Dynamic adjustment method for robot parameters, electronic equipment and storage medium

Abstract

The invention provides a dynamic adjustment method for robot parameters, electronic equipment and a storage medium, and the method comprises the steps: obtaining the current position of a collaborative robot and the current information of at least one pre-configured safety region corresponding to the collaborative robot, the current information of the security area comprises plane information of the security area and current function information of the security area; according to the current position and the current information of each safety area, a target safety area where the collaborative robot is located currently is determined, the target safety area comprises a working sub-area and a collaborative sub-area, and the collaborative sub-area is pre-configured with corresponding safety parameters; and adjusting the current safety parameter of the collaborative robot to be the safety parameter of the collaborative sub-region in the target safety region, so that the collaborative robot executes collaborative operation according to the safety parameter of the collaborative sub-region. Dynamic adjustment of the safety parameters of the collaborative robot is achieved, and the requirements of different safety areas for the safety parameters can be met.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a method for dynamically adjusting robot parameters, an electronic device, and a storage medium. Background Art

[0002] With the rapid development of artificial intelligence and robotics, collaborative robots are no longer just production tools, but partners that work closely with humans to complete tasks together. The development prospects of collaborative robots are broad, and they have shown great potential in manufacturing, healthcare, logistics and warehousing, agriculture, construction and other fields. Therefore, the safety requirements for collaborative robots are getting higher and higher.

[0003] In the prior art, the safety parameters of collaborative robots at work in different application scenarios are relatively fixed and cannot be adjusted safely and flexibly. Summary of the invention

[0004] The purpose of the present application is to provide a method for dynamic adjustment of robot parameters, an electronic device and a storage medium to improve the accuracy of dynamic adjustment of robot parameters in view of the deficiencies in the above-mentioned prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for dynamically adjusting robot parameters, the method comprising:

[0007] Acquire a current position of the collaborative robot and current information of at least one pre-configured safety zone corresponding to the collaborative robot, wherein the current information of the safety zone includes plane information of the safety zone and current function information of the safety zone, wherein the current function information is used to indicate whether a safety function of the safety zone is activated;

[0008] Determine the target safety area where the collaborative robot is currently located according to the current position and the current information of each of the safety areas, wherein the target safety area includes a working sub-area and a collaborative sub-area, and the collaborative sub-area is pre-configured with corresponding safety parameters;

[0009] The current safety parameters of the collaborative robot are adjusted to the safety parameters of the collaborative sub-area in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-area.

[0010] Optionally, determining the target safety area where the collaborative robot is currently located according to the current position and current information of each of the safety areas includes:

[0011] Determining at least one initial security area based on current information of each of the security areas;

[0012] Determine, according to the current position and the plane information of each of the initial safety areas, a positional relationship between the current position and each of the initial safety areas, and obtain a plurality of positional relationships, wherein the positional relationship is used to indicate that the current position of the collaborative robot is located in a collaborative sub-area or a working sub-area of ​​the initial safety area;

[0013] The target security area is determined according to the multiple position relationships and security parameters of the cooperative sub-areas in each of the initial security areas.

[0014] Optionally, determining the positional relationship between the current position and each of the initial safety areas according to the current position and the plane information of each of the initial safety areas includes:

[0015] Determine, according to the current position and the plane information of the initial safety area, a distance vector between the current position and the initial safety area, and obtain a distance vector result corresponding to the initial safety area;

[0016] The positional relationship between the current position and the initial safety area is determined according to the distance vector result corresponding to the initial safety area, the preset safety distance vector of the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area.

[0017] Optionally, determining at least one initial security area according to current information of each of the security areas includes:

[0018] Acquire current function information of the security area from current information of the security area;

[0019] Determining whether a function of the security zone is activated;

[0020] If so, the security area is used as the initial security area.

[0021] Optionally, determining the distance vector between the current position and each of the initial safety areas according to the current position and the plane information of each of the initial safety areas, and obtaining the distance vector result corresponding to each of the initial safety areas includes:

[0022] If the working sub-area and the cooperation sub-area in the initial safety area are divided by a first plane, a dot product result of the coordinates in the current position and the normal vector of the first plane is used as a distance vector result corresponding to the initial safety area;

[0023] If the working sub-area and the cooperative sub-area in the initial safety area are divided by a cube, the dot product results of the coordinates in the current position and the normal vectors of each second plane of the cube are calculated to obtain multiple dot product results, and the multiple dot product results are used as multiple distance vector results corresponding to the initial safety area.

[0024] Optionally, determining the positional relationship between the current position and the initial safety area according to the distance vector result corresponding to the initial safety area, the safety distance vector preset for the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area includes:

[0025] If the number of distance vector results corresponding to the initial safety area is one, determining a positional relationship between the current position and the initial safety area according to whether a direction of the distance vector result is consistent with a direction of a safety distance vector preset for the initial safety area;

[0026] If there are multiple distance vector results corresponding to the initial safety area, determine the positional relationship between the current position and the initial safety area based on the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and collaborative sub-area corresponding to the initial safety area.

[0027] Optionally, determining the positional relationship between the current position and the initial safety area according to the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area includes:

[0028] Determining an initial position relationship between the current position and the initial safety area according to the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safety area;

[0029] The positional relationship between the current position and the initial safety area is determined according to the preset positional relationship of the working sub-area relative to the initial safety area, the preset positional relationship of the cooperation sub-area relative to the initial safety area, and the initial positional relationship.

[0030] Optionally, determining the target safety area according to the multiple position relationships and preset safety parameters of each of the initial safety areas includes:

[0031] Determine at least one intermediate safety area according to the multiple position relationships, wherein the collaborative robot is located in a collaborative sub-area of ​​each of the intermediate safety areas;

[0032] If the number of the intermediate safety area is one, taking the intermediate safety area as the target safety area;

[0033] If there are multiple intermediate safety areas, the target safety area is determined according to the safety coefficient of the safety parameter of each intermediate safety area.

[0034] In a second aspect, an embodiment of the present application further provides a device for dynamically adjusting robot parameters, the device comprising:

[0035] an acquisition module, configured to acquire a current position of the collaborative robot and current information of at least one pre-configured safety zone corresponding to the collaborative robot, wherein the current information of the safety zone includes plane information of the safety zone and current function information of the safety zone, wherein the current function information is used to indicate whether a safety function of the safety zone is activated;

[0036] A determination module, configured to determine a target safety area where the collaborative robot is currently located according to the current position and current information of each of the safety areas, wherein the target safety area includes a working sub-area and a collaborative sub-area, and the collaborative sub-area is pre-configured with corresponding safety parameters;

[0037] An adjustment module is used to adjust the current safety parameters of the collaborative robot to the safety parameters of the collaborative sub-area in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-area.

[0038] Optionally, the determining module is specifically used to:

[0039] Determining at least one initial security area based on current information of each of the security areas;

[0040] Determine, according to the current position and the plane information of each of the initial safety areas, a positional relationship between the current position and each of the initial safety areas, and obtain a plurality of positional relationships, wherein the positional relationship is used to indicate that the current position of the collaborative robot is located in a collaborative sub-area or a working sub-area of ​​the initial safety area;

[0041] The target security area is determined according to the multiple position relationships and security parameters of the cooperative sub-areas in each of the initial security areas.

[0042] Optionally, the determining module is specifically used to:

[0043] Determine, according to the current position and the plane information of the initial safety area, a distance vector between the current position and the initial safety area, and obtain a distance vector result corresponding to the initial safety area;

[0044] The positional relationship between the current position and the initial safety area is determined according to the distance vector result corresponding to the initial safety area, the preset safety distance vector of the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area.

[0045] Optionally, the determining module is specifically used to:

[0046] Acquire current function information of the security area from current information of the security area;

[0047] Determining whether a function of the security zone is activated;

[0048] If so, the security area is used as the initial security area.

[0049] Optionally, the determining module is specifically used to:

[0050] If the working sub-area and the cooperation sub-area in the initial safety area are divided by a first plane, a dot product result of the coordinates in the current position and the normal vector of the first plane is used as a distance vector result corresponding to the initial safety area;

[0051] If the working sub-area and the cooperative sub-area in the initial safety area are divided by a cube, the dot product results of the coordinates in the current position and the normal vectors of each second plane of the cube are calculated to obtain multiple dot product results, and the multiple dot product results are used as multiple distance vector results corresponding to the initial safety area.

[0052] Optionally, the determining module is specifically used to:

[0053] If the number of distance vector results corresponding to the initial safety area is one, determining a positional relationship between the current position and the initial safety area according to whether a direction of the distance vector result is consistent with a direction of a safety distance vector preset for the initial safety area;

[0054] If there are multiple distance vector results corresponding to the initial safety area, determine the positional relationship between the current position and the initial safety area based on the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and collaborative sub-area corresponding to the initial safety area.

[0055] Optionally, the determining module is specifically used to:

[0056] Determining an initial position relationship between the current position and the initial safety area according to the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safety area;

[0057] The positional relationship between the current position and the initial safety area is determined according to the preset positional relationship of the working sub-area relative to the initial safety area, the preset positional relationship of the cooperation sub-area relative to the initial safety area, and the initial positional relationship.

[0058] Optionally, the determining module is specifically used to:

[0059] Determine at least one intermediate safety area according to the multiple position relationships, wherein the collaborative robot is located in a collaborative sub-area of ​​each of the intermediate safety areas;

[0060] If the number of the intermediate safety area is one, taking the intermediate safety area as the target safety area;

[0061] If there are multiple intermediate safety areas, the target safety area is determined according to the safety coefficient of the safety parameter of each intermediate safety area.

[0062] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to perform the steps of the dynamic adjustment method of robot parameters described in the first aspect above.

[0063] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the method for dynamically adjusting robot parameters described in the first aspect above.

[0064] The beneficial effects of this application are:

[0065] The present application provides a method for dynamically adjusting robot parameters, an electronic device, and a storage medium. The target safety zone where the collaborative robot is currently located is determined based on the current position of the collaborative robot and the current information of at least one pre-configured safety zone corresponding to the collaborative robot, so that the current safety parameters of the collaborative robot can be adjusted to the safety parameters of the collaborative sub-zone in the target safety zone, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-zone. When the collaborative robot is in different target safety zones, the safety parameters when performing collaborative operations are also different, thereby achieving dynamic adjustment of the safety parameters of the collaborative robot, meeting the requirements of different safety zones for safety parameters, and without strict restrictions on the collaborative robot, which can improve the production efficiency and safety of the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0067] Figure 1 A schematic diagram of a flow chart of a method for dynamically adjusting robot parameters provided in an embodiment of the present application;

[0068] Figure 2 A flowchart of a method for determining a target safety area provided in an embodiment of the present application;

[0069] Figure 3 A flowchart of another method for determining a target safety area provided in an embodiment of the present application;

[0070] Figure 4 A schematic diagram of a flow chart of a method for determining a distance vector result provided in an embodiment of the present application;

[0071] Figure 5 A flowchart of a method for determining a position relationship provided in an embodiment of the present application;

[0072] Figure 6 A flowchart of another method for determining a position relationship provided in an embodiment of the present application;

[0073] Figure 7 A flowchart of another method for determining a target safety area provided in an embodiment of the present application;

[0074] Figure 8 A schematic diagram of a device for a method for dynamically adjusting robot parameters provided in an embodiment of the present application;

[0075] Fig. 9 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0076] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme 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. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0077] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0078] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0079] The inability to dynamically adjust the safety parameters of collaborative robots in a safe and flexible manner has become an obstacle to some application scenarios. For important collaborative safety parameters, most manufacturers have relatively strict restrictions on the adjustment of these parameters, and generally do not allow unsafe behaviors to adjust these parameters; to ensure safety, the machine speed will generally be reduced accordingly, and the load capacity will also be affected to a certain extent. Therefore, although collaborative safety is guaranteed under fixed safety configuration parameters, work efficiency will be reduced. In application scenarios such as scraping glue and screwing, which require the machine to overcome external relative forces, the collision detection function will become an obstacle. Therefore, this application proposes a method for dynamic adjustment of robot parameters.

[0080] Optionally, the method for dynamically adjusting robot parameters provided in the embodiment of the present application is applied to an electronic device, which may be a terminal device with computing and display capabilities, such as a mobile phone, a tablet computer, a laptop computer, a PDA, a desktop computer, or a server. Specifically, it can be applied to applications in terminal devices, such as: APP (application) of a mobile phone, an application system on a computer, etc. The electronic device can be set in the robot, or it can be an electronic device connected to the robot, and the dynamic adjustment method for robot parameters provided in the embodiment of the present application is used to realize the dynamic adjustment of the safety parameters of the collaborative robot.

[0081] The specific implementation process of the dynamic adjustment of robot parameters provided in the embodiments of the present application is explained in detail below.

[0082] Figure 1 The present invention provides a flow chart of a method for dynamically adjusting robot parameters, wherein the execution subject of the method is the aforementioned electronic device. Figure 1 As shown, the method includes:

[0083] S101. Obtain the current position of the collaborative robot and current information of at least one pre-configured safety area corresponding to the collaborative robot.

[0084] Optionally, the collaborative robot can move in a factory workshop, which can be divided into multiple safety zones. For the collaborative robot, the collaborative robot can perform collaborative operations in one or more safety zones in the factory workshop. Then, at least one pre-configured safety zone corresponding to the collaborative robot refers to the safety zone where the collaborative robot performs collaborative operations.

[0085] For example, if the factory workshop is divided into 6 safety areas, such as safety area 1, safety area 2, safety area 3, safety area 4, safety area 5 and safety area 6. For collaborative robot A, collaborative operations can be performed in 3 of the 6 safety areas, for example, collaborative operations can be performed in safety area 2, safety area 3 and safety area 4. Then, at least one pre-configured safety area corresponding to collaborative robot A is safety area 2, safety area 3 and safety area 4.

[0086] Optionally, when the collaborative robot moves to the current position, the current information of at least one safety zone pre-configured with the collaborative robot can be obtained. The current information of the safety zone may include: the plane information of the safety zone and the current functional information of the safety zone. The current functional information of the safety zone can be used to indicate whether the safety function of the safety zone is activated. Specifically, the current functional information refers to whether the safety functions of each pre-configured safety zone corresponding to the collaborative robot are activated when the collaborative robot is at the current position.

[0087] Optionally, if the security function of the security area is activated, it means that the security area includes a working sub-area and a collaborative sub-area; if the security function of the security area is not activated, it means that the security function of the security area is turned off, that is, there is only a working sub-area in the security area.

[0088] Optionally, the plane information of the safety area may include: the number of planes in the safety area, plane identifiers, plane normal vector information, and safety surface points of the safety area.

[0089] S102. Determine the target safety area where the collaborative robot is currently located based on the current position and current information of each safety area.

[0090] The target safety area is a safety area including a working sub-area and a cooperation sub-area, which means that the safety function of the determined target safety area is an activated safety area, and the cooperation sub-area is pre-configured with corresponding safety parameters.

[0091] For example, the target safety area of ​​the collaborative robot can be determined using a preset method based on the current position of the collaborative robot A and the current information of the pre-configured safety area 2, the current information of the safety area 3, and the current information of the safety area 4 corresponding to the collaborative robot A.

[0092] S103: Adjust the current safety parameters of the collaborative robot to the safety parameters of the collaborative sub-area in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-area.

[0093] Optionally, when the target safety area is determined, it means that the current position of the collaborative robot is in the collaborative sub-area of ​​the target safety area, and the current safety parameters of the collaborative robot can be adjusted to the safety parameters of the collaborative sub-area in the target safety area, so that the collaborative robot performs collaborative operations in the collaborative sub-area in the target safety area according to the safety parameters of the collaborative sub-area. The safety parameters of the collaborative sub-area in the target safety area may include parameters such as speed, robot elbow speed, transport capacity, mechanical power, maximum stop time, maximum stop distance, and collision sensitivity.

[0094] Optionally, if the aforementioned electronic device is set inside the robot, the collaborative robot can directly obtain the safety parameters of the collaborative sub-area in the target safety area, and adjust the current safety parameters of the collaborative robot to the safety parameters of the collaborative sub-area in the target safety area. If the aforementioned electronic device is an external electronic device connected to the robot, the electronic device can send the safety parameters of the collaborative sub-area in the target safety area to the collaborative robot, so that the collaborative robot performs collaborative operations in the collaborative sub-area in the target safety area according to the safety parameters of the collaborative sub-area in the target safety area.

[0095] In this embodiment, the target safety zone where the collaborative robot is currently located is determined based on the current position of the collaborative robot and the current information of at least one pre-configured safety zone corresponding to the collaborative robot, so that the current safety parameters of the collaborative robot can be adjusted to the safety parameters of the collaborative sub-zone in the target safety zone, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-zone. When the collaborative robot is in different target safety zones, the safety parameters when performing collaborative operations are also different, thereby realizing the dynamic adjustment of the safety parameters of the collaborative robot, meeting the requirements of different safety zones for safety parameters, and without strict restrictions on the collaborative robot, which can improve the production efficiency and safety of the collaborative robot.

[0096] Figure 2 A flow chart of a method for determining a target safety area provided in an embodiment of the present application is shown as follows: Figure 2 As shown, in the above S102, determining the target safety area where the collaborative robot is currently located according to the current position and the current information of each safety area may include:

[0097] S201. Determine at least one initial security zone according to current information of each security zone.

[0098] Optionally, at least one initial safety area may be determined based on current functional information of each pre-configured safety area corresponding to the collaborative robot.

[0099] Exemplarily, for the pre-configured safety area 2, safety area 3, and safety area 4 corresponding to the collaborative robot A, the initial safety areas can be determined as safety area 2 and safety area 3 using a preset method based on current information of each safety area.

[0100] S202: Determine the positional relationship between the current position and each initial safety area according to the current position and the plane information of each initial safety area, and obtain a plurality of positional relationships.

[0101] The position relationship refers to that the current position of the collaborative robot is located in the collaborative sub-area or the working sub-area of ​​the initial safety area.

[0102] For example, for collaborative robot A, the initial safety areas determined are safety area 2 and safety area 3. Then, based on the current position of collaborative robot A and the plane information of safety area 2 and the plane information of safety area 3, the positional relationship between the current position of collaborative robot and safety area 2 and the positional relationship between the current position of collaborative robot and safety area 3 can be determined. Specifically, it can be determined whether the current position of collaborative robot A is located in the collaborative sub-area or working sub-area of ​​safety area 2, and whether collaborative robot A is located in the collaborative sub-area or working sub-area of ​​safety area 3.

[0103] S203: Determine a target security area according to the multiple position relationships and security parameters of the cooperative sub-areas in each initial security area.

[0104] Optionally, after determining the positional relationship between the collaborative robot and each initial safety area, a preset method may be used to determine the target safety area based on the obtained multiple positional relationships and safety parameters of the collaborative sub-areas in each initial safety area.

[0105] Figure 3 A flowchart of another method for determining a target safety area provided in an embodiment of the present application is shown as follows: Figure 3 As shown, in the above S202, determining the positional relationship between the current position and each initial safety area according to the current position and the plane information of each initial safety area may include:

[0106] S301. Determine a distance vector between the current position and the initial safety area according to the current position and the plane information of the initial safety area, and obtain a distance vector result corresponding to the initial safety area.

[0107] Optionally, the distance vector between the current position and the initial safety area may indicate the relative position of the current position and the initial safety area.

[0108] S302: Determine the positional relationship between the current position and the initial safety area according to the distance vector result corresponding to the initial safety area, the preset safety distance vector of the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area.

[0109] Optionally, a preset method can be used based on the distance vector result corresponding to the initial safety area, the preset safety distance vector of the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and collaborative sub-area corresponding to the initial safety area to determine whether the current position of the collaborative robot is located in the collaborative sub-area or the working sub-area of ​​the initial safety area.

[0110] It is worth noting that S301 to S302 are the process of determining the positional relationship between the collaborative robot and an initial safety area. The process of determining the positional relationship between the current position and other initial safety areas is the same and will not be repeated here.

[0111] Optionally, the determining of at least one initial security zone according to current information of each security zone in S201 may include:

[0112] Optionally, current function information of the security zone may be obtained from the current information of the security zone to determine whether the function of the security zone is activated. If activated, the security zone is used as the initial security zone.

[0113] Exemplarily, for collaborative robot A, the initial safety areas determined are safety area 2 and safety area 3, wherein, when collaborative robot A is in the current position, only the safety functions of safety area 2 and safety area 3 are activated, and the safety function of safety area 4 is turned off, then the initial safety areas are safety area 2 and safety area 3.

[0114] Figure 4 A flow chart of a method for determining a distance vector result provided in an embodiment of the present application is shown as follows: Figure 4 As shown, in the above S301, determining the distance vector between the current position and the initial safety area according to the current position and the plane information of the initial safety area, and obtaining the distance vector result corresponding to the initial safety area may include:

[0115] S401: If the working sub-area and the cooperation sub-area in the initial safety area are divided by a first plane, the dot product result of the coordinates in the current position and the normal vector of the first plane is used as a distance vector result corresponding to the initial safety area.

[0116] Optionally, if the working sub-area and the collaborative sub-area in the initial safety area are divided by a first plane, it means that the first plane of the initial safety area is divided into two areas, one area is an area on one side of the first plane, such as the left area of ​​the first plane, and the other area is an area on the other side of the first plane, such as the right area of ​​the first plane.

[0117] Specifically, the dot product result of the coordinates in the current position and the normal vector of the first plane can be obtained by the following formula (1).

[0118]

[0119] Among them, A, B, C are the components of the normal vector of the first plane, (x1, y1, z1) are the coordinates of the current position of the collaborative robot, and D is a constant.

[0120] S402. If the working sub-area and the cooperative sub-area in the initial safety area are divided by a cube, the dot product results of the coordinates in the current position and the normal vectors of each second plane of the cube are calculated to obtain multiple dot product results, and the multiple dot product results are used as multiple distance vector results corresponding to the initial safety area.

[0121] Optionally, if the working sub-area and the cooperation sub-area in the initial safety area are divided by a cube, it can be explained that the initial safety area is divided into an inner area of ​​the cube and an outer area of ​​the cube.

[0122] Optionally, the above formula (1) can be used to calculate the dot product result of the coordinates in the current position and the normal vectors of each second plane of the cube, and the dot product result of the current position and each second plane can be obtained. If the cube includes four second planes, four dot product results can be obtained, and these four dot product results are used as multiple distance vector results of the initial safety area.

[0123] Figure 5 A flow chart of a method for determining a position relationship provided in an embodiment of the present application is shown as follows: Figure 5 As shown, in the above S302, determining the positional relationship between the current position and the initial safety area according to the distance vector result corresponding to the initial safety area, the safety distance vector preset in the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area may include:

[0124] S501: If the number of distance vector results corresponding to the initial safety area is one, determine the positional relationship between the current position and the initial safety area according to whether the direction of the distance vector result is consistent with the direction of the safety distance vector preset for the initial safety area.

[0125] Optionally, if the number of distance vector results corresponding to the initial safety area is one, it means that the initial safety area is divided by a first plane, and there is a preset safety distance vector for the initial safety area divided by a first plane, and the direction of the preset safety distance vector can indicate the direction of the working sub-area of ​​the initial safety area. For example, for safety area 2 divided by a first plane, the direction of the preset safety distance vector is to the left, which means that the left side of safety area 2 is the working sub-area, and the right side of safety area 2 is the collaborative sub-area.

[0126] Optionally, if the direction of the distance vector result of the initial safety distance is consistent with the direction of the safety distance vector preset in the initial safety area, it means that the current position of the collaborative robot is in the working sub-area of ​​the initial safety area; if the direction of the distance vector result of the initial safety distance is inconsistent with the direction of the safety distance vector preset in the initial safety area, it means that the current position of the collaborative robot is in the collaborative sub-area of ​​the initial safety area.

[0127] S502: If there are multiple distance vector results corresponding to the initial safety area, determine the positional relationship between the current position and the initial safety area based on the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area.

[0128] Optionally, if there are multiple distance vector results corresponding to the initial safety area, it means that the initial safety area is divided by a cube. The center distance vector refers to the distance vector from the center point of the cube to the second planes of the cube. The center distance vector can indicate the relative position of the center point of the cube and the second planes of the cube, that is, the direction of the center distance vector can indicate the internal area of ​​the cube.

[0129] Optionally, a preset method can be used to determine the positional relationship between the current position of the collaborative robot and the initial safety area based on multiple distance vector results, the center distance vector corresponding to the initial safety area, and the working sub-area and collaborative sub-area corresponding to the initial safety area.

[0130] Figure 6 A flow chart of another method for determining a position relationship provided in an embodiment of the present application is shown as follows: Figure 6 As shown, in the above S502, if the number of distance vector results corresponding to the initial safety area is multiple, determining the positional relationship between the current position and the initial safety area according to the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area may include:

[0131] S601: Determine an initial position relationship between a current position and an initial safety area according to directions of multiple distance vector results and a direction of a center distance vector corresponding to an initial safety area.

[0132] Optionally, the initial position relationship is whether the current position is located in an inner area or an outer area of ​​the initial safety area.

[0133] Specifically, if there is at least one distance vector in the multiple distance vector results whose direction is different from the directions of the other distance vectors, or the directions of the multiple distance vector results are the same but different from the direction of the center distance vector, then the initial position relationship between the current position and the initial safety area is determined to be that the current position is located in the outer area of ​​the initial safety area. If the directions of the multiple distance vector results are the same and are also the same as the direction of the center distance vector, then the initial position relationship between the current position and the initial safety area is determined to be that the current position is located in the inner area of ​​the initial safety area.

[0134] S602: Determine a positional relationship between the current position and the initial safety area according to a preset positional relationship between the working sub-area and the initial safety area, a preset positional relationship between the cooperation sub-area and the initial safety area, and the initial positional relationship.

[0135] Specifically, if the preset position relationship of the working sub-area of ​​the initial safety area relative to the initial safety area is: the working sub-area is the outer area of ​​the initial safety area, then the preset position relationship of the cooperative sub-area relative to the initial safety area is: the cooperative sub-area is the inner area of ​​the initial safety area. Then, when the outer area of ​​the initial safety area is the working sub-area and the inner area is the cooperative sub-area, if the initial position relationship is that the current position is located in the inner area of ​​the initial safety area, then the current position of the cooperative robot can be determined to be the cooperative sub-area of ​​the initial safety area; if the initial position relationship is that the current position is located in the outer area of ​​the initial safety area, then the current position of the cooperative robot can be determined to be the working sub-area of ​​the initial safety area.

[0136] Specifically, if the preset position relationship of the working sub-area of ​​the initial safety area relative to the initial safety area is: the working sub-area is the internal area of ​​the initial safety area, then the preset position relationship of the cooperative sub-area relative to the initial safety area is: the cooperative sub-area is the external area of ​​the initial safety area. Then, when the internal area of ​​the initial safety area is the working sub-area and the external area is the cooperative sub-area, if the initial position relationship is that the current position is located in the internal area of ​​the initial safety area, then the current position of the cooperative robot can be determined to be the working sub-area of ​​the initial safety area; if the initial position relationship is that the current position is located in the external area of ​​the initial safety area, then the current position of the cooperative robot can be determined to be the cooperative sub-area of ​​the initial safety area.

[0137] Figure 7 A flowchart of another method for determining a target safety area provided in an embodiment of the present application is shown as follows: Figure 7 As shown, in the above S203, determining the target security area according to the multiple position relationships and the security parameters of the cooperative sub-areas in each initial security area may include:

[0138] S701. Determine at least one intermediate safety area according to multiple position relationships.

[0139] Among them, the collaborative robots are located in the collaborative sub-areas of each intermediate safety area.

[0140] Optionally, the intermediate safety area can be determined according to the cooperative sub-area or working sub-area of ​​each initial safety area where the collaborative robot is located. Specifically, if the current position of the collaborative robot is located in the cooperative sub-area of ​​the initial safety area, the initial safety area is used as the intermediate safety area.

[0141] S702: If the number of the intermediate safety area is one, use the intermediate safety area as the target safety area.

[0142] For example, if the current position of collaborative robot A is located in the collaborative sub-area of ​​safety area 2, and the current position of collaborative robot A is located in the working sub-area of ​​safety area 3, then the intermediate safety area only has safety area 2, and safety area 2 is used as the target safety area.

[0143] S703: If there are multiple intermediate safety zones, determine a target safety zone according to safety parameters of each intermediate safety zone.

[0144] Optionally, if there are multiple intermediate safety areas, it can be explained that the current position of the collaborative robot is in a collaborative sub-area of ​​multiple safety areas.

[0145] For example, if the current position of collaborative robot A is located in the collaborative sub-area of ​​safety area 2, and the current position of collaborative robot A is located in the collaborative sub-area of ​​safety area 3, then the intermediate safety area includes safety area 2 and safety area 3, and the target safety area is determined according to the safety parameters of safety area 2 and safety area 3. Specifically, the target safety area can be determined according to the safety parameters of the collaborative sub-area of ​​safety area 2 and the safety parameters of the collaborative sub-area of ​​safety area 3. For example, the intermediate safety area with a high safety parameter coefficient can be selected as the target safety parameter.

[0146] Optionally, when the collaborative robot leaves the target safety area, the safety parameters of the collaborative robot are switched to default safety parameters.

[0147] Optionally, the states of the collaborative robot in the collaborative sub-area of ​​the safety area may include: stop motion state, pause state, low speed state, and only output signal and switch collision sensitivity state, which can meet the needs of different safety responses in different scenarios. At present, the general state of the collaborative robot is the stop state.

[0148] Optionally, when the collaborative robot needs to move quickly in a certain working sub-area, the speed and other related parameters of the working sub-area can be adjusted to ensure the production efficiency of the collaborative robot machine. The safety parameter adjustment method in this application can dynamically adjust the safety parameters by simply interacting with external devices. In addition, the safety parameter adjustment method in this application is independent of the operating procedures executed by the machine, which improves the convenience of multiple debugging and deployment.

[0149] Figure 8 A schematic diagram of a device for a method for dynamically adjusting robot parameters provided in an embodiment of the present application, such as Figure 8 As shown, the device comprises:

[0150] An acquisition module 801 is used to acquire the current position of the collaborative robot and current information of at least one pre-configured safety zone corresponding to the collaborative robot, wherein the current information of the safety zone includes plane information of the safety zone and current function information of the safety zone, and the current function information is used to indicate whether the safety function of the safety zone is activated;

[0151] A determination module 802 is used to determine the target safety area where the collaborative robot is currently located according to the current position and the current information of each of the safety areas, wherein the target safety area includes a working sub-area and a collaborative sub-area, and the collaborative sub-area is pre-configured with corresponding safety parameters;

[0152] The adjustment module 803 is used to adjust the current safety parameters of the collaborative robot to the safety parameters of the collaborative sub-area in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-area.

[0153] Optionally, the determining module 802 is specifically configured to:

[0154] Determining at least one initial security area based on current information of each of the security areas;

[0155] Determine, according to the current position and the plane information of each of the initial safety areas, a positional relationship between the current position and each of the initial safety areas, and obtain a plurality of positional relationships, wherein the positional relationship is used to indicate that the current position of the collaborative robot is located in a collaborative sub-area or a working sub-area of ​​the initial safety area;

[0156] The target security area is determined according to the multiple position relationships and security parameters of the cooperative sub-areas in each of the initial security areas.

[0157] Optionally, the determining module 802 is specifically configured to:

[0158] Determine, according to the current position and the plane information of the initial safety area, a distance vector between the current position and the initial safety area, and obtain a distance vector result corresponding to the initial safety area;

[0159] The positional relationship between the current position and the initial safety area is determined according to the distance vector result corresponding to the initial safety area, the preset safety distance vector of the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area.

[0160] Optionally, the determining module 802 is specifically configured to:

[0161] Acquire current function information of the security area from current information of the security area;

[0162] Determining whether a function of the security zone is activated;

[0163] If so, the security area is used as the initial security area.

[0164] Optionally, the determining module 802 is specifically configured to:

[0165] If the working sub-area and the cooperation sub-area in the initial safety area are divided by a first plane, a dot product result of the coordinates in the current position and the normal vector of the first plane is used as a distance vector result corresponding to the initial safety area;

[0166] If the working sub-area and the cooperative sub-area in the initial safety area are divided by a cube, the dot product results of the coordinates in the current position and the normal vectors of each second plane of the cube are calculated to obtain multiple dot product results, and the multiple dot product results are used as multiple distance vector results corresponding to the initial safety area.

[0167] Optionally, the determining module 802 is specifically configured to:

[0168] If the number of distance vector results corresponding to the initial safety area is one, determining a positional relationship between the current position and the initial safety area according to whether a direction of the distance vector result is consistent with a direction of a safety distance vector preset for the initial safety area;

[0169] If there are multiple distance vector results corresponding to the initial safety area, determine the positional relationship between the current position and the initial safety area based on the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and collaborative sub-area corresponding to the initial safety area.

[0170] Optionally, the determining module 802 is specifically configured to:

[0171] Determining an initial position relationship between the current position and the initial safety area according to the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safety area;

[0172] The positional relationship between the current position and the initial safety area is determined according to the preset positional relationship of the working sub-area relative to the initial safety area, the preset positional relationship of the cooperation sub-area relative to the initial safety area, and the initial positional relationship.

[0173] Optionally, the determining module 802 is specifically configured to:

[0174] Determine at least one intermediate safety area according to the multiple position relationships, wherein the collaborative robot is located in a collaborative sub-area of ​​each of the intermediate safety areas;

[0175] If the number of the intermediate safety area is one, taking the intermediate safety area as the target safety area;

[0176] If there are multiple intermediate safety areas, the target safety area is determined according to the safety coefficient of the safety parameter of each intermediate safety area.

[0177] Fig. 9 This is a structural block diagram of an electronic device 900 provided in an embodiment of the present application. The electronic device can be, for example, a robot parameter dynamic adjustment device as described in the above embodiment. Fig. 9 As shown, the electronic device may include: a processor 901 and a memory 902 .

[0178] Optionally, a bus 903 may also be included, wherein the memory 902 is used to store machine-readable instructions executable by the processor 901. When the electronic device 900 is running, the processor 901 communicates with the memory 902 through the bus 903. When the machine-readable instructions are executed by the processor 901, the method steps in the above method embodiment are performed.

[0179] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps in the above-mentioned embodiment of the method for dynamically adjusting robot parameters are executed.

[0180] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules 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 communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0181] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0182] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for dynamically adjusting robot parameters, characterized in that: The method comprises: Acquire a current position of the collaborative robot and current information of at least one pre-configured safety zone corresponding to the collaborative robot, wherein the current information of the safety zone includes plane information of the safety zone and current function information of the safety zone, wherein the current function information is used to indicate whether a safety function of the safety zone is activated; Determine the target safety area where the collaborative robot is currently located according to the current position and the current information of each of the safety areas, wherein the target safety area includes a working sub-area and a collaborative sub-area, and the collaborative sub-area is pre-configured with corresponding safety parameters; The current safety parameters of the collaborative robot are adjusted to the safety parameters of the collaborative sub-area in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-area.

2. The method for dynamically adjusting robot parameters according to claim 1, characterized in that: The step of determining the target safety area where the collaborative robot is currently located according to the current position and the current information of each safety area includes: Determining at least one initial security area based on current information of each of the security areas; Determine, according to the current position and the plane information of each of the initial safety areas, a positional relationship between the current position and each of the initial safety areas, and obtain a plurality of positional relationships, wherein the positional relationship is used to indicate that the current position of the collaborative robot is located in a collaborative sub-area or a working sub-area of ​​the initial safety area; The target security area is determined according to the multiple position relationships and security parameters of the cooperative sub-areas in each of the initial security areas.

3. The method for dynamically adjusting robot parameters according to claim 2, characterized in that: The determining, according to the current position and the plane information of each of the initial safety areas, a positional relationship between the current position and each of the initial safety areas comprises: Determine, according to the current position and the plane information of the initial safety area, a distance vector between the current position and the initial safety area, and obtain a distance vector result corresponding to the initial safety area; The positional relationship between the current position and the initial safety area is determined according to the distance vector result corresponding to the initial safety area, the preset safety distance vector of the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the collaborative sub-area corresponding to the initial safety area.

4. The method for dynamically adjusting robot parameters according to claim 2, characterized in that: The step of determining at least one initial security zone according to the current information of each of the security zones comprises: Acquire current function information of the security area from current information of the security area; Determining whether a function of the security zone is activated; If so, the security area is used as the initial security area.

5. The method for dynamically adjusting robot parameters according to claim 3, characterized in that: The determining, based on the current position and the plane information of each of the initial safety areas, the distance vector between the current position and each of the initial safety areas, and obtaining the distance vector result corresponding to each of the initial safety areas, includes: If the working sub-area and the cooperation sub-area in the initial safety area are divided by a first plane, a dot product result of the coordinates in the current position and the normal vector of the first plane is used as a distance vector result corresponding to the initial safety area; If the working sub-area and the cooperative sub-area in the initial safety area are divided by a cube, the dot product results of the coordinates in the current position and the normal vectors of each second plane of the cube are calculated to obtain multiple dot product results, and the multiple dot product results are used as multiple distance vector results corresponding to the initial safety area.

6. The method for dynamically adjusting robot parameters according to claim 3, characterized in that: The determining, according to the distance vector result corresponding to the initial safety area, the safety distance vector preset for the initial safety area, the center distance vector corresponding to the initial safety area, and the working sub-area and the cooperative sub-area corresponding to the initial safety area, a positional relationship between the current position and the initial safety area comprises: If the number of distance vector results corresponding to the initial safety area is one, determining a positional relationship between the current position and the initial safety area according to whether a direction of the distance vector result is consistent with a direction of a safety distance vector preset for the initial safety area; If there are multiple distance vector results corresponding to the initial safety area, the positional relationship between the current position and the initial safety area is determined based on the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and collaborative sub-area corresponding to the initial safety area.

7. The method for dynamically adjusting robot parameters according to claim 6, characterized in that: The determining, according to the multiple distance vector results, the central distance vector corresponding to the initial safety area, and the working sub-area and the cooperative sub-area corresponding to the initial safety area, a positional relationship between the current position and the initial safety area comprises: Determining an initial position relationship between the current position and the initial safety area according to the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safety area; The positional relationship between the current position and the initial safety area is determined according to the preset positional relationship of the working sub-area relative to the initial safety area, the preset positional relationship of the cooperation sub-area relative to the initial safety area, and the initial positional relationship.

8. The method for dynamically adjusting robot parameters according to claim 2, characterized in that: The determining the target safety area according to the multiple position relationships and the preset safety parameters of each of the initial safety areas includes: Determine at least one intermediate safety area according to the multiple position relationships, wherein the collaborative robot is located in a collaborative sub-area of ​​each of the intermediate safety areas; If the number of the intermediate safety area is one, taking the intermediate safety area as the target safety area; If there are multiple intermediate safety areas, the target safety area is determined according to the safety coefficient of the safety parameter of each intermediate safety area.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor implements the steps of the method for dynamically adjusting robot parameters as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for dynamically adjusting robot parameters as described in any one of claims 1 to 8 are executed.

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