Robot, storage medium, vehicle, and method for avoiding singularity of robot

Abstract

A robot, a storage medium, a vehicle, and a method for the robot to avoid singularities, wherein the robot comprises a robotic arm, a flange, a gripper, and a controller, wherein the robotic arm has a plurality of connecting shafts connected in sequence, with two adjacent connecting shafts being rotatably connected; the flange is connected between the gripper and the flange; the controller is used to obtain a transfer matrix MP of the photovoltaic panel at the center point of the set position based on the inclination angle of the photovoltaic panel when it is paved at the set position and the height of the photovoltaic panel from the ground when it is paved at the set position; the controller is also used to determine the relative rotation angle between the next-to-last connecting shaft and the next-to-last connecting shaft based on the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the gripper, and the shape and size parameters of the gripper; the controller is used to control the connection angle between the flange and the gripper to control the relative rotation angle between the next-to-last connecting shaft and the next-to-last connecting shaft, so that the relative rotation angle between the next-to-last connecting shaft and the next-to-last connecting shaft is always greater than 0°.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a robot, a storage medium, a vehicle, and a method for the robot to avoid singularities. Background Art

[0002] Existing robots may pass through singular points during the execution of actions. When the robot passes near a singular point, it will alarm or even become difficult to move.

[0003] When using a robot to grab and lay photovoltaic panels, the robot grabs the photovoltaic panels at one location and then lays the photovoltaic panels at another location. During this movement, if the axis of the robot's fourth axis is parallel to the axis of the sixth axis, the robot moves to a singularity point and loses one degree of freedom, making the robot unable to move. At the same time, the speed of the robot's fourth axis will increase rapidly, causing an alarm. Summary of the Invention

[0004] The present application provides a robot, a storage medium, a vehicle, and a method for the robot to avoid singular points.

[0005] In a first aspect, the present application provides a robot for paving a photovoltaic panel to a set position at a preset inclination angle, the robot comprising:

[0006] The robotic arm has a plurality of connecting shafts connected in sequence, wherein two adjacent connecting shafts are rotationally connected;

[0007] a flange connected to the last connecting shaft among the plurality of connecting shafts;

[0008] A gripping member connected to the flange, the gripping member being used to grip and release the photovoltaic panel;

[0009] a controller, electrically connected to the robotic arm;

[0010] In which, the controller is used to determine the transfer matrix MP of the photovoltaic panel at the center point of the set position according to the inclination angle when the photovoltaic panel is paved at the set position and the height from the ground when the photovoltaic panel is paved at the set position; the controller is also used to determine the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis according to the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member. The controller is used to control the connection angle between the flange and the grabbing member to control the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis, so that the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis is always greater than 0°.

[0011] In combination with the first aspect, in a possible implementation, the relative rotation angle between the second-to-last connecting shaft and the second-to-last connecting shaft is always greater than a set threshold, and the set threshold is greater than or equal to 0° and less than or equal to 5°.

[0012] With reference to the first aspect, in a possible implementation, a connection angle between the flange and the grabbing member is 10° to 45°.

[0013] In combination with the first aspect, in a possible implementation, the flange includes a first end face and a second end face arranged opposite to each other, the first end face is connected to the last connecting shaft among a plurality of connecting shafts, the second end face is connected to the grasping member, and the first end face and the second end face form an angle greater than 0° and less than 45°.

[0014] In combination with the first aspect, in a possible implementation, the robot further includes a driving member, which is used to drive the grasping member to control the pitch angle of the grasping member relative to the flange to control the connection angle between the grasping member and the flange.

[0015] In a second aspect, the present application provides a method for a robot to avoid singularities, the method being applied to the robot according to the first aspect, the method comprising:

[0016] Determine the transfer matrix MP of the center point of the photovoltaic panel at the set position according to the inclination angle of the photovoltaic panel when it is paved at the set position, the height of the photovoltaic panel from the ground when it is paved at the set position, and the set position;

[0017] Determine the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis according to the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member;

[0018] The connection angle between the flange and the grabbing member is adjusted to adjust the relative rotation angle between the second last connecting shaft and the second last connecting shaft, so that the relative rotation angle between the second last connecting shaft and the second last connecting shaft is always greater than 0°.

[0019] In conjunction with the second aspect, in one possible implementation, determining the relative rotation angle between the second-to-last connecting axis and the next-to-last connecting axis based on the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member includes:

[0020] Obtaining a transfer matrix ME of the end of the flange connected to the grabbing member according to the transfer matrix MP, the shape and size parameters of the grabbing member, and the connection angle between the flange and the grabbing member;

[0021] Determine the transfer matrix MF of the end of the last connecting shaft among the multiple connecting shafts connected to the flange according to the transfer matrix ME, the shape and size parameters of the flange, and the connection angle between the flange and the gripping member;

[0022] The relative rotation angle between the second-to-last connecting shaft and the second-to-last connecting shaft is determined based on the transfer matrix MF.

[0023] In conjunction with the second aspect, in one possible implementation, adjusting the connection angle between the flange and the gripping member to adjust the relative rotation angle between the next-to-last connecting shaft and the next-to-last connecting shaft so that the relative rotation angle between the next-to-last connecting shaft and the next-to-last connecting shaft is always greater than 0° includes:

[0024] In the case where it is determined based on the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the gripping member, and the shape and size parameters of the gripping member that the relative rotation angle between the second-last connecting axis and the subsequent-last connecting axis is less than or equal to 0°;

[0025] Controlling and increasing the connection angle between the flange and the grabbing member;

[0026] Until the relative rotation angle between the second-to-last connecting axis and the subsequent-to-last connecting axis determined according to the transfer matrix MP, the shape and size parameters of the flange, the adjusted connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member is greater than 0°.

[0027] In a third aspect, the present application discloses a storage medium storing execution instructions, which are executed by a controller to implement the method described in the second aspect.

[0028] In a fourth aspect, the present application discloses a vehicle, comprising the robot as described in the first aspect.

[0029] In the above scheme, by adjusting the connection angle between the flange and the grabbing part, the transfer matrix MF of the end where the last connecting axis is connected to the flange can be changed. In the process of the robotic arm driving the grabbing part from one position to the destination, the rotation angles of the second-to-last connecting axis and the next-to-last connecting axis can be changed, so that the rotation angles of the second-to-last connecting axis and the next-to-last connecting axis can always be greater than 0°, thereby allowing the robot to avoid singularities. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be described below.

[0031] Figure 1 A schematic diagram of the three-dimensional structure of the robot provided in an embodiment of the present application;

[0032] Figure 2 A plan view of a robot provided in an embodiment of the present application;

[0033] Figure 3 A schematic diagram of the structure of a flange provided in an embodiment of the present application;

[0034] Figure 4 A schematic diagram of the three-dimensional structure of the support bracket provided in an embodiment of the present application;

[0035] Figure 5 A flowchart of a method for avoiding singularities for a robot provided in an embodiment of the present application.

[0036] Description of reference numerals:

[0037] 100. Robotic arm; 110. Last connecting shaft; 120. Next-to-last connecting shaft; 130. Next-to-last connecting shaft; 140. Flange; 141. First end face; 142. Second end face; 150. Grabbing member; 200. Support bracket; 300. Photovoltaic panel. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described in detail below with reference to the accompanying drawings.

[0039] See Figure 1-Figure 4 The present application discloses a robot for paving a photovoltaic panel 300 to a set position at a preset tilt angle. The robot includes a robotic arm 100, a flange 140, a gripping member 150 and a controller.

[0040] The flange 140 is connected between the robotic arm 100 and the gripper 150. The gripper 150 is used to grasp and release the photovoltaic panel 300. The controller is electrically connected to the robotic arm 100 and can control the movement of the robotic arm 100, causing the gripper 150 to move the photovoltaic panel 300 from one position to another. Specifically, the controller controls the robotic arm 100 to grasp the photovoltaic panel 300 at position A, and then controls the movement of the robotic arm 100 to cause the gripper 150 to lay the grasped photovoltaic panel 300 at position B.

[0041] In the embodiment provided in the present application, the robotic arm 100 includes multiple connecting shafts connected in sequence, and two adjacent connecting shafts are rotationally connected; when the controller controls the movement of the robotic arm 100, two adjacent connecting shafts among the multiple connecting shafts can rotate relative to each other.

[0042] In the embodiment provided in this application, the connection angle between the grabbing member 150 and the flange 140 can be adjusted. It should be noted that the connection angle between the grabbing member 150 and the flange 140 is the angle between the axis of the flange 140 and the grabbing member 150 in the grabbing direction of grabbing photovoltaics.

[0043] In the embodiment provided herein, a robot installs a photovoltaic panel 300 on a support bracket 200. The support bracket 200 has a supporting inclined surface, which is inclined at an angle to the horizontal plane, with the angle being greater than 0° and less than 90°. When the robot installs the photovoltaic panel 300 on the supporting inclined surface, the angle between the photovoltaic panel 300 and the horizontal plane is the inclined angle.

[0044] In the embodiment provided in the present application, the controller is used to obtain the transfer matrix MP of the center point of the photovoltaic panel 300 set at the set position based on the inclination angle of the photovoltaic panel 300 when it is paved at the set position and the height of the photovoltaic panel 300 from the ground when it is paved at the set position; the controller is also used to determine the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis 130 based on the transfer matrix MP, the shape and size parameters of the flange 140, the connection angle between the flange 140 and the grabbing member 150, and the shape and size parameters of the grabbing member 150. The controller is used to control the connection angle between the flange 140 and the grabbing member 150 to control the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis 130, so that the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis 130 is always greater than 0°.

[0045] It should be noted that the photovoltaic panel 300 is set at the set position, which can be understood as setting the photovoltaic panel 300 in the set area of ​​the load-bearing inclined surface of the support bracket 200. For example, the load-bearing inclined surface of the support bracket 200 includes a set position P1, a set position P2, a set position P3 and a set position P4. The controller can control the movement of the robotic arm 100 to drive the movement of the grabbing member 150, thereby placing the photovoltaic panel on the set position P1. The controller can control the movement of the robotic arm 100 to drive the movement of the grabbing member 150, thereby placing the photovoltaic panel on the set position P2. The controller can control the movement of the robotic arm 100 to drive the movement of the grabbing member 150, thereby placing the photovoltaic panel on the set position P3. The controller can also control the movement of the robotic arm 100 to drive the movement of the grabbing member 150, thereby placing the photovoltaic panel on the set position P4.

[0046] The flange 140 includes a first end face 141 and a second end face 142 arranged opposite to each other. The first end face 141 is connected to the last connecting shaft 110 among the multiple connecting shafts, and the second end face 142 is connected to the grabbing member 150. The first end face 141 and the second end face 142 form an angle greater than 0° and less than 90°.

[0047] The shape and size parameters of the flange 140 include the effective size of the flange 140 along the axial direction and the angle formed by the first end face 141 and the second end face 142. The effective length of the flange 140 along the axial direction is the size from the center point of the second end face 142 to the first end face 141 along the axial direction of the flange 140. The center point of the second end face 142 is the geometric center of the second end face 142. If the second end face 142 is circular, the center point of the second end face 142 is the center of the circle. If the second end face 142 is rectangular, the center point of the second end face 142 is the intersection of the diagonals of the rectangle. The shape and size parameters of the gripping member 150 include the size of the gripping member 150 along the gripping direction. When determining the transfer matrix MP of the center point of the photovoltaic panel 300 set at the set position, the transfer matrix MF of the end of the last connecting shaft 110 close to the flange 140 can be determined based on the shape and size parameters of the flange 140 and the size of the gripping member 150 along the gripping direction. The shape and size parameters of the flange 140 include the effective size of the flange 140 along the axial direction and the angle formed by the first end surface 141 and the second end surface 142 .

[0048] The controller can perform a transformation matrix according to the transfer matrix MF to obtain the rotation angle of the next-to-last connecting axis 130 of the robot arm 100 relative to the next-to-last connecting axis 120. It should be noted that the rotation angle of the next-to-last connecting axis 120 of the robot arm 100 obtained by the controller according to the transfer matrix MF and the concept of inverse kinematics is a temporary rotation angle. The controller determines whether the temporary rotation angle is greater than 0. When the temporary rotation angle is greater than 0, the temporary rotation angle is determined to be the final rotation angle. When the temporary rotation angle is less than or equal to 0, the rotation angle of the gripping member 150 and the flange 140 is adjusted until the controller obtains that the temporary rotation angles of the next-to-last connecting axis 120 and the next-to-last connecting axis 130 are greater than 0 according to the transfer matrix MF and the concept of inverse kinematics. In this way, when the controller controls the movement of the robot arm 100, since the rotation angle of the next-to-last connecting axis 130 relative to the next-to-last connecting axis 120 is always greater than 0, the axes of the last connecting axis 110, the next-to-last connecting axis 120, and the next-to-last connecting axis 130 will not be collinear at the same time, and the controller can control the robot arm 100 to avoid singularities.

[0049] In the embodiment provided herein, the robotic arm 100 includes a first connecting shaft, a second connecting shaft, a third connecting shaft, a fourth connecting shaft, a fifth connecting shaft, and a sixth connecting shaft connected in sequence. A flange 140 is connected between the sixth connecting shaft and the gripper 150 .

[0050] The fourth connecting shaft is the next-to-last connecting shaft 130 , the fifth connecting shaft is the next-to-last connecting shaft 120 , and the sixth connecting shaft is the last connecting shaft 110 .

[0051] In the embodiment provided in the present application, the rotation angle between the second-to-last connecting shaft 120 and the second-to-last connecting shaft 130 is always greater than a set threshold, and the set threshold is greater than 0° and less than or equal to 5°.

[0052] In the embodiment provided in the present application, the controller controls the rotation angle between adjacent connection axes when the robotic arm 100 moves. In order to avoid the robot arm 100 reaching a singularity point during movement, the controller will determine in advance whether the rotation angles of the next-to-last connecting axis 120 (fifth connecting axis) and the next-to-last connecting axis 130 (fourth connecting axis) are always greater than the set threshold value in the process of the robot arm 100 driving the grabbing part 150 to move from a position to a destination. If the relative rotation angle of the next-to-last connecting axis 120 (fifth connecting axis) and the next-to-last connecting axis 130 (fourth connecting axis) is less than the set threshold value in the process of the robot arm 100 driving the grabbing part 150 to move from a position to a destination, the motion trajectory of the robot arm 100 driving the grabbing part 150 from a position to a destination can be changed by adjusting the connection angle of the flange 140 and the grabbing part 150, so that the relative rotation angle of the next-to-last connecting axis 120 (fifth connecting axis) and the next-to-last connecting axis 130 (fourth connecting axis) is greater than the set threshold value in the process of the robot arm 100 moving. This avoids the robot arm 100 from moving to a singularity point.

[0053] In the embodiment provided in the present application, the connection angle between the flange 140 and the gripping member 150 is 10° to 45°. During the process of paving the photovoltaic panel 300, the photovoltaic panel 300 located at position A is generally moved to position B for paving. During this movement of the robotic arm 100, the next-to-last rotation axis, the next-to-last rotation axis, and the last rotation axis may all be collinear, thereby reaching a singularity point. In the present application, the connection angle between the flange 140 and the gripping member 150 is set to 10° to 45°. The connection angle between the flange 140 and the gripping member 150 can be used to change the relative rotation angle between the next-to-last rotation axis and the next-to-last rotation axis during the process of the robotic arm 100 moving from one position to a destination, further avoiding the situation where the next-to-last rotation axis, the next-to-last rotation axis, and the last rotation axis are all collinear, thereby preventing the robotic arm 100 from moving to a singularity point.

[0054] The flange 140 includes a first end face 141 and a second end face 142 disposed opposite each other. The first end face 141 is connected to the last connecting shaft 110, and the second end face 142 is connected to the grabbing member 150. The first end face 141 and the second end face 142 form an angle greater than 0° and less than 45°. In the embodiment provided in this application, the first end face 141 and the second end face 142 are arranged at an angle. The first end face 141 is connected to the sixth connecting shaft along the axial direction of the flange 140, and the second end face 142 is connected to the grabbing member 150 along a normal direction perpendicular to the second end face 142, so that the flange 140 and the grabbing member 150 form a connection angle greater than 0° and less than 45°.

[0055] In the embodiment provided herein, the robot further includes a driving member configured to drive the gripping member 150 to control the pitch angle of the gripping member 150 relative to the flange 140, thereby controlling the connection angle between the gripping member 150 and the flange 140. The driving member is controlled by a controller, which can control the driving member to rotate the gripping member 150 relative to the flange 140, thereby controlling the connection angle between the flange 140 and the control member.

[0056] In the embodiment provided in the present application, the connection angle between the flange 140 and the control member can be set before the robot moves from one position to a destination, and during the process of the robot moving from one position to a destination, the controller does not adjust the connection angle between the flange 140 and the control member.

[0057] See Figure 5 The present application also provides a method for a robot to avoid singularity points, which is applied to the robot as described above and includes:

[0058] S101, determining a transfer matrix MP of a center point of a photovoltaic panel at a set position according to an inclination angle of the photovoltaic panel at the set position, a height of the photovoltaic panel from the ground when the photovoltaic panel is at the set position, and the set position;

[0059] S102, determining the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis based on the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member;

[0060] The shape and size parameters of the flange 140 include the effective size of the flange 140 along the axial direction, and the angle formed by the first end face 141 and the second end face 142. The effective length of the flange 140 along the axial direction is the size from the center point of the second end face 142 to the first end face 141 along the axial direction of the flange 140. The center point of the second end face 142 is the geometric center of the second end face 142. If the second end face 142 is circular, the center point of the second end face 142 is the center of the circle. If the second end face 142 is rectangular, the center point of the second end face 142 is the intersection of the diagonals of the rectangle. The shape and size parameters of the gripping member 150 include the size of the gripping member 150 along the gripping direction. When determining the transfer matrix MP of the center point of the photovoltaic panel 300 set at the set position, the transfer matrix MF of the last connecting axis 110 among the multiple connecting axes close to the flange 140 can be obtained based on the shape and size parameters of the flange 140 and the size of the gripping member 150 along the gripping direction. The shape and size parameters of the flange 140 include the effective size of the flange 140 along the axial direction and the angle formed by the first end surface 141 and the second end surface 142 .

[0061] S103, adjusting the connection angle between the flange and the grabbing member to adjust the relative rotation angle between the second-last connecting shaft and the second-last connecting shaft, so that the relative rotation angle between the second-last connecting shaft and the second-last connecting shaft is always greater than 0°.

[0062] The controller can perform a transformation matrix according to the transfer matrix MF to obtain the rotation angle of the next-to-last connecting axis 130 of the robot arm 100 relative to the next-to-last connecting axis 120. It should be noted that the relative rotation angle of the next-to-last connecting axis 120 of the robot arm 100 obtained by the controller according to the transfer matrix MF and the concept of inverse kinematics is a temporary rotation angle. The controller determines whether the temporary rotation angle is greater than 0. When the temporary rotation angle is greater than 0, the temporary rotation angle is determined to be the final rotation angle. When the temporary rotation angle is less than or equal to 0, the rotation angle of the gripping member 150 and the flange 140 is adjusted until the relative rotation angle of the next-to-last connecting axis 130 and the next-to-last connecting axis 120 obtained by the controller according to the transfer matrix MF and the concept of inverse kinematics is greater than 0. In this way, when the controller controls the movement of the robot arm 100, since the relative rotation angle of the next-to-last connecting axis 130 relative to the next-to-last connecting axis 120 is always greater than 0, the axes of the last connecting axis 110, the next-to-last connecting axis 120, and the next-to-last connecting axis 130 will not be collinear at the same time, and the controller can control the robot arm 100 to avoid singularities.

[0063] In the embodiment provided in the present application, the relative rotation angle between the next-to-last connecting shaft 120 and the next-to-last connecting shaft 130 is determined based on the transfer matrix MP, the shape and size parameters of the flange 140, the connection angle between the flange 140 and the grabbing member 150, and the shape and size parameters of the grabbing member 150, including:

[0064] The transfer matrix ME of the end of the flange 140 connected to the grabbing member 150 is obtained according to the transfer matrix MP, the shape and size parameters of the grabbing member 150, and the connection angle between the flange 140 and the grabbing member 150;

[0065] The transfer matrix MF of the end of the last connecting shaft 110 connected to the flange 140 among the multiple connecting shafts is obtained according to the transfer matrix ME, the shape and size parameters of the flange 140, and the connection angle between the flange 140 and the grabbing member 150;

[0066] The relative rotation angle between the second-to-last connecting shaft and the second-to-last connecting shaft is determined based on the transfer matrix MF.

[0067] In the embodiment provided in the present application, adjusting the connection angle between the flange 140 and the gripping member 150 to adjust the relative rotation angle between the next-to-last connecting shaft 120 and the next-to-last connecting shaft 130 so that the rotation angle of the rotational joint between the next-to-last connecting shaft 120 and the next-to-last connecting shaft 130 is always greater than 0° includes:

[0068] When it is determined based on the transfer matrix MP, the shape and size parameters of the flange 140, the connection angle between the flange 140 and the grabbing member 150, and the shape and size parameters of the grabbing member 150 that the relative rotation angle between the next-to-last connecting shaft and the next-to-last connecting shaft 120 is less than or equal to 0;

[0069] Adjust the connection angle between the flange 140 and the grabbing member 150;

[0070] Until the relative rotation angle of the rotational joint between the next-to-last connecting shaft 130 and the next-to-last connecting shaft 120 is determined to be greater than 0 based on the transfer matrix MP, the shape and size parameters of the flange 140, the adjusted connection angle between the flange 140 and the grabbing member 150, and the shape and size parameters of the grabbing member 150.

[0071] It should be noted that making the rotation angle of the rotation joint between the next-to-last connecting axis 120 and the next-to-last connecting axis 130 always greater than 0° means that, in the process of the robot arm 100 driving the grasping member 150 to move from any position to the destination (for example, moving from position A to the set position P1), during the relative rotation of the next-to-last connecting axis 120 and the next-to-last connecting axis 130, there is always an angle between the axis of the next-to-last connecting axis 120 and the axis of the next-to-last connecting axis 130 that is greater than the set threshold, and the relative positions of the next-to-last connecting axis 120 and the next-to-last connecting axis 130 have not changed. For example, before the movement of the robot arm 100, the grasping member 150 is at position A, at which time the next-to-last connecting axis 120 is located on the lower side of the next-to-last connecting axis 130. After the movement of the robot arm 100, the grasping member 150 is at the set position P1, at which time the next-to-last connecting axis 120 is still located on the lower side of the next-to-last connecting axis 130. If before the robot arm 100 moves, the grabbing member 150 is located at position A, at this time the next-to-last connecting shaft 120 is located on the upper side of the next-to-last connecting shaft 130, after the robot arm 100 moves, the grabbing member 150 is located at the set position P1, at this time the next-to-last connecting shaft 120 is still located on the upper side of the next-to-last connecting shaft 130.

[0072] The present application also provides a storage medium storing execution instructions, which are executed by a controller to implement a method for a robot to avoid singularities.

[0073] The present application also discloses a vehicle, which includes the above-mentioned robot.

[0074] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0075] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly specifying the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0076] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0077] In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0078] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A robot, characterized in that: The robot is used to pave the photovoltaic panels to a set position at a preset inclination angle, and the robot includes: The robotic arm has a plurality of connecting shafts connected in sequence, wherein two adjacent connecting shafts are rotationally connected; a flange connected to the last connecting shaft among the plurality of connecting shafts; a gripping member connected to the flange, wherein the connection angle between the gripping member and the flange is adjustable, and the gripping member is used to grip and release the photovoltaic panel; a controller, electrically connected to the robotic arm; Wherein, the controller is used to determine the transfer matrix MP of the photovoltaic panel set at the center point of the set position according to the inclination angle when the photovoltaic panel is paved at the set position and the height of the photovoltaic panel from the ground when the photovoltaic panel is paved at the set position; the controller is also used to determine the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis according to the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member; the controller is also used to control the connection angle between the flange and the grabbing member to control the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis, so that the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis is always greater than 0°; The flange includes a first end face and a second end face disposed opposite to each other, the first end face being connected to the last connecting shaft of the plurality of connecting shafts along the axial direction of the flange, the second end face being connected to the grabbing member along a normal direction perpendicular to the second end face, and the first end face and the second end face forming an angle greater than 0° and less than 45°; The shape and size parameters of the flange include the effective size of the flange along the axial direction and the angle formed by the first end face and the second end face; the effective length of the flange along the axial direction is the dimension from the center point of the second end face to the first end face along the axial direction of the flange; the shape and size parameters of the grabbing member include the dimension of the grabbing member along the grabbing direction; When the transfer matrix MP of the photovoltaic panel set at the center point of the set position is determined, the transfer matrix ME of the end of the flange connected to the grabbing member is obtained according to the transfer matrix MP, the shape and size parameters of the grabbing member, and the connection angle between the flange and the grabbing member; the transfer matrix MF of the end of the last connecting axis among the multiple connecting axes connected to the flange is determined according to the transfer matrix ME, the shape and size parameters of the flange, and the connection angle between the flange and the grabbing member; the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis is determined according to the transfer matrix MF.

2. The robot according to claim 1, wherein: The relative rotation angle between the second-to-last connecting shaft and the second-to-last connecting shaft is always greater than a set threshold, and the set threshold is greater than or equal to 0° and less than or equal to 5°.

3. The robot according to claim 1 or 2, characterized in that The connection angle between the flange and the grabbing member is 10° to 45°.

4. The robot according to claim 1, wherein: The robot further includes a driving member, which is used to drive the grasping member to control a pitch angle of the grasping member relative to the flange to control a connection angle between the grasping member and the flange.

5. A method for a robot to avoid singularity points, characterized in that: The method is applied to the robot according to any one of claims 1 to 4, and the method comprises: Determine the transfer matrix MP of the center point of the photovoltaic panel at the set position according to the inclination angle of the photovoltaic panel when it is paved at the set position, the height of the photovoltaic panel from the ground when it is paved at the set position, and the set position; Determine the relative rotation angle between the next-to-last connecting axis and the next-to-last connecting axis according to the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member; Adjusting the connection angle between the flange and the grabbing member to adjust the relative rotation angle between the second-last connecting shaft and the second-last connecting shaft, so that the relative rotation angle between the second-last connecting shaft and the second-last connecting shaft is always greater than 0°; The connection angle between the grabbing member and the flange is adjustable, and the flange includes a first end face and a second end face disposed opposite to each other, the first end face being connected to the last of the multiple connecting shafts along the axial direction of the flange, and the second end face being connected to the grabbing member along a normal direction perpendicular to the second end face, and the first end face and the second end face forming an angle greater than 0° and less than 45°; The shape and size parameters of the flange include the effective size of the flange along the axial direction and the angle formed by the first end face and the second end face; the effective length of the flange along the axial direction is the dimension from the center point of the second end face to the first end face along the axial direction of the flange; the shape and size parameters of the grabbing member include the dimension of the grabbing member along the grabbing direction; The determining of the relative rotation angle between the second-last connecting axis and the subsequent-last connecting axis according to the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member includes: Obtaining a transfer matrix ME of the end of the flange connected to the grabbing member according to the transfer matrix MP, the shape and size parameters of the grabbing member, and the connection angle between the flange and the grabbing member; Determine the transfer matrix MF of the end of the last connecting shaft among the multiple connecting shafts connected to the flange according to the transfer matrix ME, the shape and size parameters of the flange, and the connection angle between the flange and the gripping member; The relative rotation angle between the second-to-last connecting shaft and the second-to-last connecting shaft is determined based on the transfer matrix MF.

6. The method according to claim 5, wherein The step of adjusting the connection angle between the flange and the gripping member to adjust the relative rotation angle between the second-last connecting shaft and the second-last connecting shaft so that the relative rotation angle between the second-last connecting shaft and the second-last connecting shaft is always greater than 0° includes: In the case where it is determined based on the transfer matrix MP, the shape and size parameters of the flange, the connection angle between the flange and the gripping member, and the shape and size parameters of the gripping member that the relative rotation angle between the second-last connecting axis and the subsequent-last connecting axis is less than or equal to 0°; Adjusting the connection angle between the flange and the grabbing member; Until the relative rotation angle between the second-to-last connecting axis and the subsequent-to-last connecting axis determined according to the transfer matrix MP, the shape and size parameters of the flange, the adjusted connection angle between the flange and the grabbing member, and the shape and size parameters of the grabbing member is greater than 0°.

7. A storage medium, characterized in that: The storage medium stores execution instructions, and the instructions are executed by the controller to implement the method according to any one of claims 5 to 6.

8. A vehicle, characterized in that: The vehicle comprises the robot according to any one of claims 1-4.

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