Robot motion control method, device and storage medium

Abstract

The embodiments of the present application disclose a robot motion control method, device and storage medium. The target height of the target position to be reached by the robot arm can be determined, and the target height range in which the target height falls is determined in multiple preset height ranges, wherein each preset height range has a corresponding relationship with at least one posture of the lifting structure, and the target posture corresponding to the target height range is determined according to the corresponding relationship, and the lifting structure is controlled to be in the target posture to assist the robot arm to reach the target position. By configuring the lifting structure and determining a suitable lifting structure posture according to the target height of the target position to be reached by the robot arm, the robot arm can stably reach the target height with the assistance of a suitable lifting structure posture, which can improve the success rate of the robot in performing tasks.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of robots, and specifically to a robot motion control method, a robot motion control device, and a computer storage medium. Background Art

[0002] Robots with motion actuators can achieve movements such as grasping objects and walking, and have been widely used in industries such as industry and logistics. Robots use their mechanical arms to grasp objects at a certain height. When the object is high, the mechanical arm can be extended to a height that can grasp the object, so as to grasp the object smoothly.

[0003] However, the height of objects that the robotic arm can grasp is within a certain range. When the height of the object exceeds this range, the robotic arm cannot grasp the object, resulting in the robot being able to perform operations only within a fixed height range, which limits the robot's movement and task execution. Summary of the invention

[0004] The embodiments of the present application provide a robot motion control method, a robot motion control device and a computer storage medium, which can improve the success rate of the robot in performing tasks.

[0005] In a first aspect, an embodiment of the present application provides a robot motion control method, the method being applied to a robot, the robot comprising a mechanical arm and a lifting structure, the lifting structure being used to drive the mechanical arm to perform lifting motion in a height direction of the robot; the method comprising:

[0006] Determining a target height of a target position to be reached by the robotic arm;

[0007] Determining a target height range in which the target height falls among a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure;

[0008] Determine the target posture corresponding to the target height range according to the corresponding relationship;

[0009] The lifting structure is controlled to be in the target posture to assist the robot arm to reach the target position.

[0010] In some implementations of the embodiments of the present application, each of the preset height ranges corresponds to a posture of the lifting structure, and there is an intersection between at least two of the multiple preset height ranges. When the intersection includes the target height, there are multiple target height ranges within which the target height falls;

[0011] Then, determining the target posture corresponding to the target height range according to the corresponding relationship includes:

[0012] Determine the posture corresponding to each target height range according to the corresponding relationship;

[0013] The target attitude is determined among a plurality of attitudes corresponding to a plurality of target height ranges.

[0014] Further, determining the target posture among a plurality of postures corresponding to a plurality of target height ranges includes:

[0015] taking the posture closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges as the target posture;

[0016] or,

[0017] If the multiple postures corresponding to the multiple target height ranges include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the multiple target height ranges do not include the preset posture, the posture closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges is used as the target posture.

[0018] In some implementations of the embodiments of the present application, at least one of the preset height ranges corresponds to at least two postures of the lifting structure, and there is no intersection between any two preset height ranges in the multiple preset height ranges, then the target height range into which the target height falls is one;

[0019] Then, when one of the target height ranges is the preset height range corresponding to at least two postures, determining the target posture corresponding to the target height range according to the corresponding relationship includes:

[0020] Determine a posture corresponding to the target height range according to the corresponding relationship;

[0021] The target attitude is determined from a plurality of attitudes corresponding to a target altitude range.

[0022] Further, determining the target posture from a plurality of postures corresponding to a target height range includes:

[0023] taking a posture closest to the current posture of the lifting structure among a plurality of postures corresponding to the target height range as the target posture;

[0024] or,

[0025] If the multiple postures corresponding to the target height range include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the target height range do not include the preset posture, the posture among the multiple postures corresponding to the target height range that is closest to the current posture of the lifting structure is used as the target posture.

[0026] In some implementations of the embodiments of the present application, each of the preset height ranges corresponds to a posture of the lifting structure, and there is no intersection between any two preset height ranges in the multiple preset height ranges, and the target height range into which the target height falls is one;

[0027] Then, determining the target posture corresponding to the target height range according to the corresponding relationship includes:

[0028] Determine a posture corresponding to the target height range according to the corresponding relationship;

[0029] A posture corresponding to the target height range is used as the target posture.

[0030] Further, the interval heights of the multiple preset height ranges are the same, or the interval height of the height range corresponding to the preset posture among the multiple preset height ranges is the largest.

[0031] Furthermore, the preset posture includes an intermediate posture between the posture in which the lifting structure is extended to the limit and the posture in which the lifting structure is contracted to the limit.

[0032] In some implementations of the embodiments of the present application, before determining the target height of the target position to be reached by the robot arm, the method further includes:

[0033] Determining whether the robotic arm can reach the target position under the current posture of the lifting structure;

[0034] If the robotic arm can reach the target position under the current posture of the lifting structure, controlling the robotic arm to move toward the target position to reach the target position under the current posture of the lifting structure;

[0035] If the robot arm cannot reach the target position under the current posture of the lifting structure, the step of determining a target height of the target position to be reached by the robot arm is performed.

[0036] In some implementations of the embodiments of the present application, before determining the target height range into which the target height falls in a plurality of preset height ranges, the method further includes:

[0037] Determining whether the target height exceeds the reachable height range of the robot;

[0038] If the target height exceeds the reachable height range of the robot, a prompt message is issued to prompt the robot that the target position cannot be reached;

[0039] If the target height does not exceed the height range that the robot can reach, the step of determining the target height range within which the target height falls among a plurality of preset height ranges is performed.

[0040] In some implementations of the embodiments of the present application, the method further includes:

[0041] If the target height does not fall within any of the preset height ranges, a prompt message is issued to prompt that the robot cannot reach the target position.

[0042] In some implementations of the embodiments of the present application, determining the target height of the target position to be reached by the robotic arm includes:

[0043] Determine the coordinates of the target position to be reached by the robot arm in a pre-established coordinate system, and calculate the target height according to the coordinates of the target position;

[0044] or,

[0045] The target height is calculated according to the current posture of the robot and the vertical distance between the robot in its current posture and the target position.

[0046] A second aspect of the present application provides a robot motion control device, which is applied to a robot, wherein the robot comprises a mechanical arm and a lifting structure, wherein the lifting structure is used to drive the mechanical arm to perform lifting motion in a height direction of the robot; the device comprises:

[0047] A first determining unit, configured to determine a target height of a target position to be reached by the robot arm;

[0048] A second determining unit is used to determine a target height range in which the target height falls among a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure;

[0049] A third determining unit, configured to determine a target posture corresponding to the target height range according to the corresponding relationship;

[0050] A control unit is used to control the lifting structure to be in the target posture to assist the robot arm to reach the target position.

[0051] A third aspect of an embodiment of the present application provides a robot motion control device, which is applied to a robot. The device includes a memory and a processor. The memory stores a computer program, and the processor implements the method of the first aspect when executing the computer program.

[0052] A fourth aspect of an embodiment of the present application provides a computer storage medium, in which instructions are stored. When the instructions are executed on a robot motion control device, the robot motion control device executes the method of the first aspect mentioned above.

[0053] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0054] By configuring the lifting structure and determining the appropriate lifting structure posture according to the target height of the target position to be reached by the robot arm, the robot arm can stably reach the target height with the assistance of the appropriate lifting structure posture, which can improve the success rate of the robot's task execution, greatly expand the application scenarios and scope of application of the robot, and enhance the application value of the robot product. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is an exemplary structural diagram of the robot structure in the embodiment of the present application;

[0056] Figure 2 This is an exemplary structural diagram of the lifting structure in the embodiment of the present application;

[0057] Figure 3 Based on Figure 2 A schematic diagram of the connection relationship between multiple connecting rods in the lifting structure shown;

[0058] Figure 4 A schematic diagram of a flow chart of a robot motion control method in an embodiment of the present application;

[0059] Figure 5 This is another schematic diagram of the process of the robot motion control method in the embodiment of the present application;

[0060] Figure 6 This is another schematic diagram of the process of the robot motion control method in the embodiment of the present application;

[0061] Figure 7 This is another schematic diagram of the process of the robot motion control method in the embodiment of the present application;

[0062] Figure 8 This is a structural schematic diagram of a robot motion control device in an embodiment of the present application;

[0063] Fig. 9 This is another structural schematic diagram of the robot motion control device in an embodiment of the present application. DETAILED DESCRIPTION

[0064] Embodiments of the present application provide a robot motion control method, a robot motion control device, and a computer storage medium.

[0065] The structure of the robot described in the embodiment of the present application is described below. The structure of the robot includes: a mechanical arm and a lifting structure. The lifting structure is used to drive the mechanical arm to perform lifting motion in the height direction of the robot. There are many ways to achieve the lifting motion of the mechanical arm by the lifting structure, for example, Figure 1 In the robot structure shown, the lifting structure is connected to the robot body, and the extension or contraction movement of the lifting structure can drive the robot body together with its mechanical arm to perform lifting movement. Among them, the lifting structure is indirectly connected to the mechanical arm through the robot body, but in other implementations, the lifting structure can also be directly connected to the mechanical arm to directly drive the mechanical arm to perform lifting movement, which is not limited here.

[0066] It should be noted that the lifting structure and the structure of the mechanical arm in the embodiment of the present application are not limited. Figure 1 The robot arm pattern and the lifting structure pattern are only shown for exemplary purposes and do not constitute any structural limitation on the lifting structure and the robot arm.

[0067] In the embodiment of the present application, the lifting structure can be a connecting rod drive structure, a hydraulic structure or a cylinder structure that can perform lifting motion, so as to drive the robot arm to perform lifting motion in the height direction of the robot. The following takes the connecting rod drive structure as an example to illustrate the structure of the lifting structure. For details, please refer to Figure 2 and Figure 3 .

[0068] In one embodiment, the lifting structure includes a base 1, a driver 2, a horizontal support platform 3, a first connecting rod 41, a second connecting rod 42 and a third connecting rod 43, wherein: the driver 2 is installed on the base 1; one end of the first connecting rod 41 is drivingly connected to the driver 2, and the other end of the first connecting rod 41 is hinged to one end of the second connecting rod 42; one end of the third connecting rod 43 is hinged to the base 1, and the other end of the third connecting rod 43 is hinged to the second connecting rod 42 and is hinged to a different position of the second connecting rod 42 than the first connecting rod 41; the horizontal support platform 3 is hinged to the other end of the second connecting rod 42; the driver 2 is used to drive the first connecting rod 41 to swing, so as to drive the horizontal support platform 3 to move in the vertical direction.

[0069] In some optional implementations of this embodiment, the robot lifting structure also includes a fourth link 51 and a horizontal link 52, wherein: one end of the fourth link 51 is hinged to the base 1, the other end of the fourth link 51 and the first link 41 are hinged to one end of the second link 42 and are respectively hinged to both ends of the horizontal link 52; the line connecting the rotation center of the first link 41 and the rotation center of the fourth link 51 is parallel to the horizontal link 52, and the fourth link 51 is parallel to the first link 41.

[0070] In some optional implementations of this embodiment, the third connecting rod 43, the fourth connecting rod 51 and the base 1 are hinged at the same point.

[0071] In some optional implementations of this embodiment, the robot lifting structure also includes a fifth link 53, wherein: one end of the fifth link 53 is hinged to one end of the horizontal support platform 3 away from the second link 42, and the other end of the fifth link 53 is hinged to the horizontal link 52 and is hinged to the horizontal link 52 at a different position from the first link 41; the horizontal support platform 3 is parallel to the horizontal link 52, and the fifth link 53 is parallel to the second link 42.

[0072] In some optional implementations of this embodiment, the fourth connecting rod 51, the fifth connecting rod 53 and the horizontal connecting rod 52 are hinged at the same point.

[0073] In the embodiment of the present application, the robot may further include components such as a chassis and a head, and a moving mechanism may be configured on the chassis to support the robot to move on the plane in which it is located. A control device may also be configured to process the received instructions or acquired information and control the corresponding components to perform corresponding operations, such as controlling the lifting structure to perform lifting movement, controlling the mechanical arm to perform grasping tasks, and so on.

[0074] The following describes the robot motion control method in the embodiment of the present application based on the aforementioned robot structure:

[0075] See also Figure 4 In the embodiment of the present application, an embodiment of the robot motion control method includes:

[0076] 401. Determine a target height of a target position to be reached by the robot arm.

[0077] The method of this embodiment can be applied to the above-mentioned robot, and can be specifically executed by a control device configured for the robot.

[0078] The robot can determine the height of the target position that the robot arm needs to reach in the task to be performed, that is, the target height. The task to be performed can be an object grasping task, that is, grasping the object placed at the target position; it can also be an object placing task, that is, placing the object at the target position; of course, it can also be other tasks that require reaching the target position.

[0079] 402. Determine a target height range in which the target height falls among a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure.

[0080] In this embodiment, the correspondence between the preset height range and the posture of the lifting structure is used to indicate that when the lifting structure is in a certain posture, the robot arm can reach objects within the preset height range corresponding to the posture. This correspondence can be a measurement of the maximum height that the robot arm can reach in each lifting structure posture in advance, thereby forming a preset height range corresponding to each lifting structure posture; it can also be calculated based on the parameters of the lifting structure and the parameters of the robot arm to obtain the maximum height that the robot arm can reach in each lifting structure posture, thereby forming a preset height range corresponding to each lifting structure posture; it can be understood that the preset height range corresponding to each lifting structure posture is less than or equal to the maximum height range that the robot arm can reach. This embodiment does not limit the way to obtain this correspondence.

[0081] 403. Determine a target posture corresponding to the target height range according to the corresponding relationship.

[0082] 404. Control the lifting structure to be in the target posture to assist the robot arm to reach the target position.

[0083] After determining the target height range that the target height falls within, the target posture corresponding to the target height range can be determined according to the above correspondence, which means that when the lifting structure is in the target posture, the robot arm can reach the height within the target height range. Therefore, the lifting structure can be controlled to be in the target posture to assist the robot arm in triggering the target position.

[0084] Specifically, if the target posture is the same as the current posture of the lifting structure, the robotic arm is controlled to move toward the target position under the current posture of the lifting structure to reach the target position; if the target posture is different from the current posture of the lifting structure, the lifting structure is controlled to adjust from the current posture to the target posture according to the control parameters corresponding to the target posture, so as to drive the robotic arm to reach the target position.

[0085] For example, for Figure 1As for the structure of the lifting structure shown, the driver 2 can drive the multiple connecting rods in the lifting structure to move so as to change the posture of the lifting structure. Therefore, the control parameters of the driver 2 determine the posture of the lifting structure. Therefore, when the target posture is different from the current posture of the lifting structure, the driver 2 can be controlled to move according to the driver parameters corresponding to the target posture to adjust the lifting structure to the target posture. Therefore, the corresponding relationship between the posture of the lifting structure and the preset height range in this embodiment can be converted into the corresponding relationship between the control parameters of the lifting structure and the preset height range.

[0086] In this embodiment, by configuring the lifting structure and determining the appropriate lifting structure posture according to the target height of the target position to be reached by the robotic arm, the robotic arm can stably reach the target height with the assistance of the appropriate lifting structure posture, which can improve the success rate of the robot in executing the task, greatly expand the application scenarios and scope of application of the robot, and enhance the application value of the robot product.

[0087] The following will be Figure 4 Based on the embodiment shown, the embodiment of the present application is further described in detail. Figure 5 Another embodiment of the robot motion control method in the embodiment of the present application includes:

[0088] 501. Determine a target height of a target position to be reached by the robotic arm.

[0089] In this embodiment, the target height may be the height of the target position relative to the plane on which the robot stands. The target height may be determined in a variety of ways.

[0090] For example, the coordinates of the target position to be reached by the robot arm in the pre-established coordinate system can be determined, and the target height can be calculated based on the coordinates of the target position. The coordinate system can be a robot camera coordinate system, a robot arm coordinate system, or other types of coordinate systems. The height of the target position, i.e., the target height, is calculated based on the position of the target position in the coordinate system and the current posture of the robot.

[0091] In addition, the target height can also be calculated based on the current posture of the robot and the vertical distance between the robot and the target position in its current posture. The vertical distance can be measured using a distance measuring device such as a distance sensor. For example, if the height of the end of the robot's mechanical arm relative to the standing plane in its current posture is 1 meter, and the vertical distance between the end of the mechanical arm and the target position is measured to be 0.5 meters, the height of the target position can be calculated to be 1.5 meters.

[0092] 502. Determine whether the target height falls within one or more of a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure.

[0093] In this embodiment, after the target height is obtained, it can be directly determined whether the target height falls within one or more of the multiple preset height ranges. If it is determined that the target height falls within the target height range of the multiple preset height ranges, steps 503 to 504 are executed; if the target height does not fall within any of the preset height ranges, step 505 is executed.

[0094] 503. Determine a target posture corresponding to the target height range according to the corresponding relationship.

[0095] Implementation method 1:

[0096] In an optional implementation of this embodiment, each preset height range corresponds to a posture of the lifting structure, wherein at least two of the plurality of preset height ranges overlap.

[0097] When the intersection does not include the target height, the target height falls into one target height range. Therefore, when determining the target posture corresponding to the target height range according to the correspondence between the lifting structure posture and the preset height range, the posture corresponding to the one target height range can be determined according to the correspondence, and the one posture corresponding to the one target height range is used as the target posture.

[0098] When the intersection includes the target height, there are multiple target height ranges that the target height falls into. Therefore, when determining the target posture corresponding to the target height range according to the correspondence between the lifting structure posture and the preset height range, the posture corresponding to each target height range can be determined according to the correspondence, and the target posture can be determined from the multiple postures corresponding to the multiple target height ranges.

[0099] Among them, a target posture is determined among multiple postures corresponding to multiple target height ranges. One method may be to use the posture that is closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges as the target posture. The advantage of this method is that compared with adjusting from the current posture of the lifting structure to other postures that are less close to the current posture, adjusting from the current posture to the posture closest to the current posture of the lifting structure can adjust to the target posture faster, and the posture adjustment efficiency is higher.

[0100] Of course, if there is a posture that is the same as the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges, there is no need to adjust the posture of the lifting structure. Instead, the robotic arm can be directly controlled to move toward the target position under the current posture of the lifting structure to reach the target position.

[0101] In addition, another way to determine the target posture among the multiple postures corresponding to the multiple target height ranges is that if the multiple postures corresponding to the multiple target height ranges include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the multiple target height ranges do not include the preset posture, the posture among the multiple postures corresponding to the multiple target height ranges that is closest to the current posture of the lifting structure is used as the target posture.

[0102] The preset posture can be any posture, for example, it can be an intermediate posture between the posture of the lifting structure extending to the limit and the posture of the lifting structure contracting to the limit. In this way, it is relatively convenient to adjust the posture from the intermediate posture to any target posture when the posture needs to be adjusted next time, and the overall energy consumption of adjusting the posture is relatively small. Usually, the robot has a preset habitual posture, and the preset posture of the lifting structure can be set as the habitual posture of the lifting mechanism.

[0103] Implementation method 2:

[0104] In another optional embodiment, at least one preset height range corresponds to at least two postures of the lifting structure, and there is no intersection between any two preset height ranges in the plurality of preset height ranges, and the target height range into which the target height falls is one. Therefore, when determining the target posture corresponding to the target height range according to the corresponding relationship between the posture of the lifting structure and the preset height range, it is determined that there may be one or more target postures corresponding to the target height range.

[0105] When it is determined according to the corresponding relationship that there is one posture corresponding to a target height range, the posture corresponding to the target height range is used as the target posture.

[0106] When it is determined according to the corresponding relationship that there are multiple postures corresponding to one target height range, the target posture may be determined from the multiple postures corresponding to the one target height range.

[0107] Similarly, a target posture is determined from among the multiple postures corresponding to the target height range. One way of determining the target posture may be to use the posture that is closest to the current posture of the lifting structure from among the multiple postures corresponding to the target height range as the target posture.

[0108] Of course, if there is a posture that is the same as the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges, there is no need to adjust the posture of the lifting structure. Instead, the robotic arm can be directly controlled to move toward the target position under the current posture of the lifting structure to reach the target position.

[0109] In addition, another way to determine the target posture among the multiple postures corresponding to the target height range may be that if the multiple postures corresponding to the target height range include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the target height range do not include the preset posture, the posture among the multiple postures corresponding to the target height range that is closest to the current posture of the lifting structure is used as the target posture.

[0110] Implementation method three:

[0111] In another optional embodiment, each preset height range corresponds to a posture of the lifting structure, and there is no intersection between any two preset height ranges among the multiple preset height ranges, and the target height range that the target height falls into is only one.

[0112] Therefore, when determining the target posture corresponding to the target height range according to the correspondence between the lifting structure posture and the preset height range, the posture corresponding to the target height range can be determined according to the correspondence, and the posture corresponding to the target height range can be used as the target posture.

[0113] The interval heights of the multiple preset height ranges may be the same or different. For example, the interval height of the height range corresponding to the preset posture among the multiple preset height ranges may be the largest, so that the robot arm can reach the target position of most target heights based on the preset posture of the lifting structure.

[0114] 504. Control the lifting structure to be in the target posture to assist the robot arm to reach the target position.

[0115] When determining to obtain the target posture, if it has been determined in advance that the robot arm cannot reach the target position under the current posture of the lifting structure, the lifting structure can be directly controlled to adjust from the current posture to the target posture according to the control parameters corresponding to the target posture. If it has not been determined in advance whether the robot arm can reach the target position under the current posture of the lifting structure, then after determining to obtain the target posture, it is determined whether the current posture of the lifting structure is the same as the target posture; if it is the same as the target posture, the robot arm is controlled to move toward the target position under the current posture of the lifting structure to reach the target position; if it is different from the target posture, the lifting structure is controlled to adjust from the current posture to the target posture according to the control parameters corresponding to the target posture.

[0116] 505. Send a prompt message to prompt that the robot cannot reach the target position.

[0117] If it is determined that the target height does not fall within any preset height range, it means that the target height may exceed the height range that the robot can reach. Therefore, a prompt message can be issued to remind the robot that it cannot reach the target position. The user can respond to the prompt in time and adjust the decision on the robot task.

[0118] Based on the above Figure 4 and Figure 5 , further elaborates on various other preferred implementations of the embodiments of this application. Figure 6 Another embodiment of the robot motion control method in the embodiment of the present application includes:

[0119] 601. Determine whether the robot arm can reach the target position under the current posture of the lifting structure. If so, execute step 602; if not, execute steps 603 to 606.

[0120] 602. Control the robotic arm to move toward the target position to reach the target position under the current posture of the lifting structure.

[0121] In this embodiment, it is possible to determine whether the robot arm can reach the target position under the current posture of the lifting structure based on the position of the target position in the robot arm coordinate system. If the robot arm can reach the target position under the current posture of the lifting structure, the robot arm is controlled to move toward the target position under the current posture of the lifting structure to reach the target position; if the robot arm cannot reach the target position under the current posture of the lifting structure, steps 603 to 606 are performed to adjust the posture of the lifting structure to achieve reaching the target position.

[0122] 603. Determine a target height of a target position to be reached by the robotic arm.

[0123] 604. Determine a target height range within which the target height falls among a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure.

[0124] If it is determined that the target height does not fall within any of the preset height ranges, it means that the target height may exceed the height range that the robot can reach, so a prompt message may be issued to prompt the robot that the target position cannot be reached.

[0125] 605. Determine a target posture corresponding to the target height range according to the corresponding relationship.

[0126] 606. Control the lifting structure to be in the target posture to assist the robotic arm in reaching the target position.

[0127] The operations performed in steps 603 to 606 are the same as those in the above Figure 4 Steps 401 to 404 in the illustrated embodiment or Figure 5 The operations performed in steps 501 to 505 in the illustrated embodiment are similar and will not be described in detail here.

[0128] Therefore, in this embodiment, it is determined in advance whether the robotic arm can reach the target position under the current posture of the lifting structure. If it can be reached, the robotic arm is directly controlled to move toward the target position under the current posture of the lifting structure to reach the target position, thereby eliminating the need to execute subsequent steps to determine the target posture, reducing the execution of steps, thereby speeding up the response speed to task execution and improving the robot's task execution efficiency.

[0129] See also Figure 7 Another embodiment of the robot motion control method in the embodiment of the present application includes:

[0130] 701. Determine a target height of a target position to be reached by the robotic arm.

[0131] The operations performed in this step are the same as those in the previous Figure 4 Step 401 in the illustrated embodiment or Figure 5 The operations performed in step 501 in the illustrated embodiment are similar and will not be described in detail here.

[0132] 702. Determine whether the target height exceeds the reachable height range of the robot. If so, execute step 703; if not, execute steps 704 to 706.

[0133] 703. Send a prompt message to prompt that the robot cannot reach the target position.

[0134] In this embodiment, it can be determined whether the target height exceeds the reachable height range of the robot. The reachable height range of the robot indicates the maximum height that the robot's mechanical arm can reach. Therefore, if the target height exceeds the reachable height range of the robot, it means that the lifting structure cannot allow the mechanical arm to reach the target position even if it is in an extreme posture. At this time, a prompt message can be issued to prompt the user that the robot cannot reach the target position; if the target height does not exceed the reachable height range of the robot, it means that the robot can reach the target height, and steps 704 to 706 are executed to achieve reaching the target position.

[0135] 704. Determine a target height range within which the target height falls among a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure.

[0136] 705. Determine a target posture corresponding to the target height range according to the corresponding relationship.

[0137] 706. Control the lifting structure to be in the target posture to assist the robotic arm in reaching the target position.

[0138] The operations performed in steps 704 to 706 are the same as those in the above Figure 4 Steps 402 to 404 in the illustrated embodiment or Figure 5 The operations performed in steps 502 to 504 in the illustrated embodiment are similar and will not be described in detail herein.

[0139] Therefore, in this embodiment, it is determined in advance whether the target height exceeds the reachable range of the robot. If it exceeds the reachable range, the user is directly prompted that the robot cannot reach it, thereby eliminating the need to execute subsequent steps to determine the target height range, reducing the execution of steps, and allowing the user to quickly obtain the prompt information, making it easier for the user to respond and adjust decisions in a timely manner based on the prompt.

[0140] Different from Figure 6 and Figure 7 In the embodiment shown, in other embodiments, there is no need to determine whether the robotic arm can reach the target position under the current posture of the lifting structure, and there is no need to determine whether the target height exceeds the height range that the robot can reach. Instead, the target height range within which the target height falls is directly determined, and the target posture corresponding to the target height range is determined. If the target posture is the same as the current posture of the lifting structure, the robotic arm is controlled to move to the target position under the current posture of the lifting structure to reach the target position; if the target posture is different from the current posture of the lifting structure, the lifting structure is controlled to adjust from the current posture to the target posture according to the control parameters corresponding to the target posture, so as to drive the robotic arm to reach the target position.

[0141] Different from Figure 6 and Figure 7In the embodiment shown, in other embodiments, it is also possible to determine whether the robot arm can reach the target position under the current posture of the lifting structure, and to determine whether the target height exceeds the height range that the robot can reach. Specifically, it can be determined whether the robot arm can reach the target position under the current posture of the lifting structure; if the robot arm can reach the target position under the current posture of the lifting structure, the robot arm is controlled to move to the target position under the current posture of the lifting structure to reach the target position, and the process ends; if the robot arm cannot reach the target position under the current posture of the lifting structure, the target height of the target position is determined, and it is determined whether the target height exceeds the height range that the robot can reach; if the target height exceeds the height range that the robot can reach, a prompt message is issued to prompt the robot that the target position cannot be reached, and the process ends; if the target height does not exceed the height range that the robot can reach, the target height range that the target height falls into is determined in multiple preset height ranges, and the target posture corresponding to the target height range is determined according to the corresponding relationship, and the lifting structure is controlled to adjust from the current posture to the target posture to assist the robot to reach the target position.

[0142] The above describes the robot motion control method in the embodiment of the present application. The following describes the robot motion control device in the embodiment of the present application.

[0143] See also Figure 8 In the embodiment of the present application, the robot motion control device is applied to a robot, the robot comprising a mechanical arm and a lifting structure, the lifting structure being used to drive the mechanical arm to perform lifting motion in the height direction of the robot; the device comprises:

[0144] A first determining unit, configured to determine a target height of a target position to be reached by the robot arm;

[0145] A second determining unit is used to determine a target height range in which the target height falls among a plurality of preset height ranges; wherein each of the preset height ranges corresponds to at least one posture of the lifting structure;

[0146] A third determining unit, configured to determine a target posture corresponding to the target height range according to the corresponding relationship;

[0147] A control unit is used to control the lifting structure to be in the target posture to assist the robot arm to reach the target position.

[0148] In a preferred implementation of this embodiment, each of the preset height ranges corresponds to a posture of the lifting structure, and there is an intersection between at least two of the multiple preset height ranges. When the intersection includes the target height, there are multiple target height ranges within which the target height falls.

[0149] Then, the third determining unit is specifically used for:

[0150] Determine the posture corresponding to each target height range according to the corresponding relationship;

[0151] The target attitude is determined among a plurality of attitudes corresponding to a plurality of target height ranges.

[0152] In a preferred implementation manner of this embodiment, the third determining unit is specifically configured to:

[0153] taking the posture closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges as the target posture;

[0154] or,

[0155] If the multiple postures corresponding to the multiple target height ranges include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the multiple target height ranges do not include the preset posture, the posture closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges is used as the target posture.

[0156] In a preferred implementation of this embodiment, at least one of the preset height ranges corresponds to at least two postures of the lifting structure, and there is no intersection between any two preset height ranges in the multiple preset height ranges, and the target height range into which the target height falls is one;

[0157] Then, when one of the target height ranges is the preset height range corresponding to at least two postures, the third determining unit is specifically configured to:

[0158] Determine a posture corresponding to the target height range according to the corresponding relationship;

[0159] The target attitude is determined from a plurality of attitudes corresponding to a target altitude range.

[0160] In a preferred implementation manner of this embodiment, the third determining unit is specifically configured to:

[0161] taking a posture closest to the current posture of the lifting structure among a plurality of postures corresponding to the target height range as the target posture;

[0162] or,

[0163] If the multiple postures corresponding to the target height range include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the target height range do not include the preset posture, the posture among the multiple postures corresponding to the target height range that is closest to the current posture of the lifting structure is used as the target posture.

[0164] In a preferred implementation of this embodiment, each of the preset height ranges corresponds to a posture of the lifting structure, and there is no intersection between any two preset height ranges in the multiple preset height ranges, and the target height range into which the target height falls is one;

[0165] Then, the third determining unit is specifically used for:

[0166] Determine a posture corresponding to the target height range according to the corresponding relationship;

[0167] A posture corresponding to the target height range is used as the target posture.

[0168] In a preferred implementation manner of this embodiment, the interval heights of the multiple preset height ranges are the same, or the interval height of the height range corresponding to the preset posture among the multiple preset height ranges is the largest.

[0169] In a preferred implementation manner of this embodiment, the preset posture includes an intermediate posture between the posture in which the lifting structure is extended to the limit and the posture in which the lifting structure is contracted to the limit.

[0170] In a preferred implementation manner of this embodiment, the device further includes:

[0171] A judgment unit, used for judging whether the robotic arm can reach the target position under the current posture of the lifting structure before determining the target height of the target position to be reached by the robotic arm;

[0172] The control unit is further configured to control the mechanical arm to move toward the target position to reach the target position under the current posture of the lifting structure if the mechanical arm can reach the target position under the current posture of the lifting structure;

[0173] The first determining unit is specifically configured to determine a target height of the target position to be reached by the robotic arm if the robotic arm cannot reach the target position under the current posture of the lifting structure.

[0174] In a preferred implementation manner of this embodiment, the device further includes:

[0175] a judging unit, configured to judge whether the target height exceeds a height range that can be reached by the robot before determining in a plurality of preset height ranges that the target height falls into a target height range;

[0176] a prompt unit, configured to issue a prompt message to prompt the robot that the target position cannot be reached if the target height exceeds the reachable height range of the robot;

[0177] The second determining unit is specifically configured to execute the step of determining a target height range within which the target height falls among a plurality of preset height ranges if the target height does not exceed a height range that the robot can reach.

[0178] In a preferred implementation manner of this embodiment, the device further includes:

[0179] A prompt unit is used to issue a prompt message to prompt the robot that it cannot reach the target position if the target height does not fall within any of the preset height ranges.

[0180] In a preferred implementation manner of this embodiment, the first determining unit is specifically configured to:

[0181] Determine the coordinates of the target position to be reached by the robot arm in a pre-established coordinate system, and calculate the target height according to the coordinates of the target position;

[0182] or,

[0183] The target height is calculated according to the current posture of the robot and the vertical distance between the robot in its current posture and the target position.

[0184] In this embodiment, the operations performed by each unit in the robot motion control device are the same as those described above. Figures 4 to 7 The description in the illustrated embodiment is similar and will not be repeated here.

[0185] See also Fig. 9 In the embodiment of the present application, the robot motion control device 900 may include one or more central processing units (CPU) 901 and a memory 905, and the memory 905 stores one or more application programs or data.

[0186] The memory 905 may be a volatile storage or a persistent storage. The program stored in the memory 905 may include one or more modules, each of which may include a series of instruction operations in the robot motion control device. Furthermore, the central processing unit 901 may be configured to communicate with the memory 905 and execute a series of instruction operations in the memory 905 on the robot motion control device 900.

[0187] The robot motion control device 900 may also include one or more power supplies 902, one or more wired or wireless network interfaces 903, one or more input and output interfaces 904, and / or one or more operating systems, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0188] The CPU 901 can execute the aforementioned Figures 4 to 7 The operations performed by the robot motion control device in the illustrated embodiment will not be described in detail here.

[0189] The present application also provides a computer storage medium, wherein one embodiment includes: the computer storage medium stores instructions, and when the instructions are executed on the robot motion control device, the robot motion control device executes the aforementioned Figures 4 to 7 The operations performed by the robot motion control device in the illustrated embodiment.

[0190] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0191] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0192] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0193] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0194] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, read-only memory), random access memory (RAM, random access memory), disk or optical disk and other media that can store program code.

Claims

1. A robot motion control method, characterized in that: The method is applied to a robot, wherein the robot comprises a mechanical arm and a lifting structure, wherein the lifting structure is used to drive the mechanical arm to perform lifting movement in the height direction of the robot; the method comprises: Determining a target height of a target position to be reached by the robotic arm; Determine a target height range in which the target height falls from a plurality of preset height ranges; wherein each of the preset height ranges corresponds to a posture of the lifting structure, and there is an intersection between at least two of the plurality of preset height ranges, and when the intersection includes the target height, the target height falls into a plurality of target height ranges; Determine the posture corresponding to each target height range according to the corresponding relationship; Determining a target attitude among a plurality of attitudes corresponding to a plurality of target height ranges; The lifting structure is controlled to be in the target posture to assist the robot arm to reach the target position.

2. The method according to claim 1, characterized in that Determining the target posture among a plurality of postures corresponding to a plurality of target height ranges comprises: taking the posture closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges as the target posture; or, If the multiple postures corresponding to the multiple target height ranges include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the multiple target height ranges do not include the preset posture, the posture closest to the current posture of the lifting structure among the multiple postures corresponding to the multiple target height ranges is used as the target posture.

3. A robot motion control method, characterized in that: The method is applied to a robot, wherein the robot comprises a mechanical arm and a lifting structure, wherein the lifting structure is used to drive the mechanical arm to perform lifting movement in the height direction of the robot; the method comprises: Determining a target height of a target position to be reached by the robotic arm; Determine a target height range in which the target height falls from a plurality of preset height ranges; wherein, if at least one of the preset height ranges corresponds to at least two postures of the lifting structure, and there is no intersection between any two of the plurality of preset height ranges, then the target height range in which the target height falls is one; Determine a posture corresponding to the target height range according to the corresponding relationship; When the posture corresponding to one of the target height ranges is a plurality of postures, determining the target posture from the plurality of postures corresponding to one of the target height ranges; The lifting structure is controlled to be in the target posture to assist the robot arm to reach the target position.

4. The method according to claim 3, characterized in that Determining the target posture among a plurality of postures corresponding to a target height range includes: taking a posture closest to the current posture of the lifting structure among a plurality of postures corresponding to the target height range as the target posture; or, If the multiple postures corresponding to the target height range include a preset posture, the preset posture is used as the target posture; if the multiple postures corresponding to the target height range do not include the preset posture, the posture among the multiple postures corresponding to the target height range that is closest to the current posture of the lifting structure is used as the target posture.

5. A robot motion control device, characterized in that: The device is applied to a robot, the robot comprising a mechanical arm and a lifting structure, the lifting structure being used to drive the mechanical arm to perform lifting motion in the height direction of the robot; the device comprises: A first determining unit, configured to determine a target height of a target position to be reached by the robot arm; A second determining unit is used to determine a target height range in which the target height falls from a plurality of preset height ranges; wherein each of the preset height ranges corresponds to a posture of the lifting structure, and there is an intersection between at least two of the plurality of preset height ranges, then when the intersection includes the target height, the target height falls into a plurality of target height ranges; A third determining unit, configured to determine a posture corresponding to each of the target height ranges according to the corresponding relationship, and determine a target posture from a plurality of postures corresponding to a plurality of the target height ranges; A control unit is used to control the lifting structure to be in the target posture to assist the robot arm to reach the target position.

6. A robot motion control device, characterized in that: The device is applied to a robot, the robot comprising a mechanical arm and a lifting structure, the lifting structure being used to drive the mechanical arm to perform lifting motion in the height direction of the robot; the device comprises: A first determining unit, configured to determine a target height of a target position to be reached by the robot arm; A second determining unit is used to determine a target height range in which the target height falls from a plurality of preset height ranges; wherein, at least one of the preset height ranges corresponds to at least two postures of the lifting structure, and if there is no intersection between any two of the plurality of preset height ranges, then the target height range in which the target height falls is one; A third determining unit is used to determine a posture corresponding to the target height range according to the corresponding relationship, and when the posture corresponding to the target height range is multiple postures, determine the target posture from the multiple postures corresponding to the target height range; A control unit is used to control the lifting structure to be in the target posture to assist the robot arm to reach the target position.

7. A robot motion control device, characterized in that: The device is applied to a robot, and comprises a memory and a processor. The memory stores a computer program, and the processor implements the robot motion control method as described in any one of claims 1 to 4 for the robot when executing the computer program.

8. A computer storage medium, characterized in that: The computer storage medium stores instructions, and when the instructions are executed on a robot motion control device, the robot motion control device executes the method according to any one of claims 1 to 4.

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