A robot operation control method, electronic device and robot

Abstract

This application proposes a robot operation control method, electronic device, and robot. The method includes: acquiring parameter information and operating condition information of the target robot, wherein the parameter information includes: the arm length, reduction ratio, rated torque of the motor corresponding to the target joint, and motor torque limit of the target robot; the operating condition information includes: load mass and load motion trajectory; based on a dynamic model and according to the parameter information and operating condition information, determining the torque information of the target joint during the execution of the target task by the target robot, wherein the torque information includes: maximum torque and / or average torque; and adjusting the operating parameters of the target joint of the target robot according to the torque information, wherein the operating parameters include: operating speed and / or operating acceleration, which can realize the pre-control of the operating speed and / or operating acceleration of the target joint of the target robot to protect the operating safety of the motor corresponding to the target joint and maximize the efficiency of the motor corresponding to the target joint.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a robot operation control method, electronic equipment, and robot. Background Technology

[0002] Currently, robots are widely used in various production and daily life sectors to improve production efficiency, reduce production costs, enhance product quality, and ensure worker safety. Due to the extreme complexity and diversity of robot applications, the demand for precise robot control is also increasing.

[0003] Most related technologies use closed-loop control to regulate the robot's speed. However, the above-mentioned regulation methods have a lag and cannot meet the need for pre-regulation of the robot's running speed. Summary of the Invention

[0004] This application provides a robot operation control method, electronic device, and robot. This application enables the robot to pre-simulate and determine torque information during task execution before performing the task, and then pre-regulate the robot's operating speed based on the torque information to protect the operational safety of the motors corresponding to the target joints and maximize the efficiency of the motors corresponding to the target joints.

[0005] In a first aspect, this application proposes a robot operation control method, comprising: acquiring parameter information and operating condition information of a target robot, wherein the parameter information includes: the arm length, reduction ratio, rated torque of the motor corresponding to the target joint, and motor torque limit of the target robot; and the operating condition information includes: the load mass and the motion trajectory of the load; determining the torque information of the target joint during the execution of the target task by the target robot based on the parameter information and operating condition information according to a dynamic model, wherein the torque information includes: maximum torque and / or average torque; and controlling the operating parameters of the target joint of the target robot according to the torque information, wherein the operating parameters include: operating speed and / or operating acceleration.

[0006] In some feasible implementations, determining the torque information of the target joint during the execution of the target task by the target robot based on the dynamic model and parameter information and working condition information includes: determining the moment of inertia, eccentricity and motion trajectory of the target joint based on parameter information and working condition information; and determining the torque information based on the load mass, moment of inertia, eccentricity and motion trajectory of the target joint based on the dynamic model.

[0007] In some feasible implementations, adjusting the operating parameters of the target robot's target joint based on torque information includes: when the maximum torque is greater than the motor torque limit, reducing the operating speed and / or operating acceleration of the target joint so that the maximum torque is less than or equal to the motor torque limit, based on the maximum torque and the motor torque limit.

[0008] In some feasible implementations, the above method further includes: obtaining a target joint torque limit; determining a speed control proportional parameter and / or an acceleration control proportional parameter based on the maximum torque, the motor torque limit, and the target joint torque limit; reducing the operating speed of the target joint according to the speed control proportional parameter so that the maximum torque is less than or equal to the motor torque limit; and / or, controlling and reducing the operating acceleration of the target joint according to the acceleration control proportional parameter so that the maximum torque is less than or equal to the motor torque limit; wherein the acceleration control proportional parameter is the square of the speed control proportional parameter.

[0009] In some feasible implementations, adjusting the operating parameters of the target robot's target joint based on torque information further includes: when the average torque is greater than the motor torque limit, reducing the operating speed and / or operating acceleration of the target joint so that the average torque is less than or equal to the motor torque limit, based on the average torque and the motor torque limit.

[0010] In some feasible implementations, the above method further includes: determining a speed control proportional parameter and / or an acceleration control proportional parameter based on the motor's rated torque and motor torque limit; reducing the operating speed of the target joint according to the speed control proportional parameter so that the average torque is less than or equal to the motor torque limit; and / or reducing the operating acceleration of the target joint according to the acceleration control proportional parameter so that the average torque is less than or equal to the motor torque limit; wherein the acceleration control proportional parameter is the square of the speed control proportional parameter.

[0011] In some feasible implementations, the above method further includes: when the maximum torque and / or average torque of at least two target joints is greater than the motor torque limit, reducing the operating speed of at least two target joints according to the smaller value of the speed control proportional parameters corresponding to the at least two target joints; and / or reducing the operating acceleration of at least two target joints according to the smaller value of the acceleration control proportional parameters corresponding to the at least two target joints.

[0012] In some feasible implementations, adjusting the operating parameters of the target robot joint based on torque information further includes: when the difference between the motor torque limit and the maximum torque is greater than a first preset threshold, increasing the operating speed and / or operating acceleration of the target joint to make the difference less than or equal to the first preset threshold.

[0013] Secondly, this application proposes an electronic device comprising a processor and a memory, wherein the memory stores computer program instructions, which, when executed by the processor, are used to perform the robot operation control method as described in any of the preceding claims.

[0014] Thirdly, this application proposes a robot that employs the robot operation control method described in any of the preceding claims, or has the electronic equipment described above.

[0015] The robot operation control method, electronic device, and robot proposed in this application acquire parameter information and operating condition information of the target robot. The parameter information includes: the arm length of the target joint, reduction ratio, rated torque of the motor corresponding to the target joint, and motor torque limit. The operating condition information includes: load mass and load motion trajectory. Based on a dynamic model and the parameter and operating condition information, the torque information of the target joint during the execution of the target task by the target robot is determined. The torque information includes: maximum torque and / or average torque. Based on the torque information, the operating parameters of the target joint of the target robot are adjusted. The operating parameters include: running speed and / or running acceleration. This allows for accurate prediction of the average torque and / or maximum torque information of each target joint during the execution of the target task by the target robot, based on the parameter and operating condition information. Then, based on the average torque and / or maximum torque information, the running speed and / or running acceleration of the target joint of the target robot are precisely pre-controlled, maximizing the efficiency of the motor corresponding to the target joint while protecting the operational safety of the motor.

[0016] Other advantages, objectives and features of this application will be apparent in part from the description which follows, and in part from what those skilled in the art will understand through study and practice of this application. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of exemplary embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 A flowchart illustrating a robot operation control method provided in this application embodiment;

[0019] Figure 2 A flowchart illustrating another robot operation control method provided in this application embodiment;

[0020] Figure 3A flowchart illustrating yet another robot operation control method provided in this application embodiment;

[0021] Figure 4 This is a structural schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0022] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0023] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The term "two or more" includes two or more cases.

[0024] Currently, industrial robots are widely used in various production fields, and their importance in high-precision assembly applications is becoming increasingly apparent. However, most related technologies use closed-loop control to regulate the robot's speed, which has a lag effect and cannot meet the need for pre-regulation of the robot's operating speed.

[0025] In view of this, embodiments of this application provide a robot operation control method, electronic device, and robot, which can pre-simulate and determine the torque information during the robot's task execution process before the robot performs the task, and then pre-control the robot's running speed based on the torque information to protect the operating safety of the motor corresponding to the target joint and maximize the efficiency of the motor corresponding to the target joint.

[0026] According to a first aspect of the embodiments of this application, this application proposes a robot operation control method. Figure 1 This is a flowchart illustrating a robot operation control method 100 provided in an embodiment of this application. Figure 1As shown, method 100 may include the following steps:

[0027] Step S110: Obtain the parameter information and working condition information of the target robot. The parameter information includes: the arm length of the target joint of the target robot, the reduction ratio, the rated torque of the motor corresponding to the target joint, and the motor torque limit. The working condition information includes: the load mass and the motion trajectory of the load.

[0028] It should be noted that the above parameter information may also include the target robot's model information, brand information, etc. The above working condition information may also include the target task's task type information, the load's geometry information, and the load's mass distribution information, etc.

[0029] In some feasible implementations, the arm length, reduction ratio, rated torque of the motor corresponding to the target joint, and motor torque limit of the target robot can be determined by cloud query based on the target robot's model information, brand information, etc. For example, the arm length, reduction ratio, and model and brand information of the motor corresponding to the target joint can be determined based on the target robot's model information, brand information, etc., and then the rated torque and motor torque limit of the motor corresponding to the target joint can be determined by cloud query based on the model and brand information of the motor corresponding to the target joint. The load mass and the load's motion trajectory can be determined based on the task type information of the target task.

[0030] In some feasible implementations, the above-mentioned parameter information and operating condition information can also be determined by simulation based on the simulation model.

[0031] Step S120: Based on the dynamic model and the parameter information and working condition information, determine the torque information of the target joint during the target robot's execution of the target task. The torque information includes: maximum torque and / or average torque.

[0032] In some feasible implementations, the aforementioned dynamic model can be established based on parameter information and operating condition information, according to dynamic equations. The dynamic model can simulate and output the maximum torque and / or average torque required by the target robot's target joint during the execution of the target task, based on the target robot's target joint's arm length, reduction ratio, load mass, and load motion trajectory. For example, the dynamic model can simulate and output the torque curve required by the target robot's target joint during the execution of the target task, and then determine the maximum torque and / or average torque based on the torque curve.

[0033] The aforementioned dynamic model can be stored in the interpolation module of the target robot's operating program for automatic control of the target robot. The dynamic model can also be stored in the target robot's background control system, so that technicians can view and correct the target robot's operation in real time.

[0034] Step S130: Based on the torque information, adjust the operating parameters of the target robot's target joint, wherein the operating parameters include: operating speed and / or operating acceleration.

[0035] In some feasible implementations, the aforementioned operating speed may include operating linear velocity and operating angular velocity, and the aforementioned operating acceleration may include operating linear acceleration and operating angular acceleration. For example, the maximum torque and / or average torque may be compared with a motor torque limit or with a motor rated torque, and the operating speed and / or operating acceleration of the target robot's target joint may be adjusted to increase or decrease accordingly based on the comparison result.

[0036] Based on this, the robot operation control method proposed in this application acquires parameter information and operating condition information of the target robot. The parameter information includes: the arm length of the target joint of the target robot, the reduction ratio, the rated torque of the motor corresponding to the target joint, and the motor torque limit. The operating condition information includes: the load mass and the motion trajectory of the load. Based on the dynamic model and the parameter information and operating condition information, the torque information of the target joint during the execution of the target task by the target robot can be accurately predicted and determined. The torque information includes: the maximum torque and / or the average torque. Then, based on the torque information, the running speed and / or running acceleration of the target joint of the target robot can be pre-controlled without additional changes to the running trajectory of the target joint, so as to protect the operating safety of the motor corresponding to the target joint and maximize the efficiency of the motor corresponding to the target joint.

[0037] Figure 2 This is a flowchart illustrating another robot operation control method provided in an embodiment of this application. Figure 2 As shown, in some feasible implementations, step S120, determining the torque information of the target joint during the target robot's execution of the target task based on the parameter information and working condition information according to the dynamic model, may include:

[0038] Step S121: Determine the moment of inertia, eccentricity, and motion trajectory of the target joint based on parameter information and working condition information.

[0039] For example, the aforementioned working condition information may also include task type information of the target task, geometric information of the load, and mass distribution information of the load. The aforementioned moment of inertia can be determined based on the aforementioned load mass, load geometry, load mass distribution, and the distance from the load rotation centerline to the target rotation axis of the target robot during the execution of the aforementioned target task by the target robot.

[0040] The aforementioned eccentricity can be determined by establishing a coordinate system. For example, a coordinate system can be established based on the parameter information of the target robot. The origin of the joint with the smaller degree of freedom of the target robot, or the fixed end of the joint of the target robot, can be used as the origin of the coordinate system. The horizontal movement direction of the target robot can be used as the first coordinate axis direction, and the direction perpendicular to the ground can be used as the third coordinate axis direction. Based on the first and third coordinate axis directions, the second coordinate axis direction can be determined using the right-hand rule. Specifically, taking a SCARA robot as an example, when all the target joints of the target robot are in the zero position, that is, when the SCARA robot is in the straight arm state, the origin of the straight arm can be used as the origin of the coordinate axes. The end of the SCARA robot's J4 axis along the straight arm direction can be used as the first coordinate axis direction, and the direction perpendicular to the ground can be used as the third coordinate axis direction. Based on the first and third coordinate axis directions, the second coordinate axis direction can be determined using the right-hand rule. After the robot establishes the coordinate system based on the preset algorithm, the aforementioned eccentricity can be determined based on the eccentricity between the load's rotation center and the first coordinate axis, and the eccentricity between the load's rotation center line and the second coordinate axis. The aforementioned eccentricity is the composite of the eccentricity in the first and second coordinate axis directions. Specifically, the eccentricity in the first coordinate axis direction can be determined based on the first coordinate of the load's rotation center, and the eccentricity in the second coordinate axis direction can be determined based on the second coordinate of the load's rotation center. It should be noted that the above coordinate system establishment method can be determined based on the motion trajectory information of the load or the target joint, and is not specifically limited here.

[0041] The motion trajectory information of the target joint can be determined based on the motion trajectory information of the load, the geometric shape information of the load, and the mass distribution information of the load in the target task.

[0042] Step S122: Based on the dynamic model, determine the torque information according to the load mass, moment of inertia, eccentricity, and motion trajectory of the target joint.

[0043] In some feasible implementations, the maximum torque and / or average torque of the target joint during the execution of the target task can be predicted based on the dynamic model according to the load mass, moment of inertia, eccentricity and motion trajectory of the target joint, and then the running speed and / or running acceleration of the target robot target joint can be adjusted according to the above maximum torque and / or average torque.

[0044] Based on this, the above method can accurately predict the moment of inertia, eccentricity, and motion trajectory of the target joint according to parameter information and working condition information. Then, based on the dynamic model, it can accurately predict the maximum torque and / or average torque of the target joint during the execution of the target task according to the load mass, moment of inertia, eccentricity, and motion trajectory of the target joint. This provides accurate data support for controlling the running speed and / or running acceleration of each target joint of the target robot during the execution of the target task based on the maximum torque and / or average torque. In this way, while protecting the operating safety of the motor corresponding to the target joint and maximizing the efficiency of the motor corresponding to the target joint, the control accuracy of the running speed and / or running acceleration of the target robot's target joint is improved.

[0045] Figure 3 This is a flowchart illustrating yet another robot operation control method provided in an embodiment of this application. Figure 3 As shown, in some feasible implementations, step S130, adjusting the operating parameters of the target robot's target joint based on the torque information, may include:

[0046] Step S131: When the maximum torque is greater than the motor torque limit, reduce the running speed and / or running acceleration of the target joint according to the maximum torque and the motor torque limit so that the maximum torque is less than or equal to the motor torque limit.

[0047] For example, when the maximum torque is greater than the motor torque limit, the operating speed and / or operating acceleration of the target joint can be reduced based on the torque output curve of the motor corresponding to the target joint, according to the maximum torque and the motor torque limit, so that the maximum torque is less than or equal to the motor torque limit.

[0048] Based on this, the above method, by reducing the running speed and / or acceleration of the target joint according to the maximum torque and the motor torque limit when the maximum torque is greater than the motor torque limit, so that the maximum torque is less than or equal to the motor torque limit, can avoid overload of the motor corresponding to the target joint during the execution of the target robot, reduce the failure rate of the motor corresponding to each target joint of the target robot, extend the service life of the motor corresponding to each target joint of the target robot, and improve the safety of the target robot during operation.

[0049] In some feasible implementations, the speed of the target joint can be adjusted even before the maximum torque reaches the motor torque limit, to further protect the motor. Specifically, when the difference between the maximum torque required for the target joint to reach the target position or time and the motor torque limit is less than or equal to a preset motor torque threshold, the running speed and / or acceleration of the target joint at that target position or time is reduced. This ensures that the difference between the maximum torque required for the target joint to reach the target position or time and the motor torque limit exceeds the preset motor torque threshold, further preventing motor overload. The preset motor torque threshold can be determined based on the user's protection requirements for the motor corresponding to the target robot's target joint. Specifically, the preset motor torque threshold is negatively correlated with the user's protection requirements for the target robot's motor; that is, the higher the user's protection requirements for the target robot's motor, the lower the preset motor torque threshold.

[0050] In some feasible implementations, the above method further includes: obtaining a target joint torque limit; determining a speed control proportional parameter and / or an acceleration control proportional parameter based on the maximum torque, the motor torque limit, and the target joint torque limit; reducing the operating speed of the target joint according to the speed control proportional parameter so that the maximum torque is less than or equal to the motor torque limit; and / or, controlling and reducing the operating acceleration of the target joint according to the acceleration control proportional parameter so that the maximum torque is less than or equal to the motor torque limit; wherein the acceleration control proportional parameter is the square of the speed control proportional parameter.

[0051] In some feasible implementations, the target joint torque limit can be determined based on the following formula:

[0052]

[0053] Where C is the target joint torque limit, Q N For the target joint torque, n N For the target joint reduction ratio, J Nm Let the moment of inertia of the target joint motor shaft component be denoted as . The target joint acceleration limit.

[0054] For example, taking a SCARA robot as an example, when the target joint is the first joint, the target joint torque can be determined based on the following formula:

[0055] Where Q1 is the torque of the first joint, I c1 Let I be the moment of inertia at the center of mass of the first joint. c2 Let m1 be the moment of inertia at the center of mass of the second joint, and l be the mass of the first joint. b1Let m1 be the distance between the center of mass of the axis corresponding to the first joint and the center point of the first joint, m2 be the mass of the second joint, and l1 be the arm length of the first joint. b2 θ1 is the distance between the centroid of the axis corresponding to the second joint and the center point of the second target joint, and θ2 is the angle of the second joint. Let be the acceleration of the first joint. The acceleration of the second joint. The velocity of the first joint, The velocity of the second joint.

[0056] When the target joint is the second joint, the target joint torque can be determined based on the following formula:

[0057]

[0058] Where Q2 is the torque of the second joint, I c2 Let m1 be the moment of inertia at the center of mass of the second joint, m2 be the mass of the second joint, and l be the moment of inertia at the center of mass of the second joint. b2 Let θ1 be the distance between the centroid of the axis corresponding to the second joint and the center point of the second joint, l1 be the arm length of the first joint, and θ2 be the angle of the second joint. Let be the acceleration of the first joint. The acceleration of the second joint. The velocity of the first joint.

[0059] In some feasible implementations, the aforementioned speed control ratio parameter can be determined based on the following formula:

[0060] K = sqrt(1 - (Tmax - Tlim) / C) (4)

[0061] Where K is the speed control proportional parameter, Tmax is the maximum torque, Tlim is the motor torque limit, and C is the target joint torque limit.

[0062] In some feasible implementations, the above-mentioned acceleration control proportional parameters can be determined based on the following formula:

[0063] K a =1-(Tmax-Tlim) / C (5)

[0064] Among them, K a For acceleration control proportional parameters, Tmax is the maximum torque, Tlim is the motor torque limit, and C is the target joint torque limit.

[0065] In some feasible implementations, when the maximum torque is greater than the motor torque limit, the operating speed of the target joint can be controlled to decrease to a target speed, wherein the target speed is the product of the current speed and the speed control proportional parameter, and / or, the operating acceleration of the target joint can be controlled to decrease to a target acceleration, wherein the target acceleration is the product of the current acceleration and the acceleration control proportional parameter.

[0066] Based on this, this application precisely determines the speed control ratio parameter and / or acceleration control ratio parameter of the target joint according to the maximum torque, the motor torque limit, and the target joint torque limit. When the maximum torque is greater than the motor torque limit, the speed of the target joint is precisely reduced to the target speed according to the aforementioned speed control ratio parameter, and / or the acceleration of the target speed is precisely reduced to the target acceleration according to the aforementioned acceleration control ratio parameter, so that the maximum torque is less than or equal to the motor torque limit. This allows for pre-targeted control of the speed and / or acceleration of the target position or target time during the execution of the target task by the target robot, ensuring that the operating torque of the motor corresponding to the target joint of the target robot is less than or equal to the motor limit during the execution of the target task, thereby improving the operating safety of the motor corresponding to the target joint.

[0067] In some feasible implementations, step S130, adjusting the operating parameters of the target robot's target joint based on the torque information, may further include:

[0068] Step S132: If the average torque is greater than the motor torque limit, reduce the running speed and / or running acceleration of the target joint according to the average torque and the motor torque limit so that the average torque is less than or equal to the motor torque limit.

[0069] For example, if the average torque is greater than the motor torque limit, the operating speed and / or operating acceleration of the target joint can be reduced based on the torque output curve of the motor corresponding to the target joint, according to the average torque and the motor torque limit, so that the average torque is less than or equal to the motor torque limit.

[0070] Based on this, when the average torque is greater than the motor torque limit, the above method reduces the running speed and / or acceleration of the target joint according to the average torque and the motor torque limit so that the average torque is less than or equal to the motor torque limit. This can ensure the safe operation of the motor corresponding to the target joint, and avoid load damage, bumps, etc. caused by motor instability at the target position or target time, thereby improving the stability of the target joint in the process of performing the target task, ensuring the stable operation of the target robot, and improving the safety of the load during movement.

[0071] In some feasible implementations, to ensure the stable operation of the target robot, the running speed of the target joint can be adjusted based on the torque output curve of the motor corresponding to the target joint, according to the average torque, the rated torque of the motor, and the motor torque limit, even when the average torque has not yet reached the motor torque limit. Specifically, when the average torque is greater than the rated torque of the motor but less than or equal to the motor torque limit, the running speed and / or acceleration of the target joint at the target position or target time is reduced so that the average torque is less than or equal to the rated torque of the motor, thereby improving the stable operation capability of the target robot's target joint and extending its service life.

[0072] In some feasible implementations, the above method further includes: determining a speed control proportional parameter and / or an acceleration control proportional parameter based on the motor's rated torque and motor torque limit; reducing the operating speed of the target joint according to the speed control proportional parameter so that the average torque is less than or equal to the motor torque limit; and / or reducing the operating acceleration of the target joint according to the acceleration control proportional parameter so that the average torque is less than or equal to the motor torque limit; wherein the acceleration control proportional parameter is the square of the speed control proportional parameter.

[0073] For example, the rated torque of the motor and the torque limit of the motor can be determined by cloud query based on parameter information, such as the model information of the target robot and the brand information of the motor.

[0074] In some feasible implementations, the aforementioned speed control ratio parameter can be determined based on the following formula:

[0075]

[0076] Where K is the speed control proportional parameter, K o T is the first parameter. mean T is the motor's rated torque, which is a preset multiple. r A represents the motor torque limit, and A is the second parameter.

[0077] It should be noted that the above-mentioned motor torque limit is equal to the above-mentioned motor torque limit. The above-mentioned preset multiple can be customized by the user according to actual needs; specifically, it can be set to 1.15.

[0078] Among them, the first parameter K mentioned above o It can be determined according to the following formula:

[0079]

[0080] Among them, K o T is the first parameter. mean T is a preset multiple of the motor's rated torque. rHere, A represents the motor torque limit, and A is the second parameter. It should be noted that the above motor torque limit is equal to the above motor torque limit. The preset multiple can be customized by the user according to actual needs; specifically, it can be set to 1.15.

[0081] The second parameter can be determined according to the following formula:

[0082]

[0083] Where A is the second parameter, T(t) is the torque value at each instant, N is the discrete interpolation time, and i is the time node from 0 to the completion of interpolation.

[0084] In some feasible implementations, a target operating speed can be determined based on the aforementioned speed control proportional parameter, wherein the target operating speed is the product of the operating speed at the target position or target time and the aforementioned speed control proportional parameter. The operating speed of the target joint at the target position or target time is reduced to the aforementioned target speed so that the average torque is less than or equal to the motor torque limit. And / or, a target operating acceleration can be determined based on the aforementioned acceleration control proportional parameter, wherein the target operating acceleration is the product of the operating acceleration at the target position or target time and the aforementioned acceleration control proportional parameter. The operating acceleration at the target position or target time is reduced to the aforementioned target acceleration so that the average torque is less than or equal to the motor torque limit.

[0085] Based on this, the above method can accurately determine the speed control proportional parameter and / or acceleration control proportional parameter according to the rated torque and torque limit of the motor when the average torque is greater than the motor torque limit; accurately reduce the running speed of the target joint to the target running speed according to the speed control proportional parameter so that the average torque is less than or equal to the motor torque limit; and / or reduce the running acceleration of the target joint to the target acceleration according to the acceleration control proportional parameter so that the average torque is less than or equal to the motor torque limit. This allows for pre-targeted control of the speed and / or acceleration corresponding to the target time or target position during the target robot's execution of the target task, improving the design accuracy of the running speed and / or running acceleration of the target joint during the target robot's execution of the above-mentioned target task, avoiding motor overload during the target robot's task execution, reducing the probability of hardware damage to the target robot, extending the service life of the target robot, and ensuring the stable execution of subsequent target tasks.

[0086] In some feasible implementations, the above method further includes: when the maximum torque and / or average torque of at least two target joints is greater than the motor torque limit, reducing the operating speed of at least two target joints according to the smaller value of the speed control proportional parameters corresponding to the at least two target joints; and / or reducing the operating acceleration of at least two target joints according to the smaller value of the acceleration control proportional parameters corresponding to the at least two target joints.

[0087] For example, when there is a physical or kinematic connection between target joints during the execution of the target task by the target robot, in order to improve the continuity of the mutual motion between the target joints and the smoothness of the target robot during the execution of the target task, if the maximum torque of at least two target joints is greater than the motor torque limit and / or the average torque is greater than the rated torque of the motor, the running speed of the at least two target joints is reduced according to the smaller value of the speed control proportional parameters corresponding to the at least two target joints, and / or the running acceleration of the at least two target joints is reduced according to the smaller value of the acceleration control proportional parameters corresponding to the at least two target joints, so that the maximum torque of the at least two target joints is less than or equal to the motor torque limit, and the average torque is less than or equal to the motor torque limit.

[0088] Based on this, the above method, when the maximum torque and / or average torque of at least two target joints are greater than the motor torque limit, reduces the running speed of at least two target joints according to the smaller value of the speed control proportional parameters corresponding to the at least two target joints; and / or reduces the running acceleration of at least two target joints according to the smaller value of the acceleration control proportional parameters corresponding to the at least two target joints. This helps to maintain the consistency of the deceleration gradient of the at least two target joints, reduces the probability of large relative friction occurring between the at least two target joints due to large speed control differences, and improves the stability of the target robot in performing the target task.

[0089] In some feasible implementations, step S130, adjusting the operating parameters of the target robot's target joint based on the torque information, may further include:

[0090] Step S133: If the difference between the motor torque limit and the maximum torque is greater than the first preset threshold, increase the running speed and running acceleration of the target joint according to the difference so that the difference is less than or equal to the first preset threshold.

[0091] For example, the aforementioned first preset threshold can be determined based on the user's protection requirements for the motors corresponding to the target joints of the target robot. Specifically, the aforementioned first preset threshold is positively correlated with the user's protection requirements for the target robot motors; that is, the higher the user's protection requirements for the target robot motors, the larger the aforementioned first preset threshold. It is understood that the first preset threshold corresponding to different target joint motors can be set according to the user's protection requirements for different target joints or the probability of overload of different joint motors.

[0092] In some feasible implementations, during the operation of the target joint of the target robot, if the simulated maximum torque is less than the motor torque limit and the difference between the motor torque limit and the maximum torque is large, that is, if the difference between the motor torque limit and the maximum torque is greater than a first preset threshold, the running speed and running acceleration of the target joint can be increased according to the above difference so that the above difference is less than or equal to the first preset threshold, so as to give full play to the performance of the motor corresponding to the target joint and improve the completion efficiency of the target task.

[0093] Based on this, the above method, when the difference between the motor torque limit and the maximum torque is greater than a first preset threshold, targets and increases the running speed and acceleration of the target joint so that the difference is less than or equal to the first preset threshold. This can fully utilize the performance of the motor corresponding to the target joint and improve the efficiency of completing the target task.

[0094] According to a second aspect of the embodiments of this application, this application proposes an electronic device. Figure 4 This is a structural schematic diagram of an electronic device 300 provided in an embodiment of this application. For example... Figure 4 As shown, the electronic device 300 includes a processor 310 and a memory 320, wherein the memory 320 stores computer program instructions, which are executed by the processor 310 to perform the robot operation control method described in any of the first aspects.

[0095] According to a third aspect of the embodiments of this application, this application proposes a robot that employs the robot operation control method as described in any of the preceding claims, or has electronic equipment as described above.

[0096] Those skilled in the art can understand the specific details and beneficial effects of the electronic equipment and robot by reading the above description of the robot operation control method, which will not be repeated here for the sake of brevity.

[0097] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0098] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0099] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0100] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A method for controlling the operation of a robot, characterized in that, include: Obtain parameter information and operating condition information of the target robot. The parameter information includes: the arm length of the target joint of the target robot, the reduction ratio, the rated torque of the motor corresponding to the target joint, and the motor torque limit. The operating condition information includes: the load mass and the motion trajectory of the load. Based on the dynamic model, the torque information of the target joint during the execution of the target task by the target robot is determined according to the parameter information and the working condition information. The torque information includes: maximum torque and / or average torque. Based on the torque information, the operating parameters of the target joint of the target robot are adjusted, wherein the operating parameters include: operating speed and / or operating acceleration.

2. The robot operation control method according to claim 1, characterized in that, The determination of the torque information of the target joint during the execution of the target task by the target robot based on the dynamic model, according to the parameter information and the working condition information, includes: Based on the parameter information and the working condition information, determine the moment of inertia, eccentricity, and motion trajectory of the target joint; Based on the dynamic model, the torque information is determined according to the load mass, the moment of inertia, the eccentricity, and the motion trajectory of the target joint.

3. The robot operation control method according to claim 2, characterized in that, The step of adjusting the operating parameters of the target robot joint based on the torque information includes: If the maximum torque is greater than the motor torque limit, the operating speed and / or operating acceleration of the target joint are reduced according to the maximum torque and the motor torque limit so that the maximum torque is less than or equal to the motor torque limit.

4. The robot operation control method according to claim 3, characterized in that, Also includes: Obtain the target joint torque limit; Based on the maximum torque, the motor torque limit, and the target joint torque limit, determine the speed control proportional parameter and / or the acceleration control proportional parameter; The operating speed of the target joint is reduced according to the speed control ratio parameter so that the maximum torque is less than or equal to the motor torque limit. And / or, adjust and reduce the running acceleration of the target joint according to the acceleration control ratio parameter so that the maximum torque is less than or equal to the motor torque limit; Wherein, the acceleration control ratio parameter is the square of the speed control ratio parameter.

5. The robot operation control method according to claim 2, characterized in that, The step of adjusting the operating parameters of the target robot joint based on the torque information further includes: If the average torque is greater than the motor torque limit, the operating speed and / or operating acceleration of the target joint are reduced according to the average torque and the motor torque limit so that the average torque is less than or equal to the motor torque limit.

6. The robot operation control method according to claim 5, characterized in that, Also includes: Based on the rated torque of the motor and the motor torque limit, determine the speed control proportional parameter and / or acceleration control proportional parameter; The operating speed of the target joint is reduced according to the speed control ratio parameter so that the average torque is less than or equal to the motor torque limit. And / or, reduce the running acceleration of the target joint according to the acceleration control proportional parameter so that the average torque is less than or equal to the motor torque limit; Wherein, the acceleration control ratio parameter is the square of the speed control ratio parameter.

7. The robot operation control method according to claim 6, characterized in that, Also includes: If the maximum torque and / or average torque of at least two target joints are greater than the motor torque limit, the operating speed of the at least two target joints shall be reduced according to the smaller value of the speed control ratio parameter corresponding to the at least two target joints. And / or, reduce the running acceleration of the at least two target joints according to the smaller value of the acceleration control ratio parameter corresponding to the at least two target joints.

8. The robot operation control method according to any one of claims 3 to 7, characterized in that, The step of adjusting the operating parameters of the target robot joint based on the torque information further includes: If the difference between the motor torque limit and the maximum torque is greater than a first preset threshold, the operating speed and / or operating acceleration of the target joint are increased according to the difference so that the difference is less than or equal to the first preset threshold.

9. An electronic device, characterized in that, The electronic device includes a processor and a memory, wherein the memory stores computer program instructions, which, when executed by the processor, are used to perform the robot operation control method as described in any one of claims 1 to 8.

10. A robot, characterized in that, The robot employs the robot operation control method as described in any one of claims 1-8, or has the electronic equipment as described in claim 9.

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