise, no adjustment is made. This application can improve the coverage of the robot while ensuring its safety and efficiency.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to robots and their control methods and devices. Background Technology

[0002] With the development of scientific research, robots have begun to be widely used in industries such as manufacturing, service, construction, and aerospace. Robots are starting to replace or assist humans in completing some tasks. In order to flexibly adapt to various application scenarios and complete relatively complex tasks, robots with mobile chassis and robotic arms have emerged. Robots with mobile chassis and robotic arms generally adopt fixed-point operation or single follow-up operation.

[0003] Fixed-point operation refers to the robotic arm performing related actions after the mobile chassis has reached its position. Fixed-point operation requires a large amount of data interaction between the chassis and the robotic arm to ensure that the robotic arm accurately performs the task at a specific position. Therefore, it consumes a lot of time and has low work efficiency.

[0004] Single-axis follow-up operation refers to the movement of the robotic arm along a fixed trajectory while the chassis moves. During the operation, there is little data interaction between the robotic arm and the chassis, with data interaction only occurring at the starting position, turning position, and ending position. This can improve work efficiency and stability, but it may be limited when facing complex environments or tasks requiring high flexibility. Summary of the Invention

[0005] The purpose of this application is to provide a robot and its control method and control device, so as to improve the coverage of the robot while ensuring its safety and efficiency.

[0006] To achieve the purpose of this application, embodiments of this application provide a robot control method, wherein the robot includes a movable chassis, a robotic arm mounted on the chassis, and an actuator mounted on the robotic arm;

[0007] The method includes:

[0008] The station information, robotic arm operation parameters, and actuator operation parameters of each station that the robot passes through in sequence during the operation are obtained. The station information includes the coordinates and type of the station.

[0009] The chassis is controlled to pass through each station sequentially according to the coordinates of each station;

[0010] When the chassis arrives at any station, the chassis stops moving. If the type of any station is the station to be operated, the robotic arm and actuator are controlled to perform the operation according to the robotic arm operation parameters and actuator operation parameters of any station.

[0011] When the operation at the current station is completed, the chassis is moved to the next station according to the coordinates of the next station. It is then determined whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters at the next station. If they are inconsistent, the robotic arm operation trajectory is adjusted according to the maximum dynamic adjustment amount during the movement. If they are consistent, no adjustment is made during the movement.

[0012] Embodiments of this application also provide a robot control device, the robot including a movable chassis, a robotic arm mounted on the chassis, and an actuator mounted on the robotic arm;

[0013] The control device includes:

[0014] The parameter acquisition module is used to acquire the station information, robotic arm operation parameters and actuator operation parameters of each station that the robot passes through in sequence during the operation. The station information includes the coordinates and type of the station.

[0015] The chassis control module is used to control the chassis to pass through each station sequentially according to the coordinates of each station; when the chassis arrives at any station, the chassis stops moving; when the operation at the current station is completed, the chassis is controlled to move to the next station according to the coordinates of the next station.

[0016] The robotic arm control module is used to control the robotic arm and actuator to perform operations based on the robotic arm operation parameters and actuator operation parameters of any station when the chassis arrives at any station, provided that the station is the type for which the operation is to be performed. It is also used to determine whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters of the next station during the process of the chassis moving from the current station to the next station. If they are inconsistent, the robotic arm operation trajectory is adjusted according to the maximum dynamic adjustment amount during the movement. If they are consistent, no adjustment is made during the movement.

[0017] Embodiments of this application also provide a robot, including a controller, a movable chassis, a robotic arm mounted on the chassis, and an actuator mounted on the robotic arm. The controller includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it controls the chassis, robotic arm, and actuator to work in order to realize the robot control method described above.

[0018] The robot, its control method, and control device described above have the following beneficial effects:

[0019] During robot movement, if the robotic arm's operating parameters at the next station differ from the current parameters, the robot can adjust its trajectory in real time. This means the robotic arm doesn't need to completely stop and reposition at each station; it can adjust while moving, saving time and improving efficiency. Simultaneously, by limiting the maximum dynamic adjustment of the robotic arm during movement, trajectory adjustments can be made while ensuring operational safety. This ensures the robotic arm doesn't exceed its safe operating range and avoids collisions with surrounding obstacles, thus increasing operational coverage while maintaining safety. Therefore, robots using the above control methods / devices can operate more efficiently and flexibly in complex environments, increasing coverage while ensuring robot safety and efficiency, making them suitable for various complex construction environments and processes. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a robot control method in one embodiment of this application.

[0022] Figure 2 This is a schematic diagram of a robot with a mobile chassis and a robotic arm in one embodiment of this application.

[0023] Figure 3 This is a schematic diagram illustrating the change in the working width of the robotic arm in one embodiment of this application.

[0024] Figure 4 This is a schematic diagram of robot servo operation in one embodiment of this application.

[0025] Figure 5 This is a schematic diagram of site planning near robot obstacles in one embodiment of this application.

[0026] Figure 6 This is a flowchart of a robot control method according to another embodiment of this application.

[0027] Figure 7 This is a structural diagram of a robot control device according to one embodiment of this application. Detailed Implementation

[0028] The following description of the embodiments is with reference to the accompanying drawings, which illustrate specific embodiments in which this application can be implemented.

[0029] One embodiment of this application provides a robot control method, the robot including a movable chassis, a robotic arm mounted on the chassis, and an actuator mounted on the robotic arm;

[0030] See Figure 1 The method includes the following steps:

[0031] Step S10: Obtain the station information, robotic arm operation parameters, and actuator operation parameters of each station that the robot passes through in sequence during the operation. The station information includes the coordinates and type of the station.

[0032] Specifically, in step S10, a path file is received, and the path file is parsed to obtain data such as station information, robotic arm operation parameters, and actuator operation parameters for each station the robot will pass through sequentially during its operation. The path file can be obtained by collecting feature points and creating a map of the robot's surrounding environment using LiDAR, and then using the map's feature points, chassis dimensions, and robotic arm's operating range as a basis for path planning. Figure 2 The diagram shown is a simplified representation of the robot, including a movable chassis and a robotic arm. Figure 3 The diagram shows the chassis's movement trajectory and the robotic arm's operation. The robotic arm's operating parameters are determined by the chassis's position and the surrounding environment. To cope with different working conditions, different end effectors can be mounted on the end of the robotic arm according to actual technical requirements.

[0033] Step S20: Control the chassis to pass through each station sequentially according to the coordinates of each station.

[0034] Step S30: When the chassis arrives at any station, the chassis stops moving. If the type of any station is a station for which an operation is to be performed, the robotic arm and actuator are controlled to perform the operation based on the robotic arm operation parameters and actuator operation parameters of that station.

[0035] Furthermore, if any of the stations is a station for ending a job, then job control is terminated.

[0036] Specifically, the robotic arm operation parameters refer to the various settings and configuration information required to control the robotic arm to perform a specific task, and the actuator operation parameters refer to the various settings and configuration information required to control the actuator to perform a specific task. When applying the method of this embodiment, specific settings can be made according to the specific structure and function of the robotic arm and the actuator. The method of this embodiment can be applied to different robotic arms and actuators.

[0037] It should be noted that in robotic operation scenarios where a mobile chassis carries a robotic arm, not all stations require the robot to perform tasks. This may be due to several reasons: different tasks may require specific stations. For example, in an automated warehouse, the robot may need to pick up or place items at certain shelf stations, while not performing tasks at other stations it is merely passing through. Alternatively, in some cases, tasks need to be performed in a specific sequence, meaning the robot needs to pause and perform tasks at certain stations, while not performing tasks at others because the relevant tasks have not yet reached their scheduled execution time or prerequisite tasks have not been completed. Furthermore, some stations may be unsuitable for robot operation due to environmental limitations (such as limited space, obstacles, interference from human workers, etc.), or the efficiency of operating at these stations may be low, thus choosing not to perform tasks at these stations. Finally, some stations may be designated as non-operational areas for safety and regulatory reasons, requiring the robot to bypass these areas to avoid potential safety risks or violations of relevant regulations. Therefore, whether a station needs to perform tasks depends on considerations such as specific operational requirements, task objectives, and environmental conditions.

[0038] Step S40: When the operation at the current station is completed, the chassis is moved to the next station according to the coordinates of the next station. It is determined whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters at the next station. If they are inconsistent, the robotic arm operation trajectory is adjusted according to the maximum dynamic adjustment amount during the movement. If they are consistent, no adjustment is made during the movement.

[0039] Specifically, upon completing the task at the current station, the robot needs to move to the next station. At this point, the coordinates of the next station are read, and precise control of the chassis movement is performed based on this coordinates, ensuring the chassis center is located at the coordinates of the next station. Simultaneously, during chassis movement, the robot's operational parameters for the next station are read, and it is determined whether these parameters match. If they do not match, the robot needs adjustment to adapt to the new operational requirements, and adjustments are made to ensure consistency. In this case, an adjustment strategy is calculated and executed based on the maximum dynamic adjustment amount. This allows the robot to adjust its posture and position while the chassis is moving, enabling it to begin work immediately upon reaching the next station, saving time. If the parameters match, no adjustment is needed.

[0040] It should be noted that the maximum dynamic adjustment range refers to the maximum range that the robotic arm can safely adjust during movement. Adjusting the robotic arm's working trajectory based on the maximum dynamic adjustment range can complete the adjustment as quickly as possible while ensuring safety.

[0041] In this embodiment, if the robotic arm's operating parameters at the next station differ from the current parameters during robot movement, the robot can adjust its trajectory in real time. This means the robotic arm doesn't need to completely stop and reposition at each station; it can begin adjusting while moving, saving time and improving efficiency. Simultaneously, by limiting the maximum dynamic adjustment of the robotic arm during movement, the robot can adjust its trajectory while ensuring operational safety. This ensures the robotic arm doesn't exceed its safe operating range and avoids collisions with surrounding obstacles, thus increasing operational coverage while maintaining safety. Therefore, the robot using this control method can operate more efficiently and flexibly in complex environments, improving coverage while ensuring robot safety and efficiency, and is applicable to various complex construction environments and processes.

[0042] Furthermore, when using different trajectories for operation, in order to meet various construction techniques and conditions and ensure construction safety and coverage, it is necessary to flexibly adjust the working width of the robotic arm. This embodiment proposes two adjustment methods: immediate change and dynamic change. Immediate change refers to the robotic arm quickly adjusting its working width and working center to the received target working width and target working center after receiving the upper-level instruction. Dynamic change refers to the robotic arm changing its working width and center according to a specific adjustment parameter after receiving the upper-level instruction, adjusting the new working trajectory of the robotic arm to the working trajectory required by the upper-level instruction within a certain period of time. Although the robotic arm can increase the robot's work coverage by dynamically changing its working width during follow-up operations, this also increases the risk of collision between the robotic arm and the external environment. To ensure that the robot does not collide with the outside world, this embodiment needs to strictly control the distance between the chassis points and obstacles during path planning. Based on this, in some embodiments, the maximum dynamic adjustment amount is determined according to the following method:

[0043] Step S50: Determine the range of distance the chassis moves when the robotic arm completes the adjustment of the working width based on the distance between the obstacle and the center of the chassis and the distance between the robotic arm and the center of the chassis.

[0044] Specifically, step S50 takes into account the obstacles that the robot may encounter during operation and the working width of the robotic arm. The robot needs to ensure that it will not hit the obstacles due to the movement of the chassis when adjusting the working width of the robotic arm. Therefore, based on the distance between the obstacle and the center of the chassis and the distance between the robotic arm and the center of the chassis, the range of distances that the chassis can move when the robotic arm adjusts the working width can be calculated.

[0045] Step S60: Based on the current robotic arm operation parameters and the robotic arm operation parameters at the next station, determine the change in the operation range and the operation center offset vector between the current station and the next station; the robotic arm operation parameters include the robotic arm's operation width and operation center.

[0046] Specifically, step S60 compares the robot's current robotic arm operation parameters with the robotic arm operation parameters at the next station. The operation width refers to the width that the robotic arm can cover during operation, while the operation center refers to the center position of the robotic arm during operation. By comparing these two parameters, the amount of change in the operation range and the offset vector of the operation center can be determined. These are parameters that the robotic arm needs to adjust during movement.

[0047] Step S70: Determine the maximum dynamic adjustment amount based on the chassis moving speed, the robotic arm moving speed, the change in the working range, the working center offset vector, and the distance range.

[0048] Specifically, the chassis's moving speed determines the distance the robot can move per unit time, which is the basis for calculating the maximum dynamic adjustment, as it limits the extent to which the robotic arm can adjust during chassis movement.

[0049] The moving speed of a robotic arm refers to the distance it can move or the angle it can change per unit time. This is an important factor in determining whether a robotic arm can complete adjustments in a timely manner.

[0050] The change in working range refers to the change in the working range of the robotic arm from the current station to the next station. This change requires the robotic arm to make corresponding adjustments during the movement to ensure accurate operation when it reaches the next station.

[0051] The work center offset vector refers to the relative position change of the robotic arm's work center. The robotic arm needs to adjust its posture according to this vector so that it can correctly align with the work target at the next station.

[0052] The distance range calculated in step S50 takes into account obstacles that the robot may encounter during operation, ensuring that the robotic arm will not collide with obstacles during the adjustment process. This is a safety limit factor for determining the maximum dynamic adjustment amount.

[0053] Therefore, by taking these factors into account, the maximum dynamic adjustment that the robotic arm can safely perform during chassis movement can be determined. This maximum dynamic adjustment ensures that the robotic arm will not exceed its motion capabilities or violate safety constraints during the adjustment process, and the robot can complete the task as efficiently as possible while ensuring safety.

[0054] It should be noted that the selection of the maximum dynamic adjustment amount determines the construction efficiency to a certain extent. The larger the value of the maximum dynamic adjustment amount, the higher the construction efficiency of the robot. However, in some special scenarios, it is also necessary to select an appropriate dynamic adjustment amount based on the robot's construction operation conditions and processes. Although this reduces the construction efficiency to a certain extent, it can meet the special construction scenarios and processes of the robot. For example, when the robot uses follow-up material placement during construction, the robotic arm needs to select an appropriate dynamic adjustment amount to realize material recycling and prevent the material from being left in place during the robotic arm's dynamic adjustment, which would cause material waste and defects in the construction effect.

[0055] To ensure robot safety, the key to controlling the dynamic changes of the robotic arm lies in controlling the forward and backward distances between the chassis and obstacles during the servo operation. Figure 4 During the robot's follow-up operation, different end effectors on the robotic arm employ different working trajectories. Within one robotic arm working trajectory cycle, a working area is generated. To ensure the safety of the follow-up operation, it is necessary to ensure that there are no obstacles within this area. Therefore, it is required that regardless of whether the robot's working width decreases or increases, the robotic arm's working trajectory dynamically changes while the chassis moves. During this process, there is no risk of collision between the robot and its surrounding environment. This necessitates ensuring that the robot, when planning its path at the chassis site, [does something]. Figure 5 As shown, the following formula condition must be met when encountering a pillar or other obstacle:

[0056]

[0057]

[0058] Where D represents the distance the chassis moves when the robotic arm completes the adjustment of the working width; V arm V represents the moving speed of the robotic arm (a preset known parameter). base The speed of the chassis (a preset known parameter), n now Indicates the current working range of the robotic arm, n target This indicates the robotic arm's operating range at the next station, where △n represents the maximum dynamic adjustment amount of the robotic arm. D1 represents the offset vector of the work center between the current station and the next station; D2 represents the distance between the center of the chassis and the lower edge of the obstacle when the obstacle is in front of the chassis (the direction in front of the chassis is the direction of movement); D3 represents the distance between the center of the chassis and the upper edge of the obstacle when the obstacle is behind the chassis; m1 represents the distance between the center of the chassis and the foremost point of the robotic arm's movement trajectory; m2 represents the distance between the center of the chassis and the rearmost point of the robotic arm's movement trajectory.

[0059] It should be noted that the robot moves at a constant speed. For simplified calculations, n can be represented by the current working width of the robotic arm. now Correspondingly, n can be represented by the robotic arm's working width at the next station. target The above calculation formula is only an example. Based on the content of this embodiment, those skilled in the art know that the above calculation formula can be appropriately adjusted, as long as the chassis moving speed, the robotic arm moving speed, the change in the working range, the working center offset vector, and the distance range are reasonably considered, and the corresponding technical effects can also be achieved.

[0060] Furthermore, when the way the robotic arm changes or the length of the end effector of the robotic arm changes, different values ​​of Δn can be selected for control. For example, if the robotic arm trajectory adjustment adopts an immediate change method, the parameter of Δn can be set to the maximum change width of the robotic arm to determine the chassis's station position when encountering obstacles.

[0061] In some embodiments, the type of site also includes intermediate points that do not require the execution of a job, including transition points and reversal endpoints;

[0062] The method includes:

[0063] Step S80: When the chassis arrives at any station, the chassis stops moving and determines the type of the station. If the type of the station is a transition point or a reversal endpoint, no operation is performed. The chassis is controlled to move to the next station according to the coordinates of the next station of the transition point or reversal endpoint. It is determined whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters of the next station. If they are inconsistent, the robotic arm operation trajectory is adjusted according to the maximum dynamic adjustment amount during the movement. If they are consistent, no adjustment is made during the movement.

[0064] Specifically, the stations where operations need to be performed include the starting point, the reversal point, and intermediate work points; the starting point refers to the first work point.

[0065] A transition point is a midpoint between two work points. The robot needs to pass through this point to move from one work point to another, but does not need to perform any work at this point.

[0066] A reversal endpoint refers to a special intermediate point where the robot needs to change its direction of movement, for example, turning from the end of a linear path to another path, or changing direction at the edge of a work area to continue working; the next station after the reversal endpoint is the reversal starting point.

[0067] It should be noted that, as Figure 6 As shown, in order to ensure the safety of the robot, before the robot chassis moves to the work position, the robotic arm will move to a special preset posture, such as retracting or moving to a fixed posture, to ensure that the robot will not cause a collision during the movement according to a certain control rule. Then the chassis moves to the starting point and begins to work. Similarly, before the robot chassis moves from the reversing end point to the reversing start point, the robotic arm will also move to a special preset posture.

[0068] Specifically, in this embodiment, such as Figure 6 As shown, when the robot chassis reaches any station, it stops moving. At this point, it checks the type of the current station. If the current station is a transition point or a reversal endpoint, the robot will not perform any work. Then, the robot will control the chassis to move to the next station based on the coordinates of the next station. Simultaneously, during or before the movement, the robot will determine whether the current robotic arm's operating parameters are consistent with those of the next station. If the robotic arm's operating parameters are inconsistent, the robot will adjust the robotic arm's trajectory during the movement based on the previously calculated maximum dynamic adjustment amount, so that it can immediately begin work upon reaching the next station. If the robotic arm's operating parameters are consistent, no adjustment is needed during the movement. This control strategy allows the robot to efficiently prepare for the next task during movement, reducing waiting and adjustment time caused by parameter inconsistencies. By dynamically adjusting the robotic arm's operating trajectory, the robot can adapt to different task requirements more quickly, thereby improving overall work efficiency and flexibility.

[0069] Another embodiment of this application provides a robot control device. The control device of this embodiment can be used to implement the control method described in the above embodiments and execute the steps of the control method described in the above embodiments. The robot includes a movable chassis, a robotic arm mounted on the chassis, and an actuator mounted on the robotic arm.

[0070] See Figure 7 The control device includes:

[0071] The parameter acquisition module is used to acquire the station information, robotic arm operation parameters and actuator operation parameters of each station that the robot passes through in sequence during the operation. The station information includes the coordinates and type of the station.

[0072] The chassis control module is used to control the chassis to pass through each station sequentially according to the coordinates of each station; when the chassis arrives at any station, the chassis stops moving; when the operation at the current station is completed, the chassis is controlled to move to the next station according to the coordinates of the next station.

[0073] The robotic arm control module is used to control the robotic arm and actuator to perform operations based on the robotic arm operation parameters and actuator operation parameters of any station when the chassis arrives at any station, provided that the station is the type for which the operation is to be performed. It is also used to determine whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters of the next station during the process of the chassis moving from the current station to the next station. If they are inconsistent, the robotic arm operation trajectory is adjusted according to the maximum dynamic adjustment amount during the movement. If they are consistent, no adjustment is made during the movement.

[0074] Furthermore, the maximum dynamic adjustment amount is determined according to the following method:

[0075] Based on the distance between the obstacle and the center of the chassis, and the distance between the robotic arm and the center of the chassis, determine the range of distance the chassis will move when the robotic arm completes the adjustment of the working width;

[0076] Based on the current robotic arm operating parameters and the robotic arm operating parameters at the next station, determine the change in the operating range and the operating center offset vector between the current station and the next station; the robotic arm operating parameters include the robotic arm's operating width and operating center.

[0077] The maximum dynamic adjustment amount is determined based on the chassis's moving speed, the robotic arm's moving speed, the change in the working range, the working center offset vector, and the distance range.

[0078] Furthermore, the maximum dynamic adjustment amount satisfies the following condition:

[0079]

[0080] Where D represents the distance the chassis moves when the robotic arm completes the adjustment of the working width; V arm V represents the moving speed of the robotic arm. base n represents the speed at which the chassis moves. now Indicates the current working range of the robotic arm, n target This indicates the robotic arm's operating range at the next station, where △n represents the maximum dynamic adjustment amount of the robotic arm. This represents the job center offset vector between the current station and the next station.

[0081] Furthermore, the distance range is expressed by the following expression:

[0082]

[0083] Where D1 represents the distance between the center of the chassis and the obstacle when the obstacle is in front of the chassis; D2 represents the distance between the center of the chassis and the obstacle when the obstacle is behind the chassis; m1 represents the distance between the center of the chassis and the foremost point of the robotic arm's movement trajectory; and m2 represents the distance between the center of the chassis and the rearmost point of the robotic arm's movement trajectory.

[0084] Furthermore, the types of stations also include intermediate points that do not require the execution of tasks, including transition points and reversal endpoints;

[0085] When the chassis arrives at any station, the chassis stops moving. If the type of any station is a transition point or reversal endpoint, no operation is performed. The chassis is controlled to move to the next station according to the coordinates of the next station of the transition point or reversal endpoint. It is determined whether the current robotic arm operation parameters are consistent with the robotic arm operation parameters of the next station. If they are inconsistent, the robotic arm operation trajectory is adjusted according to the maximum dynamic adjustment amount during the movement. If they are consistent, no adjustment is made during the movement.

[0086] The robot control device described in the above embodiments is merely illustrative. The modules described as separate components may or may not be physically separate. The components of a module may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the robot control device solution in the embodiments, depending on actual needs.

[0087] It should be noted that the robot control device in the above embodiments corresponds to the robot control method in the above embodiments. Therefore, the parts of the robot control device in the above embodiments that are not described in detail can be obtained by referring to the content of the robot control method in the above embodiments, and will not be repeated here.

[0088] Another embodiment of this application provides a robot, including a controller, a movable chassis, a robotic arm mounted on the chassis, and an actuator mounted on the robotic arm. The controller includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it controls the chassis, robotic arm, and actuator to work in order to realize the robot control method described above.

[0089] The controller may further include a bus connecting different components, including memory and processor. The memory may include computer-readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The memory may also include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application. The electronic device may also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), and with one or more devices that enable a user to interact with the electronic device, and / or with any device that enables the electronic device to communicate with one or more other computing devices (e.g., a network interface card), such communication being possible via input / output (I / O) interfaces. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter.

[0090] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A robot control method characterized by, The robot comprises a movable chassis, a mechanical arm arranged on the chassis, and an effector arranged on the mechanical arm; The method comprises: acquiring site information, mechanical arm operation parameters and effector operation parameters of each site successively passed through in a robot operation process, the site information comprising coordinates and types of the sites; controlling the chassis to pass through the sites successively according to the coordinates of the sites; when the chassis arrives at any site, the chassis stops moving, and if the type of the any site is a site to be operated, controlling the mechanical arm and the effector to perform operation actions according to the mechanical arm operation parameters and the effector operation parameters of the any site; when the operation actions of the current site are completed, controlling the chassis to move to the next site according to the coordinates of the next site, and judging whether the current mechanical arm operation parameters are consistent with the mechanical arm operation parameters of the next site, if not, adjusting the mechanical arm operation trajectory according to a maximum dynamic adjustment amount during the moving process, and if yes, not adjusting during the moving process; the maximum dynamic adjustment amount is determined according to the following manner: determining a distance range of the chassis movement when the mechanical arm completes the operation width adjustment according to the distance between the obstacle and the center of the chassis and the distance between the mechanical arm and the center of the chassis; determining an operation range variation and an operation center offset vector between the current site and the next site according to the current mechanical arm operation parameters and the mechanical arm operation parameters of the next site, the mechanical arm operation parameters comprising an operation width and an operation center of the mechanical arm; determining the maximum dynamic adjustment amount according to the moving speed of the chassis, the moving speed of the mechanical arm, the operation range variation, the operation center offset vector and the distance range.

2. The method of claim 1, wherein, The maximum dynamic adjustment amount satisfies the following conditions: wherein, D represents the distance of chassis movement when the mechanical arm completes the adjustment of the working width; V arm represents the moving speed of the mechanical arm, V base represents the moving speed of the chassis, n now represents the current mechanical arm working range, n target represents the mechanical arm working range of the next station, and Δn represents the maximum dynamic adjustment amount of the mechanical arm adjustment, represents the working center offset vector between the current station and the next station.

3. The method of claim 2, wherein, The distance range is shown in the following expression: wherein, D 1 represents the distance between the center of the chassis and the obstacle when the obstacle is in front of the chassis; D 2 represents the distance between the center of the chassis and the obstacle when the obstacle is behind the chassis; m 1 represents the distance between the center of the chassis and the front end of the movement trajectory of the mechanical arm, m 2 represents the distance between the center of the chassis and the rear end of the movement trajectory of the mechanical arm.

4. The method of claim 1, wherein, The types of the sites further comprise intermediate points which do not need to perform operations, the intermediate points which do not need to perform operations comprising transition points and reversing end points; The method comprises: when the chassis arrives at any site, the chassis stops moving, and if the type of the any site is a transition point or a reversing end point, no operation is performed, the chassis is controlled to move to the next site of the transition point or the reversing end point according to the coordinates of the next site, and it is judged whether the current mechanical arm operation parameters are consistent with the mechanical arm operation parameters of the next site, if not, the mechanical arm operation trajectory is adjusted according to a maximum dynamic adjustment amount during the moving process, and if yes, no adjustment is performed during the moving process.

5. A robot control device characterized by comprising: The robot comprises a movable chassis, a mechanical arm arranged on the chassis, and an effector arranged on the mechanical arm; The control device comprises: a parameter acquisition module, configured to acquire site information, mechanical arm operation parameters and effector operation parameters of each site successively passed through in a robot operation process, the site information comprising coordinates and types of the sites; a chassis control module, configured to control the chassis to pass through the sites successively according to the coordinates of the sites, and when the chassis arrives at any site, the chassis stops moving, and when the operation actions of the current site are completed, the chassis is controlled to move to the next site according to the coordinates of the next site. The mechanical arm control module is configured to, when the chassis reaches any station, if the type of the any station is a station to be executed, control the mechanical arm and the actuator to execute a work action according to the mechanical arm work parameter and the actuator work parameter of the any station; and is further configured to, in the process of moving the chassis from the current station to the next station, judge whether the current mechanical arm work parameter is consistent with the mechanical arm work parameter of the next station, if not, adjust the mechanical arm work track according to the maximum dynamic adjustment amount in the moving process, and if yes, do not adjust in the moving process. The maximum dynamic adjustment amount is determined according to the following manner: According to the distance between the obstacle and the center of the chassis and the distance between the mechanical arm and the center of the chassis, the distance range of the chassis movement when the mechanical arm completes the work width adjustment is determined; According to the current mechanical arm work parameter and the mechanical arm work parameter of the next station, the work range change amount and the work center offset vector between the current station and the next station are determined; the mechanical arm work parameter includes the work width and the work center of the mechanical arm; According to the moving speed of the chassis, the moving speed of the mechanical arm, the work range change amount, the work center offset vector and the distance range, the maximum dynamic adjustment amount is determined.

6. The apparatus of claim 5, wherein, The maximum dynamic adjustment amount satisfies the following conditions: wherein, D represents the distance of chassis movement when the mechanical arm completes the adjustment of the working width; V arm represents the moving speed of the mechanical arm, V base represents the moving speed of the chassis, n now represents the current mechanical arm working range, n target represents the mechanical arm working range of the next station, and represents the maximum dynamic adjustment amount of the mechanical arm adjustment, represents the working center offset vector between the current station and the next station.

7. The apparatus of claim 6, wherein, The distance range is shown in the following expression: wherein, D 1 represents the distance between the center of the chassis and the obstacle when the obstacle is in front of the chassis; D 2 represents the distance between the center of the chassis and the obstacle when the obstacle is behind the chassis; m 1 represents the distance between the center of the chassis and the front end of the movement trajectory of the mechanical arm, m 2 represents the distance between the center of the chassis and the rear end of the movement trajectory of the mechanical arm.

8. A robot, characterized in that The controller, the movable chassis, the mechanical arm arranged on the chassis and the actuator arranged on the mechanical arm, the controller includes a processor, a memory and a computer program stored on the memory and executable on the processor, when the processor executes the computer program, the chassis, the mechanical arm and the actuator work to realize the robot control method in any one of claims 1-4.

Images