Robot control method, device and equipment and robot

Abstract

The embodiment of the invention provides a robot control method, device and equipment and a robot, and relates to the technical field of intelligent storage. The method comprises the steps that in the variable-speed driving process of the robot, the advancing distance of the robot at the current moment is determined, and a preset distance is determined; according to the advancing distance, the preset distance and the first speed of the robot at the current moment, the acceleration of the robot at the next moment is determined; and controlling the robot to operate at the next moment according to the acceleration of the robot at the next moment. The method is used for achieving the effects of reducing the abrasion condition between the gear and the rack in the operation process of the robot and guaranteeing the service life and normal operation of the robot.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent warehousing technology, and in particular to a robot control method, device, equipment and robot. Background Art

[0002] With the rapid development of robots, they have gradually been applied to various scenarios of human life. For example, in the field of intelligent warehousing, warehousing robots can be controlled to transport goods.

[0003] When an existing warehouse robot walks on a shelf, the gears on the robot engage with the horizontal or vertical tracks on the shelf. Based on a preset acceleration and deceleration control method, the robot is controlled to run on the shelf to complete the cargo transportation task.

[0004] However, in the above method, due to improper speed control when the robot is running, the gears and racks on the robot are worn, which in turn affects the service life and normal operation of the robot. Summary of the invention

[0005] The embodiments of the present disclosure provide a robot control method, device, equipment and robot, which are used to solve the technical problem that the gears and racks on the robot are worn due to improper speed control during the operation of the robot, thereby affecting the service life and normal operation of the robot.

[0006] In a first aspect, an embodiment of the present disclosure provides a robot control method, comprising:

[0007] During the speed change process of the robot, the travel distance of the robot at the current moment is determined, and a preset distance is determined; wherein the travel distance represents the distance that the robot has traveled during the speed change process, and the preset distance represents the total distance that the robot needs to travel during the speed change process;

[0008] Determine the acceleration of the robot at a next moment according to the travel distance, the preset distance and the first speed of the robot at the current moment;

[0009] The operation of the robot at the next moment is controlled according to the acceleration of the robot at the next moment.

[0010] In a possible implementation, determining the acceleration of the robot at the next moment according to the travel distance, the preset distance and the first speed of the robot at the current moment includes: determining a preset speed increment; wherein the preset speed increment represents the speed change of the robot during speed change; and determining the difference between the preset distance and the travel distance to obtain a first distance difference; determining the acceleration of the robot at the next moment according to the first speed, the preset speed increment and the first distance difference.

[0011] In a possible implementation, determining the acceleration of the robot at the next moment based on the first speed, the preset speed increment, and the first distance difference includes: determining the predicted acceleration of the robot at the next moment based on the first speed, the preset speed increment, and the first distance difference; and correcting the predicted acceleration of the robot at the next moment to obtain the acceleration of the robot at the next moment.

[0012] In a possible implementation, the predicted acceleration of the robot at the next moment is Wherein, Vt is the first speed, D-Dd is the first distance difference, and ΔV is the preset speed increment.

[0013] In a possible implementation, the predicted acceleration of the robot at the next moment is corrected to obtain the acceleration of the robot at the next moment, including: predicting the predicted distance and predicted speed of the robot at the next moment according to the predicted acceleration of the robot at the next moment; determining the corrected acceleration of the robot at the next moment according to the predicted distance and predicted speed of the robot at the next moment; and correcting the predicted acceleration of the robot at the next moment according to the corrected acceleration to obtain the acceleration of the robot at the next moment.

[0014] In one possible implementation, the correction acceleration of the robot at the next moment is determined based on the predicted distance and predicted speed of the robot at the next moment, including: determining the difference between the preset distance and the predicted distance to obtain a second distance difference; and determining the correction acceleration of the robot at the next moment based on the predicted speed, the preset speed increment and the second distance difference.

[0015] In a possible implementation, the correction acceleration of the robot at the next moment is Among them, V 预测 is the predicted speed, D-Dd ′ is the second distance difference, and ΔV is the preset speed increment.

[0016] In a possible implementation, controlling the operation of the robot at the next moment according to the acceleration of the robot at the next moment includes: determining a second speed of the robot at the next moment according to the acceleration of the robot at the next moment; and controlling the accelerated operation of the robot at the next moment according to the second speed.

[0017] In a possible implementation, after controlling the robot to accelerate at the next moment according to the second speed, the method further includes: if it is monitored that the travel distance is greater than or equal to the preset distance, controlling the robot to run at a uniform speed within a first uniform speed section distance according to the second speed; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance and the first uniform speed section distance, determining the third speed of the robot at the next moment, and controlling the robot to decelerate to the third speed within the first deceleration section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance, the first uniform speed section distance and the first deceleration section distance, controlling the robot to run at a uniform speed within the second uniform speed section distance according to the third speed; if it is monitored that the remaining travel distance of the robot is less than or equal to the second deceleration section distance, controlling the robot to decelerate to an end point and stop running according to the third speed.

[0018] In a second aspect, an embodiment of the present disclosure provides a control device for a robot, comprising:

[0019] A first determination module is used to determine the travel distance of the robot at the current moment and determine a preset distance during the speed change driving process of the robot; wherein the travel distance represents the distance that the robot has traveled during the speed change driving process, and the preset distance represents the total distance that the robot needs to travel during the speed change driving process;

[0020] a second determination module, configured to determine the acceleration of the robot at a next moment according to the travel distance, the preset distance and the first speed of the robot at a current moment;

[0021] The control module is used to control the operation of the robot at the next moment according to the acceleration of the robot at the next moment.

[0022] In a possible implementation, the second determination module is specifically used to: determine a preset speed increment; wherein the preset speed increment represents the speed change of the robot during speed change; and determine the difference between the preset distance and the travel distance to obtain a first distance difference; and determine the acceleration of the robot at the next moment based on the first speed, the preset speed increment and the first distance difference.

[0023] In a possible implementation, the second determination module is specifically used to: determine the predicted acceleration of the robot at the next moment based on the first speed, the preset speed increment and the first distance difference; and correct the predicted acceleration of the robot at the next moment to obtain the acceleration of the robot at the next moment.

[0024] In a possible implementation, the predicted acceleration of the robot at the next moment is Wherein, Vt is the first speed, D-Dd is the first distance difference, and ΔV is the preset speed increment.

[0025] In a possible implementation, the second determination module is further specifically used to: predict the predicted distance and predicted speed of the robot at the next moment based on the predicted acceleration of the robot at the next moment; determine the corrected acceleration of the robot at the next moment based on the predicted distance and predicted speed of the robot at the next moment; and correct the predicted acceleration of the robot at the next moment based on the corrected acceleration to obtain the acceleration of the robot at the next moment.

[0026] In a possible implementation, the second determination module is further specifically used to: determine the difference between the preset distance and the predicted distance to obtain a second distance difference; and determine the correction acceleration of the robot at the next moment according to the predicted speed, the preset speed increment and the second distance difference.

[0027] In a possible implementation, the correction acceleration of the robot at the next moment is Among them, V 预测 is the predicted speed, D-Dd ′ is the second distance difference, and ΔV is the preset speed increment.

[0028] In a possible implementation, the control module is specifically used to: determine a second speed of the robot at the next moment according to the acceleration of the robot at the next moment; and control the accelerated operation of the robot at the next moment according to the second speed.

[0029] In a possible implementation, the control module, which is specifically used to control the robot to accelerate at the next moment according to the second speed, further includes: if it is monitored that the travel distance is greater than or equal to the preset distance, then according to the second speed, the robot is controlled to run at a uniform speed within a first uniform speed section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance and the first uniform speed section distance, then the third speed of the robot at the next moment is determined, and the robot is controlled to decelerate to the third speed within the first deceleration section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance, the first uniform speed section distance and the first deceleration section distance, then according to the third speed, the robot is controlled to run at a uniform speed within the second uniform speed section distance; if it is monitored that the remaining travel distance of the robot is less than or equal to the second deceleration section distance, then according to the third speed, the robot is controlled to decelerate to an end point and stop running.

[0030] In a third aspect, an embodiment of the present disclosure provides an electronic device, including: a memory, a processor;

[0031] The memory stores computer-executable instructions;

[0032] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0033] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0034] In a fifth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementations of the first aspect.

[0035] In a sixth aspect, an embodiment of the present disclosure provides a robot, wherein the robot is provided with the electronic device as described in the third aspect above.

[0036] The control method, device, equipment and robot of the robot provided by the embodiments of the present disclosure can determine the acceleration of the robot at the next moment during the speed change driving process of the robot by using the distance the robot has traveled during the speed change driving process, the total distance the robot needs to travel during the speed change driving process, and the first speed of the robot at the current moment. The robot can be controlled to change speed between the current moment and the next moment with the acceleration of the robot at the next moment. Furthermore, the running speed of the robot can be accurately controlled to reduce the wear between the gears and racks on the robot, extend the service life of the robot, and ensure the normal operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0038] Figure 1 A schematic diagram of an application scenario provided by the present disclosure;

[0039] Figure 2 A schematic diagram of a flow chart of a robot control method provided by an embodiment of the present disclosure;

[0040] Figure 3 For this disclosure Figure 2 A schematic diagram of the robot's speed-changing driving process in the illustrated embodiment;

[0041] Figure 4 A schematic flow chart of a robot control method provided by another embodiment of the present disclosure;

[0042] Figure 5 For this disclosure Figure 4 A schematic diagram of the robot's speed-changing driving process in the illustrated embodiment;

[0043] Figure 6 A schematic flow chart of a robot control method provided by yet another embodiment of the present disclosure;

[0044] Figure 7 A schematic diagram of the structure of a robot control device provided by one embodiment of the present disclosure;

[0045] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure;

[0046] Fig. 9 A schematic diagram of the structure of a robot provided in one embodiment of the present disclosure.

[0047] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0048] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0049] Figure 1 This is a schematic diagram of an application scenario provided by the present disclosure. Figure 1 As shown, the specific application scenario of the present disclosure includes an electronic device 101 in the robot. Based on the electronic device 101, the robot is controlled to crawl on a vertical track on the shelf in a preset acceleration and deceleration control manner to carry out cargo transportation.

[0050] However, in the above method, due to improper speed control during the operation of the robot, the gears and racks on the robot will wear out. If excessive vibration is generated during the robot climbing the shelf, it will cause the robot to derail. This will cause great damage to the robot and the goods, and thus affect the service life and normal operation of the robot.

[0051] In view of the above technical problems, the present disclosure proposes the following technical concept: during the speed change of the robot, the acceleration of the robot at the next moment is determined by the distance the robot has traveled during the speed change, the total distance the robot needs to travel during the speed change, and the first speed of the robot at the current moment, and the robot can be controlled to change speed between the current moment and the next moment with the acceleration of the robot at the next moment. In this way, the problem existing in the prior art that the gears and racks on the robot are worn due to improper speed control during the operation of the robot, which affects the service life and normal operation of the robot, can be solved.

[0052] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0053] Figure 2A schematic diagram of a flow chart of a robot control method provided by an embodiment of the present disclosure, such as Figure 2 As shown, the method includes:

[0054] 201. During the speed change process of the robot, determine the travel distance of the robot at the current moment and determine the preset distance; wherein the travel distance represents the distance the robot has traveled during the speed change process, and the preset distance represents the total distance the robot needs to travel during the speed change process.

[0055] Exemplarily, the execution subject of this embodiment may be an electronic device, hereinafter referred to as the device. When the robot receives a task of picking up and placing goods, it needs to change speed on the shelf, such as accelerating or decelerating. During the speed-changing process, the encoder in the robot can monitor the distance that the robot has traveled during the speed-changing process at each moment, that is, the device can read the travel distance of the robot at the current moment from the encoder, such as the travel distance on the horizontal track of the shelf or the crawling distance on the vertical track of the shelf; at the same time, determine the preset distance set in advance, that is, the total distance that the robot needs to travel during the acceleration process or the deceleration process, for processing.

[0056] 202. Determine the acceleration of the robot at the next moment according to the travel distance, the preset distance, and the first speed of the robot at the current moment.

[0057] Exemplarily, during the robot's speed-changing driving process, multiple moments can be set in advance. Based on the equipment, at the current moment, the robot's running speed can be determined through the robot's speed sensor, that is, the first speed at the current moment, and the robot's travel distance at the current moment, the first speed and the preset distance of the robot can be calculated and processed through a preset processing algorithm to obtain the robot's acceleration at the next moment for processing.

[0058] 203. Control the operation of the robot at the next moment according to the acceleration of the robot at the next moment.

[0059] Exemplarily, based on the device, according to the determined acceleration of the robot at the next moment, the robot can be controlled to accelerate to the next moment based on the first speed at the current moment, so that the robot reaches a suitable operating speed at the next moment to reduce the wear between the gears and racks on the robot.

[0060] For example, Figure 3 For this disclosure Figure 2The schematic diagram of the robot's speed-changing driving process in the illustrated embodiment shows that when the current moment is the moment to start running, the robot can be controlled at the current moment to accelerate to the next moment based on the first speed at the current moment being zero, so that the robot reaches a suitable running speed at the next moment. Then, based on the device, the robot can be controlled to continue to drive at a constant speed at the running speed at the next moment. After a preset period of constant speed driving, the robot is controlled to decelerate based on the device. During the deceleration process, for each moment, the acceleration at the next moment can be determined through the travel distance of the robot at each moment, the preset distance corresponding to the deceleration form, and the first speed, so as to control the robot to decelerate during the deceleration process.

[0061] In the present embodiment, a control method for a robot is provided. During the speed changing process of the robot, the acceleration of the robot at the next moment is determined by the distance the robot has traveled during the speed changing process, the total distance the robot needs to travel during the speed changing process, and the first speed of the robot at the current moment. The robot can be controlled to change speed between the current moment and the next moment with the acceleration of the robot at the next moment. Furthermore, the running speed of the robot can be accurately controlled to reduce the wear between the gears and the racks on the robot, extend the service life of the robot, and ensure the normal operation of the robot.

[0062] Figure 4 A schematic flow chart of a robot control method provided by another embodiment of the present disclosure is shown as follows: Figure 4 As shown, the method includes:

[0063] 301. During the speed change process of the robot, determine the travel distance of the robot at the current moment and determine the preset distance; wherein the travel distance represents the distance that the robot has traveled during the speed change process, and the preset distance represents the total distance that the robot needs to travel during the speed change process.

[0064] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0065] 302. Determine a preset speed increment, wherein the preset speed increment represents a speed change of the robot during speed change driving; and determine a difference between a preset distance and a travel distance to obtain a first distance difference.

[0066] Exemplarily, in order to simplify the calculation process, a preset speed increment can also be set, wherein the preset speed increment characterizes the speed change of the robot during the speed change process. For example, when the robot completes the acceleration section, it must reach a predetermined speed. The predetermined speed is related to the setting of the robot itself, and in this acceleration section, the robot needs to complete it within a predetermined time, which can be determined based on the speed that the robot finally reaches in the acceleration section and the running time in the acceleration section; and, based on the device, the difference between the preset distance and the travel distance at the current moment is calculated to obtain the first distance difference at the current moment for processing.

[0067] 303. Determine the acceleration of the robot at the next moment according to the first speed, the preset speed increment and the first distance difference.

[0068] Exemplarily, the device may calculate and process the first speed, the first distance difference, and the preset speed increment at the current moment based on a preset algorithm to determine the acceleration of the robot at the next moment.

[0069] 304. Determine a second speed of the robot at the next moment according to the acceleration of the robot at the next moment.

[0070] For example, when the robot starts to accelerate, the device can process the first speed at the current moment and the acceleration at the next moment based on the preset algorithm between acceleration and speed to determine the running speed of the robot at the next moment, that is, the second speed; for example, at time 0, the current running speed of the robot is 0, and the running distance is 0. At this time, the relationship between speed and acceleration is used, such as speed V=V t +a*Δt, the first velocity V of the robot at the current moment t , the time difference Δt between the current moment and the next moment, and the acceleration a of the robot at the next moment are calculated and processed, that is, the second speed from 0, 10ms, 20ms, 30ms... to the moment when the acceleration section is completed can be calculated in sequence.

[0071] 305. According to the second speed, control the robot to accelerate at the next moment.

[0072] Exemplarily, according to the determined second speed of the robot at the next moment, the device can control the robot to accelerate to the next moment based on the first speed at the current moment, so that the robot reaches the second speed at the next moment and controls the robot to operate; further, the robot guide wheels can be controlled to enter the shelf track at a lower speed and then gradually increase to the second speed, so that when the gear and the rack are engaged, the engagement will not fail due to the gear speed being too fast, thereby improving the success rate of the robot climbing and reducing the wear between the gear and the rack. At the same time, by changing the acceleration start, the noise caused by the robot climbing the shelf can also be reduced.

[0073] In one example, after controlling the robot to accelerate at the next moment according to the second speed, it also includes: if it is monitored that the travel distance is greater than or equal to the preset distance, then according to the second speed, the robot is controlled to run at a uniform speed within the first uniform speed section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance and the first uniform speed section distance, then the third speed of the robot at the next moment is determined, and the robot is controlled to decelerate to the third speed within the first deceleration section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance, the first uniform speed section distance and the first deceleration section distance, then according to the third speed, the robot is controlled to run at a uniform speed within the second uniform speed section distance; if it is monitored that the remaining travel distance of the robot is less than or equal to the third deceleration section distance, then according to the third speed, the robot is controlled to decelerate to the end point and stop running.

[0074] For example, Figure 5 For this disclosure Figure 4The schematic diagram of the robot's speed-changing driving process in the illustrated embodiment shows that during the robot's travel, five stages can be pre-set, namely, the first stage is the acceleration stage, the second stage is the uniform speed stage, the third stage is the deceleration stage, the fourth stage is the crawling stage, i.e., the slow-moving stage, and the fifth stage is the stop stage; when the first speed of the robot is less than or equal to 0, the robot is controlled to enter the acceleration stage, i.e., the robot is accelerated; then the distance that the robot has traveled, i.e., the travel distance, is detected to determine whether the robot's travel distance is greater than or equal to the length of the acceleration stage, i.e., the preset distance; if not, the robot is controlled to accelerate; if the robot's travel distance is greater than or equal to the preset distance, the robot is controlled to run at a uniform speed; the robot's travel distance is further determined to be greater than or equal to the sum of the preset distance and the first uniform speed stage; if it is detected that the robot's travel distance is greater than or equal to the sum of the preset distance and the first uniform speed stage, the robot is controlled to enter the deceleration stage, i.e., the third speed of the robot at the next moment is determined, such as the first speed at the current moment, the travel distance, the travel distance, the speed of the robot ... The crawling section is a crawling section in which the robot is controlled to run at a uniform speed of the third speed within the second uniform speed section distance according to the third speed. The crawling section is a crawling section in which the robot is controlled to run at a uniform speed of the third speed within the second uniform speed section distance according to the third speed. The crawling section is a crawling section in which the robot is controlled to run at a uniform speed of the third speed within the second uniform speed section distance according to the third speed. It is worth adding that when judging the conditions for the robot to enter each stage, in addition to monitoring its travel distance, its remaining distance can also be monitored. For example, it can be judged whether the remaining distance of the robot is less than or equal to the sum of the lengths of the crawling segment and the stopping segment. If so, it is determined that the robot has entered the crawling segment; then continue to judge whether the remaining distance of the robot is less than or equal to the sum of the lengths of the stopping segments. If so, the robot is controlled to stop running; this improves the smoothness of the speed change of the robot during speed change.

[0075] In this embodiment, on the basis of the above embodiments, the acceleration of the robot at the next moment is determined according to the preset speed increment, the difference between the preset distance and the travel distance, and the first speed at the current moment, and the second speed of the robot at the next moment is determined according to the acceleration, and then the acceleration and starting operation of the robot is controlled according to the second speed; thereby, the failure of the gear and rack to engage due to the robot's gear speed being too fast is avoided, the success rate of the robot's climbing is improved, and at the same time, the running speed of the robot can be accurately controlled to reduce the wear between the robot's gear and rack.

[0076] Figure 6 A flowchart of a robot control method provided by another embodiment of the present disclosure is shown as follows: Figure 6 As shown, the method includes:

[0077] 401. During the speed change process of the robot, determine the travel distance of the robot at the current moment and determine the preset distance; wherein the travel distance represents the distance that the robot has traveled during the speed change process, and the preset distance represents the total distance that the robot needs to travel during the speed change process.

[0078] Exemplarily, this step may refer to step 201 and will not be described in detail here.

[0079] 402. Determine a preset speed increment, wherein the preset speed increment represents a speed change of the robot during speed change driving; and determine a difference between a preset distance and a travel distance to obtain a first distance difference.

[0080] Exemplarily, this step may refer to step 302 and will not be described in detail here.

[0081] 403. Determine a predicted acceleration of the robot at a next moment according to the first speed, the preset speed increment, and the first distance difference.

[0082] In one example, the robot's predicted acceleration at the next moment Wherein, Vt is the first speed, D-Dd is the first distance difference, and ΔV is the preset speed increment.

[0083] For example, in order to obtain more accurate acceleration and further improve the smoothness of speed change, the device can calculate and process the first speed, preset speed increment and first distance difference at the current moment based on a preset prediction algorithm, and predict the predicted acceleration of the robot at the next moment for processing. According to the relationship between the speed Vt at time t, the speed V0 at time 0, the distance S and the acceleration, and the preset speed increment ΔV is set to a small value, the formula can be obtained: The first speed Vt of the robot at the current moment, the preset speed increment ΔV, and the first distance difference D-Dd between the preset distance D of the robot and the travel distance Dd at the current moment are calculated and processed to obtain the predicted acceleration a of the robot at the next moment. 预测 , to be processed.

[0084] 404. Correct the predicted acceleration of the robot at the next moment to obtain the acceleration of the robot at the next moment.

[0085] Exemplarily, the device performs correction processing on the predicted acceleration of the robot at the next moment based on a preset correction algorithm to obtain the corrected acceleration, which is the acceleration of the robot at the next moment.

[0086] In one example, step 404 includes:

[0087] The first step of step 404 is to predict the predicted distance and predicted speed of the robot at the next moment according to the predicted acceleration of the robot at the next moment.

[0088] The second step of step 404 is to determine the correction acceleration of the robot at the next moment according to the predicted distance and predicted speed of the robot at the next moment.

[0089] The third step of step 404 is to correct the predicted acceleration of the robot at the next moment according to the corrected acceleration to obtain the acceleration of the robot at the next moment.

[0090] For example, the device first uses the relationship between speed and acceleration, such as predicting the speed V 预测 =V t +a 预测 *Δt, the first speed V of the robot at the current moment t , the time difference Δt between the current moment and the next moment, and the predicted acceleration a of the robot at the next moment 预测 By performing calculations, the robot's predicted speed V at the next moment can be predicted. 预测 ; Based on the relationship between speed, acceleration, and travel distance, such as the predicted distance Dd ′ =S t +V 预测 *Δt+(a 预测 *Δt 2 ) / 2, the predicted speed V of the robot at the next moment 预测 , the time difference Δt between the current moment and the next moment, and the predicted acceleration a of the robot at the next moment 预测 , the robot's travel distance S at the current moment t By performing calculations, the robot's predicted distance Dd at the next moment can be predicted.′ Based on the preset algorithm, the predicted distance and predicted speed of the robot at the next moment are calculated and processed to obtain the corrected acceleration of the robot at the next moment. Through the preset correction algorithm, the corrected acceleration and predicted acceleration of the robot at the next moment are corrected and calculated to obtain the acceleration of the robot at the next moment.

[0091] In one example, the second step of step 404 includes:

[0092] Step 1: Determine the difference between the preset distance and the predicted distance to obtain a second distance difference.

[0093] Step 2: Determine the correction acceleration of the robot at the next moment according to the predicted speed, the preset speed increment and the second distance difference.

[0094] In one example, the robot's corrected acceleration at the next moment Among them, V 预测 is the predicted speed, D-Dd ′ is the second distance difference, and ΔV is the preset speed increment.

[0095] Specifically, when calculating the correction acceleration, the device first calculates the preset distance D of the robot and the predicted distance Dd at the corresponding next moment. ′ The difference between them is used to obtain the second distance difference, based on a preset calculation algorithm, such as The predicted speed V of the robot at the next moment 预测 , a preset speed increment ΔV and a second distance difference D-Dd ′ Calculate and process to obtain the robot's corrected acceleration a at the next moment 校正 .

[0096] 405. Determine a second speed of the robot at the next moment according to the acceleration of the robot at the next moment.

[0097] Exemplarily, this step may refer to step 304 and will not be described in detail here.

[0098] 406. Control the robot to accelerate at the next moment according to the second speed.

[0099] Exemplarily, this step may refer to step 305 and will not be described in detail here.

[0100] In this embodiment, on the basis of the above embodiment, by predicting the predicted acceleration of the robot at the next moment and correcting it, a more accurate acceleration of the robot at the next moment can be obtained, and then, a more accurate operating speed of the robot at the next moment can be determined, so that the speed change of the robot during the speed change process is smoother, so as to reduce the wear between the gears and racks of the robot and ensure the smooth operation and service life of the robot.

[0101] Figure 7 A schematic diagram of the structure of a robot control device provided by an embodiment of the present disclosure, such as Figure 7 As shown, the device 50 comprises:

[0102] The first determination module 501 is used to determine the travel distance of the robot at the current moment and the preset distance during the speed change driving process of the robot; wherein the travel distance represents the distance that the robot has traveled during the speed change driving process, and the preset distance represents the total distance that the robot needs to travel during the speed change driving process;

[0103] A second determination module 502, configured to determine the acceleration of the robot at a next moment according to the travel distance, the preset distance, and the first speed of the robot at a current moment;

[0104] The control module 503 is used to control the operation of the robot at the next moment according to the acceleration of the robot at the next moment.

[0105] In one possible implementation, the second determination module 502 is specifically used to: determine a preset speed increment; wherein the preset speed increment represents the speed change of the robot during speed change; and determine the difference between the preset distance and the travel distance to obtain a first distance difference; and determine the acceleration of the robot at the next moment based on the first speed, the preset speed increment and the first distance difference.

[0106] In a possible implementation, the second determination module 502 is specifically used to: determine the predicted acceleration of the robot at the next moment based on the first speed, the preset speed increment and the first distance difference; and correct the predicted acceleration of the robot at the next moment to obtain the acceleration of the robot at the next moment.

[0107] In one possible implementation, the predicted acceleration of the robot at the next moment Wherein, Vt is the first speed, D-Dd is the first distance difference, and ΔV is the preset speed increment.

[0108] In a possible implementation, the second determination module 502 is further specifically used to: predict the predicted distance and predicted speed of the robot at the next moment based on the predicted acceleration of the robot at the next moment; determine the corrected acceleration of the robot at the next moment based on the predicted distance and predicted speed of the robot at the next moment; and correct the predicted acceleration of the robot at the next moment based on the corrected acceleration to obtain the acceleration of the robot at the next moment.

[0109] In a possible implementation, the second determination module 502 is further specifically used to: determine the difference between the preset distance and the predicted distance to obtain a second distance difference; and determine the correction acceleration of the robot at the next moment according to the predicted speed, the preset speed increment and the second distance difference.

[0110] In a possible implementation, the robot's corrected acceleration at the next moment is Among them, V 预测 is the predicted speed, D-Dd ′ is the second distance difference, and ΔV is the preset speed increment.

[0111] In a possible implementation, the control module 503 is specifically used to: determine a second speed of the robot at the next moment according to the acceleration of the robot at the next moment; and control the acceleration operation of the robot at the next moment according to the second speed.

[0112] In a possible implementation, after the control module 503 is specifically used to control the robot to accelerate at the next moment according to the second speed, it also includes: if it is monitored that the travel distance is greater than or equal to the preset distance, then according to the second speed, the robot is controlled to run at a uniform speed within the first uniform speed section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance and the first uniform speed section distance, then the third speed of the robot at the next moment is determined, and the robot is controlled to decelerate to the third speed within the first deceleration section distance; if it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance, the first uniform speed section distance and the first deceleration section distance, then according to the third speed, the robot is controlled to run at a uniform speed within the second uniform speed section distance; if it is monitored that the remaining travel distance of the robot is less than or equal to the second deceleration section distance, then according to the third speed, the robot is controlled to decelerate to the end point and stop running.

[0113] The device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles are the same and will not be repeated here.

[0114] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. Each module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The functions of each module. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0115] Figure 8 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure, such as Figure 5 As shown, the electronic device 60 includes: a memory 601 and a processor 602; the memory 601 is a memory for storing instructions executable by the processor 602.

[0116] The processor 602 is configured to execute the method provided in the above embodiment.

[0117] The electronic device 60 further includes a receiver 603 and a transmitter 604. The receiver 603 is used to receive instructions and data sent by other devices, and the transmitter 604 is used to send instructions and data to external devices.

[0118] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0119] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0120] The memory may include a high-speed memory (Random Access Memory, referred to as RAM), and may also include a non-volatile memory (Non-volatile Memory, referred to as NVM), such as at least one disk memory.

[0121] For example, Fig. 9 A schematic diagram of the structure of a robot provided by an embodiment of the present disclosure; Fig. 9 As shown, the robot 80 includes a chassis component 81, a climbing component 82 and a pick-and-place component 83, and the robot 80 can walk in the lane through the chassis component 81. The climbing component 82 is arranged on the chassis component 81, and the robot 80 can climb to different heights on the shelf through the cooperation of the climbing component 82 and the rack, and can pick and place the material box at the cargo position in the shelf through the pick-and-place component 83.

[0122] The disclosed embodiment also provides a chip for running instructions, which is used to execute the technical solution of the robot control method in the above embodiment.

[0123] The embodiment of the present disclosure also provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed on a computer, the computer executes the technical solution of the control method of the robot in the above embodiment.

[0124] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0125] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in a dedicated integrated circuit. Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0126] The embodiments of the present disclosure also provide a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When the at least one processor executes the computer program, the technical solution of the processing method in the above embodiments can be implemented.

[0127] Those skilled in the art will appreciate that all or part of the steps of implementing the above-mentioned method embodiments may be completed by hardware associated with program instructions. The aforementioned program may be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed.

[0128] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A robot control method, characterized in that: include: During the speed change process of the robot, the travel distance of the robot at the current moment is determined, and a preset distance is determined; wherein the travel distance represents the distance that the robot has traveled during the speed change process, and the preset distance represents the total distance that the robot needs to travel during the speed change process; Determine the acceleration of the robot at a next moment according to the travel distance, the preset distance and the first speed of the robot at a current moment; The operation of the robot at the next moment is controlled according to the acceleration of the robot at the next moment.

2. The method according to claim 1, characterized in that: Determining the acceleration of the robot at a next moment according to the travel distance, the preset distance, and the first speed of the robot at a current moment, comprising: Determine a preset speed increment; wherein the preset speed increment represents the speed change of the robot during the speed change process; and determine the difference between the preset distance and the travel distance to obtain a first distance difference; The acceleration of the robot at the next moment is determined according to the first speed, the preset speed increment and the first distance difference.

3. The method according to claim 2, characterized in that Determining the acceleration of the robot at a next moment according to the first speed, the preset speed increment, and the first distance difference includes: Determining a predicted acceleration of the robot at a next moment according to the first speed, the preset speed increment, and the first distance difference; The predicted acceleration of the robot at the next moment is corrected to obtain the acceleration of the robot at the next moment.

4. The method according to claim 3, characterized in that: The predicted acceleration of the robot at the next moment Wherein, Vt is the first speed, D-Dd is the first distance difference, and ΔV is the preset speed increment.

5. The method according to claim 3, characterized in that: Correcting the predicted acceleration of the robot at the next moment to obtain the acceleration of the robot at the next moment includes: Predicting the predicted distance and predicted speed of the robot at the next moment according to the predicted acceleration of the robot at the next moment; Determining a correction acceleration of the robot at the next moment according to the predicted distance and predicted speed of the robot at the next moment; According to the corrected acceleration, the predicted acceleration of the robot at the next moment is corrected to obtain the acceleration of the robot at the next moment.

6. The method according to claim 5, characterized in that Determining a correction acceleration of the robot at the next moment according to the predicted distance and predicted speed of the robot at the next moment, comprising: Determine a difference between the preset distance and the predicted distance to obtain a second distance difference; The correction acceleration of the robot at the next moment is determined according to the predicted speed, the preset speed increment and the second distance difference.

7. The method according to claim 6, characterized in that The robot's corrected acceleration at the next moment Among them, V 预测 is the predicted speed, D-Dd ′ is the second distance difference, and ΔV is the preset speed increment.

8. The method according to any one of claims 1 to 7, characterized in that Controlling the operation of the robot at the next moment according to the acceleration of the robot at the next moment, comprising: Determining a second speed of the robot at the next moment according to the acceleration of the robot at the next moment; According to the second speed, the robot is controlled to accelerate at the next moment.

9. The method according to claim 8, characterized in that After controlling the robot to accelerate at the next moment according to the second speed, the method further includes: If it is monitored that the travel distance is greater than or equal to the preset distance, the robot is controlled to run at a uniform speed within a first uniform speed section according to the second speed; If it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance and the first uniform speed section distance, the third speed of the robot at the next moment is determined, and the robot is controlled to decelerate to the third speed within the first deceleration section distance; If it is monitored that the travel distance of the robot is greater than or equal to the sum of the preset distance, the first uniform speed section distance and the first deceleration section distance, the robot is controlled to run at a uniform speed within the second uniform speed section distance according to the third speed; If it is monitored that the remaining travel distance of the robot is less than or equal to the second deceleration section distance, the robot is controlled to decelerate and run to the end point and stop according to the third speed.

10. A robot control device, characterized in that: include: A first determination module is used to determine the travel distance of the robot at the current moment and determine a preset distance during the speed change driving process of the robot; wherein the travel distance represents the distance that the robot has traveled during the speed change driving process, and the preset distance represents the total distance that the robot needs to travel during the speed change driving process; a second determination module, configured to determine the acceleration of the robot at a next moment according to the travel distance, the preset distance and the first speed of the robot at a current moment; The control module is used to control the operation of the robot at the next moment according to the acceleration of the robot at the next moment.

11. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 9 when executed by a processor.

13. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

14. A robot, characterized in that: The robot is used to implement the method according to any one of claims 1-9.

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