Mechanical arm control method, electronic equipment and mechanical arm

Abstract

The embodiment of the invention discloses a mechanical arm control method, electronic equipment and a mechanical arm. The method comprises the steps that in the process that the mechanical arm executes an operation process, the distance between a dynamic object and the space movement range of the mechanical arm is obtained; the motion state of the mechanical arm is controlled according to the distance; wherein the dynamic object is an object except for the mechanical arm and a workpiece operated by the mechanical arm, and the space movement range is a space range occupied by the mechanical arm for completing a complete unit process. By adopting the embodiment of the invention, the technical problem that the safety of spatial motion of a mechanical arm in the prior art is relatively poor is solved.

Description

Technical Field

[0001] The present application relates to the field of robotic arms, and more specifically, to a robotic arm control method, electronic equipment, and a robotic arm. Background Art

[0002] With the development of science and technology, robotic arms, as the earliest industrial robots, have been widely used, especially in the field of intelligent manufacturing industry. In order to avoid safety situations such as collisions with the moving robotic arms and injuries to personnel due to irregular operations of on-site personnel, vehicles, etc. during the operation of the robotic arms, especially during large-load and high-speed operations, it is of great practical engineering significance to study the safety protection methods of robotic arms. Most existing scenarios use physical area isolation methods such as isolation belts and fences, and directly use emergency stop to force the robotic arms to stop in case of emergencies.

[0003] The traditional method requires external personnel to intervene in the operation, which easily leads to the situation that the personnel cannot react in time, and there is uncertainty in dealing with sudden situations, and the safety of the robot arm's spatial movement is poor. Summary of the invention

[0004] The embodiments of the present application provide a robot arm control method, an electronic device and a robot arm to solve the technical problem of poor safety of the robot arm spatial motion in the prior art.

[0005] According to a first aspect of an embodiment of the present application, a robot arm control method is provided, comprising:

[0006] During the process of the robot arm executing the operation process, obtaining the distance between the dynamic object and the spatial activity range of the robot arm;

[0007] controlling the motion state of the robotic arm according to the distance;

[0008] The dynamic object is an object other than the robot arm and the workpiece operated by the robot arm, and the spatial activity range is the spatial range occupied by the robot arm to complete a complete unit process.

[0009] In an implementation of the first aspect, obtaining the distance between the dynamic object and the spatial activity range of the robotic arm includes:

[0010] Determine the position of the dynamic object in the same coordinate system as the spatial activity range;

[0011] According to the position of the dynamic object and the spatial activity range, the distance between the dynamic object and the spatial activity range is determined.

[0012] In an implementation of the first aspect, determining the position of the dynamic object in the same coordinate system as the spatial activity range includes:

[0013] Acquire a first position relationship of the dynamic object relative to the position sensor through a position sensor;

[0014] determining a relative position relationship between the dynamic object and the robotic arm according to the first position relationship and a second position relationship between the position sensor and the robotic arm;

[0015] The position of the dynamic object is determined according to the relative position relationship between the dynamic object and the robotic arm and the coordinate system of the spatial activity range.

[0016] In an implementation of the first aspect, determining the distance between the dynamic object and the spatial activity range according to the position of the dynamic object and the spatial activity range includes:

[0017] Determine a first distance between the position of the dynamic object and a reference position of the spatial activity range;

[0018] Calculating a difference between the first distance and the second distance to obtain a distance between the dynamic object and the spatial activity range, wherein the second distance represents a range feature of the spatial activity range;

[0019] Wherein, when the spatial activity range is circular, the reference position is the center of the sphere, and the second distance is the radius of the sphere;

[0020] Wherein, when the spatial activity range is cylindrical, the reference position is the axis of the cylinder, and the second distance is the bottom radius of the cylinder.

[0021] In an implementation of the first aspect, controlling the motion state of the robotic arm according to the distance includes:

[0022] When the distance is within a first distance interval, controlling the motion state of the robotic arm;

[0023] The first distance interval is related to the speed of the dynamic object, the time it takes for the robot arm to stop working from the current working speed, and the duration corresponding to the complete unit process.

[0024] In an implementation manner of the first aspect, the first distance interval includes a first sub-interval and a second sub-interval, and the distance of the second sub-interval is greater than the distance of the first sub-interval;

[0025] When the distance is within the first distance interval, controlling the motion state of the robotic arm includes:

[0026] When the distance is within the first sub-interval, controlling the robot arm to stop working;

[0027] When the distance is within the second sub-interval, the robot arm is controlled to stop the operation after the current process is completed.

[0028] In an implementation of the first aspect, the method further includes:

[0029] After determining that the distance is within the first distance interval, if it is detected that the distance is no longer within the first distance interval, the operation is resumed.

[0030] In an implementation manner of the first aspect, the first distance interval is (-∞, r1+r2];

[0031] The first sub-interval is (-∞, r1], and the second sub-interval is (r1, r1+r2];

[0032] Among them, r1=v·t1, r2=v·t2, v represents the speed of the dynamic object, t1 represents the time from the current working speed of the robot arm to the stop of the operation, and t2 represents the duration corresponding to the complete unit process.

[0033] In an implementation of the first aspect, the method further includes:

[0034] When the distance is within a second distance interval, a spatial warning is performed, and the distance in the second distance interval is greater than the distance in the first distance interval.

[0035] In an implementation manner of the first aspect, the second distance interval is (r1+r2, r1+k·r2];

[0036] Among them, r1=v·t1, r2=v·t2, v represents the speed of the dynamic object, t1 represents the time for the robot arm to stop working from the current working speed, t2 represents the duration corresponding to the complete unit process, and k is a coefficient greater than 1.

[0037] In an implementation of the first aspect, the method further includes:

[0038] The spatial activity range of the robotic arm is determined according to the structural information of the robotic arm and preset motion coordinate information of the robotic arm.

[0039] According to a second aspect of an embodiment of the present application, an electronic device is provided, including:

[0040] a memory for storing one or more computer instructions;

[0041] A processor is used to call and execute the computer instructions to implement the robot arm control method of the first aspect of the embodiment of the present application.

[0042] According to a third aspect of the embodiments of the present application, a robotic arm is provided, which adopts the robotic arm control method according to the first aspect of the embodiments of the present application, or has an electronic device according to the second aspect of the embodiments of the present application.

[0043] The method provided in this embodiment can at least solve or optimize the technical problem of poor safety of the spatial movement of the robot arm in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a flow chart of a method for controlling a robotic arm according to an embodiment of the present application;

[0045] Figure 2 is a flow chart of a method for determining the distance between the dynamic object and the spatial activity range according to an embodiment of the present application;

[0046] Figure 3 is a flow chart of a method for determining the spatial activity range of a robotic arm according to an embodiment of the present application;

[0047] Figure 4 It is a schematic diagram of a process of a robot arm motion control method and safety protection according to an embodiment of the present application;

[0048] Figure 5 is a schematic diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0050] It should be understood that the "multiple" mentioned herein refers to two or more. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first", "second" and the like are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first", "second" and the like do not limit the quantity and execution order, and the words "first", "second" and the like do not limit them to be necessarily different.

[0051] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus.

[0052] First, the terms that may be involved in this application are explained.

[0053] Robotic arm: a complex mechanical system with high precision, multi-input and multi-output, high nonlinearity and strong coupling. It can simulate the movement of human arms, and has the ability to extend, rotate and grasp objects. It is an indispensable and important part of industrial automation and robotics. A robotic arm usually consists of the following parts. Base: The fixed part of the robotic arm, used to support the entire robotic arm. Joint: A rotational or translational mechanism that connects the various parts of the robotic arm, usually driven by an electric motor. Connecting rod: A rigid rod that connects adjacent joints and is used to transmit force and motion. End effector: A tool installed at the end of the robotic arm, such as a robotic gripper, welding gun, nozzle, etc., used to perform specific operating tasks.

[0054] like Figure 1 FIG. 1 is a flow chart of a method for controlling a robot arm according to an embodiment of the present application. Figure 1 , the method comprises the following processing:

[0055] 100: While the robot arm is executing an operation process, obtaining a distance between a dynamic object and a spatial activity range of the robot arm.

[0056] 102: Control the motion state of the robotic arm according to the distance.

[0057] The dynamic object is an object other than the robot arm and the workpiece operated by the robot arm. For example, a human body. The spatial activity range is the spatial range occupied by the robot arm to complete a complete unit process. The robot arm repeatedly completes the same set of actions in the operation process, and the complete unit process corresponds to completing a set of actions.

[0058] The method provided in this embodiment can, on the one hand, solve the unreliability of existing robotic arms that only rely on human reaction to stop the operation by slapping urgently when encountering interference from external moving objects during operation; on the other hand, it can control the operating state of the robotic arm according to the distance between the dynamic object and the spatial activity range of the robotic arm, thereby improving the safety of the robotic arm during operation.

[0059] Optionally, in an implementation of this embodiment, the distance between the dynamic object and the spatial activity range of the robotic arm may be acquired in the following manner:

[0060] First, the position of the dynamic object is determined in the same coordinate system as the spatial range of motion. For example, if the spatial range of motion is established based on a coordinate system with a fixed position (e.g., a base) of the manipulator as the origin, the position of the dynamic object is also the position in the coordinate system.

[0061] For example, the position of the dynamic object can be determined in the following manner: obtaining a first position relationship of the dynamic object relative to the position sensor through a position sensor; determining the relative position relationship between the dynamic object and the robotic arm based on the first position relationship and the second position relationship between the position sensor and the robotic arm; determining the position of the dynamic object based on the relative position relationship between the dynamic object and the robotic arm and the coordinate system of the spatial activity range.

[0062] Among them, the position sensor can be a laser, ultrasonic, single-line, multi-line, etc., without limiting the type of distance sensor. The position sensor can be set at all positions of the robot arm, preferably at a fixed position of the robot arm. Take the ultrasonic rangefinder as an example. First, according to the 3D model of the robot arm, the ultrasonic rangefinder can scan the robot body by scanning the space, and the relative position of the robot arm and the distance sensor can be obtained by calculation (so it is necessary to obtain more accurate parameters after power-on). Then, after the sensor obtains the relative position with the dynamic object, the host computer calculates the robot's motion posture to obtain the relative position of the robot arm and the dynamic object.

[0063] After obtaining the distance between the dynamic object and the spatial activity range of the robot arm, the distance between the dynamic object and the spatial activity range is determined according to the position of the dynamic object and the spatial activity range.

[0064] For example, by directly calculating the distance between the position of the dynamic object and different positions of the spatial activity range and obtaining the minimum distance through comparison, the minimum distance is used as the distance between the dynamic object and the spatial activity range. This method of solving the minimum distance between a point and a surface.

[0065] For another example, in this implementation, if Figure 2 As shown, the following methods can be used to reduce the computational complexity and ensure the real-time performance of the robot control:

[0066] 200: Determine a first distance between the position of the dynamic object and a reference position of the spatial activity range.

[0067] 202: Calculate the difference between the first distance and the second distance to obtain the distance between the dynamic object and the spatial activity range, wherein the second distance represents the range characteristics of the spatial activity range.

[0068] Wherein, when the spatial activity range is circular, the reference position is the center of the sphere, and the second distance is the radius of the sphere. When the spatial activity range is cylindrical, the reference position is the axis of the cylinder, and the second distance is the radius of the bottom surface of the cylinder. Similarly, when the spatial activity range is other shapes, the corresponding reference position and second distance can also be found. For example, when the spatial activity range is a rectangular parallelepiped, the reference position can be the surface opposite to the dynamic object, and the first distance is directly used as the distance between the dynamic object and the spatial activity range.

[0069] By adopting this implementation method, the distance between the dynamic object and the spatial activity range can be quickly calculated, thereby ensuring the real-time control of the robot arm.

[0070] Optionally, in an implementation of this embodiment, in the process 102, the motion state of the robotic arm may be controlled in the following manner:

[0071] When the distance is within a first distance interval, the motion state of the robot arm is controlled, wherein the first distance interval is related to the speed of the dynamic object, the time from the current working speed of the robot arm to the stopping of the operation, and the duration corresponding to the complete unit process.

[0072] By adopting the method provided in this embodiment, the speed of the dynamic object, the time for the robot arm to stop working from the current working speed, and the duration corresponding to the complete unit process are comprehensively considered. Therefore, the control of the motion state of the robot arm is more in line with actual needs, while ensuring the safety of the robot arm operation, the efficiency of the robot arm operation is also guaranteed.

[0073] Specifically, the first distance interval includes a first sub-interval and a second sub-interval, and the distance of the second sub-interval is greater than the distance of the first sub-interval. When the distance is within the first distance interval, controlling the motion state of the robot arm includes: when the distance is within the first sub-interval, controlling the robot arm to stop working; when the distance is within the second sub-interval, controlling the robot arm to stop working after the current process is completed.

[0074] That is to say, this implementation method divides the motion control state into two levels. In the first sub-interval, the dynamic object is too close to the spatial activity range, and the operation needs to be stopped as soon as possible to ensure safety. In the second sub-interval, the dynamic object is still a certain distance away from the spatial activity range, and the operation can be stopped after the current process is completed, thereby ensuring safety while ensuring work efficiency.

[0075] Further, after determining that the distance is within the first distance interval, if it is detected that the distance is no longer within the first distance interval, the operation is resumed to improve operation efficiency.

[0076] In other embodiments of the present application, the motion control state can also be divided into three levels. That is, in addition to the above-mentioned first distance interval (including the first sub-interval and the second sub-interval), it can also include: when the distance is in the second distance interval, a spatial warning is performed, and the distance in the second distance interval is greater than the distance in the first distance interval. Relevant personnel are reminded to pay attention to dynamic objects approaching the robotic arm through spatial warning (for example, display screen warning, buzzer warning and other sound and light alarm means).

[0077] In this implementation, in terms of distance, the first distance interval is (-∞, r1+r2]; the second distance interval is (r1+r2, r1+k·r2]; the first sub-interval is [-∞, r1], and the second sub-interval is (r1, r1+r2]. Among them, r1=v·t1, r2=v·t2, v represents the speed of the dynamic object, t1 represents the time from the current working speed of the robot arm to the stop operation, t2 represents the duration corresponding to the complete unit process, and k is a coefficient greater than 1, for example, k∈(1,3], the smaller the value of k, the more urgent the space warning situation.

[0078] Among them, under the premise of ensuring that the workpiece will not be damaged due to inertia or dynamics, the time from the current working speed to stopping the operation is t1, which can be obtained from the maximum acceleration. The maximum acceleration is measured in the research and development stage, and is affected by the motor parameters and servo parameters. The maximum acceleration of the robot will be determined after research and development testing. Knowing the maximum acceleration and speed, t1 can be obtained.

[0079] The embodiment of the present application also provides a method for determining the spatial range of motion of a robotic arm. The method determines the spatial range of motion of the robotic arm based on the structural information of the robotic arm and the preset motion coordinate information of the robotic arm. The structural information is a 3D model of the robotic arm. Figure 3 As shown, the method includes:

[0080] 300: Acquire multiple coordinate position information of the robot arm movement. For example, in the process of manually operating the teaching pendant to complete a complete unit process, the controller of the robot arm automatically stores multiple coordinate position information.

[0081] 302: Filtering the spatial motion limit value of the robot arm through data analysis. For example, taking the fixed point of the robot arm as the origin of the coordinate axis and taking the three-dimensional coordinate axis as an example, the motion limit value can be obtained by comparing the 3D model and the limit values ​​of the multiple coordinate position information shown in the XYZ axis.

[0082] 304: Determine the spatial range of motion of the robot arm based on the spatial motion limit value. For example, an envelope method is used to generate a minimum circumscribed rectangle or cylinder to represent the spatial range of motion of the robot arm.

[0083] By adopting this embodiment, the spatial activity range of the robot arm can be quickly established according to the structure of the robot arm itself and its movement position.

[0084] Figure 4 1 is a schematic diagram of a robot arm motion control method and safety protection process according to an embodiment of the present application. Figure 4 , the method includes the following processing.

[0085] Collect the position coordinates of each axis of the robot arm and store N consecutive coordinate position values.

[0086] Specifically, the robot arm motion coordinate information does not change in real time, but is the position information set by the teach pendant according to the working scene. Multiple position information can be set at one time. By recording the instruction information sent by the teach pendant and the position information fed back by the robot arm, the robot arm motion range can be confirmed. Among them, the size of the N end position information N satisfies all the position information of the robot arm operation.

[0087] The minimum circumscribed cylinder in the robot coordinate system is obtained, and the electronic fence for the robot's spatial motion is obtained.

[0088] Specifically, the minimum circumscribed cylinder including the robot body and each end position information is obtained by using the stored N end position information. The shape can be spherical, cylindrical, rectangular, etc. according to the actual use situation. We call it a virtual electronic fence. In other words, the robot's extreme operating range will not exceed the size of the virtual electronic fence. This electronic fence can also be used as a limit position setting for the robot's workspace. If the robot exceeds the electronic fence area due to false triggering or inaccurate analysis of the host computer's actions, a safety protection emergency stop can be performed immediately.

[0089] Since the base of the robotic arm does not move relative to the ground when it operates in space and is in a relatively static state, the virtual electronic fence is the basis for measuring the size of the physical space occupied by the robotic arm. The robotic arm can be regarded as a static object of the size of the electronic fence for use by other controllers that interact with it.

[0090] Expand the electronic fence with a certain expansion radius to establish safety protection levels such as alarm, deceleration stop, and emergency stop.

[0091] Specifically, based on the established electronic fence size, a safety net with different radii is expanded. For example, the calculated radius of the electronic fence is denoted as R1. On this basis, the electronic fence with a radius of R1+r1 is denoted as expanded safety net Q1, the electronic fence with a radius of R1+r1+r2 is denoted as expanded safety net Q2, and the electronic fence with a radius of R1+r1+2*r2 is denoted as expanded safety net Q3.

[0092] The size of r can be calculated, derived, or measured based on the maximum speed of the robot arm, safe stop time, and other factors.

[0093] Taking into account the different motion scenarios of the robot arm, the calculation of the radius r in this article is based on the measurement of on-site usage. For example, in the robot arm grasping scenario, the robot arm repeatedly grasps objects from one station and places them in another station. The completion of one process is called the minimum working cycle. When measuring the working process of the robot arm, for example, when grasping an object in mid-air, the time from the current working speed to stopping the operation is t1, while ensuring that the workpiece will not be damaged by inertia or dynamics. The dynamic obstacle is generally a person or a forklift, and the speed v is about 1m / s, then the radius r1 = v*t1. Measure the time t2 to complete a minimum working cycle. Then the radius r2 = v*t2.

[0094] The number of safety protection levels Q1, Q2, and Q3 can be flexibly set according to actual working conditions. This article sets three levels of protection, of which Q3 is the warning protection level, Q2 is the deceleration stop protection level, and Q1 is the emergency stop protection level. When it is detected that the dynamic object is less than the Q3 radius from the robotic arm, a safety warning alarm is sounded, but the robotic arm operates normally at the given position; when it is detected that the dynamic object is less than the Q2 radius from the robotic arm, the robotic arm stops after completing a task cycle based on the current work progress. When it is detected that the dynamic object is less than the Q1 radius from the robotic arm, the robotic arm stops immediately to avoid safety accidents such as collisions and casualties. After detecting that the obstacle has left the robotic arm, the robotic arm automatically resumes its original work.

[0095] By adopting the method provided in this embodiment, only the position information of the end of the robot arm is used to establish different levels of safety protection nets, and the robot arm is controlled to execute different safety response instructions according to the different position information of the dynamic object from the robot arm. The method is simple and easy to implement. In addition, the software control can be implemented by the controller of the robot arm itself, or by adding a safety protection controller to communicate with the robot arm. The program logic is simple and easy to promote and implement.

[0096] For the president, the method provided by the relevant embodiments of the present application has any one or more of the following beneficial effects:

[0097] The virtual electronic fence is established by using the position information of the robot arm. The controller automatically stores the coordinate position information of the robot arm's N movements. The limit value of the robot arm's spatial movement is screened out through data analysis. The minimum circumscribed rectangle or cylinder is obtained by using the screened limit value to represent the size of the robot arm's movement space. The controller is the robot arm's own controller, which does not require additional modeling time and tools, and is simple and easy to implement.

[0098] The robot arm can be regarded as a static object of the size of an electronic fence. The electronic fence is used as the spatial position coordinates of the robot arm to provide reference to other intelligent products in the same working scene, thereby improving the safety of multiple machines working in a small scene.

[0099] Taking the actual usage scenarios into consideration, the expansion radius is reasonably set to ensure that the robot arm can stop moving safely at all levels. This ensures the safety of the robot arm itself and dynamic objects such as personnel, while also ensuring that the normal working rhythm is not affected to the greatest extent.

[0100] The method embodiment according to the embodiment of the present application is described in detail above. In other embodiments of the present application, Figure 5As shown, an electronic device is also provided, including a memory 55 and a processor 50. The memory 55 is used to store one or more computer instructions. The processor 50 is used to call and execute the computer instructions to implement the robot arm motion control method provided by the method embodiment of the present application.

[0101] Specifically, the electronic device may include a processor 50, at least one communication bus 52, a user interface 53, at least one external communication interface 54 and a memory 55. The communication bus 52 is configured to realize connection and communication between these components. The user interface 53 may include a display screen, and the external communication interface 54 may include a standard wired interface and a wireless interface. The memory 55 stores a method for controlling the motion of a robotic arm. The processor 50 is used to adopt the method described above when executing the method for controlling the motion of a robotic arm stored in the memory 55.

[0102] In other embodiments of the present application, a robotic arm is also provided, which adopts the robotic arm control method provided in the method embodiment of the present application, or has the above-mentioned electronic device.

[0103] The sequence of serial numbers or introduction of the embodiments of the present application is for description only and does not represent the superiority or inferiority of the embodiments.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0105] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0106] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0107] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a digital versatile disc (DVD)), or a semiconductor medium (e.g., a solid state disk (SSD)). It is worth noting that the computer-readable storage medium mentioned in the embodiment of the present application may be a non-volatile storage medium, in other words, a non-transient storage medium.

[0108] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data for analysis, stored data, displayed data, etc.) and signals involved in the embodiments of this application are all authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions. For example, the scene data of the current frame in the three-dimensional virtual scene, the device information of the client, and the scene interaction information involved in the embodiments of this application are all obtained with full authorization.

[0109] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A robot arm control method, characterized in that: The method comprises: During the process of the robot arm executing the operation process, obtaining the distance between the dynamic object and the spatial activity range of the robot arm; controlling the motion state of the robotic arm according to the distance; The dynamic object is an object other than the robot arm and the workpiece operated by the robot arm, and the spatial activity range is the spatial range occupied by the robot arm to complete a complete unit process.

2. The robot arm control method according to claim 1, characterized in that: The obtaining of the distance between the dynamic object and the spatial activity range of the robotic arm comprises: Determine the position of the dynamic object in the same coordinate system as the spatial activity range; According to the position of the dynamic object and the spatial activity range, the distance between the dynamic object and the spatial activity range is determined.

3. The robot arm control method according to claim 2, characterized in that: The determining of the position of the dynamic object in the same coordinate system as the spatial activity range includes: Acquire a first position relationship of the dynamic object relative to the position sensor through a position sensor; determining a relative position relationship between the dynamic object and the robotic arm according to the first position relationship and a second position relationship between the position sensor and the robotic arm; The position of the dynamic object is determined according to the relative position relationship between the dynamic object and the robotic arm and the coordinate system of the spatial activity range.

4. The robot arm control method according to claim 2, characterized in that: The determining, according to the position of the dynamic object and the spatial activity range, the distance between the dynamic object and the spatial activity range comprises: Determine a first distance between the position of the dynamic object and a reference position of the spatial activity range; Calculating a difference between the first distance and the second distance to obtain a distance between the dynamic object and the spatial activity range, wherein the second distance represents a range feature of the spatial activity range; Wherein, when the spatial activity range is circular, the reference position is the center of the sphere, and the second distance is the radius of the sphere; Wherein, when the spatial activity range is cylindrical, the reference position is the axis of the cylinder, and the second distance is the bottom radius of the cylinder.

5. The robot arm control method according to claim 1, characterized in that: The controlling the motion state of the robotic arm according to the distance comprises: When the distance is within a first distance interval, controlling the motion state of the robotic arm; The first distance interval is related to the speed of the dynamic object, the time it takes for the robot arm to stop working from the current working speed, and the duration corresponding to the complete unit process.

6. The robot arm control method according to claim 5, characterized in that: The first distance interval includes a first sub-interval and a second sub-interval, and the distance of the second sub-interval is greater than the distance of the first sub-interval; When the distance is within the first distance interval, controlling the motion state of the robotic arm includes: When the distance is within the first sub-interval, controlling the robot arm to stop working; When the distance is within the second sub-interval, the robot arm is controlled to stop the operation after the current process is completed.

7. The robot arm control method according to claim 6, characterized in that: The method further comprises: After determining that the distance is within the first distance interval, if it is detected that the distance is no longer within the first distance interval, the operation is resumed.

8. The robot arm control method according to claim 6, characterized in that: The first distance interval is (-∞, r1+r2]; The first sub-interval is (-∞, r1], and the second sub-interval is (r1, r1+r2]; Among them, r1=v·t1, r2=v·t2, v represents the speed of the dynamic object, t1 represents the time from the current working speed of the robot arm to the stop of the operation, and t2 represents the duration corresponding to the complete unit process.

9. The robot arm control method according to claim 5, characterized in that: The method further comprises: When the distance is within a second distance interval, a spatial warning is performed, and the distance in the second distance interval is greater than the distance in the first distance interval.

10. The robot arm control method according to claim 9, characterized in that: The second distance interval is (r1+r2, r1+k·r2]; Among them, r1=v·t1, r2=v·t2, v represents the speed of the dynamic object, t1 represents the time for the robot arm to stop working from the current working speed, t2 represents the duration corresponding to the complete unit process, and k is a coefficient greater than 1.

11. The robot arm control method according to claim 1, characterized in that: The method further comprises: The spatial activity range of the robotic arm is determined according to the structural information of the robotic arm and preset motion coordinate information of the robotic arm.

12. An electronic device, characterized in that: The electronic device comprises: a memory for storing one or more computer instructions; A processor, used to call and execute the computer instructions to implement the robot arm control method as described in any one of claims 1-11.

13. A robotic arm, characterized in that: The robotic arm is provided with a distance measuring sensor so as to obtain the distance between the dynamic object and the robotic arm. The robotic arm adopts the robotic arm control method as described in any one of claims 1 to 11, or has the electronic device as described in claim 12.

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