Method for dynamically adjusting robot parameters, electronic device, and storage medium

Abstract

The application provides a dynamic adjustment method of robot parameters, an electronic device and a storage medium. The method comprises the following steps: obtaining a current position of a collaborative robot and current information of at least one pre-configured safety area corresponding to the collaborative robot, wherein the current information of the safety area comprises plane information of the safety area and current function information of the safety area; determining a target safety area in which the collaborative robot is currently located according to the current position and the current information of each safety area, wherein 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 a current safety parameter of the collaborative robot to a safety parameter of the collaborative sub-area in the target safety area, so that the collaborative robot performs a collaborative operation according to the safety parameter of the collaborative sub-area. The safety parameter of the collaborative robot is dynamically adjusted, and the safety parameter demand of different safety areas can be met.

Description

Technical Field

[0001] This application relates to the field of robotics, and more specifically, to a method for dynamically adjusting robot parameters, an electronic device, and a storage medium. Background Technology

[0002] With the rapid development of artificial intelligence and robotics, collaborative robots are no longer merely production tools, but rather partners working closely with humans to accomplish tasks. Collaborative robots have broad development prospects, demonstrating enormous potential in manufacturing, healthcare, logistics and warehousing, agriculture, and construction. Therefore, the safety requirements for collaborative robots are becoming increasingly stringent.

[0003] In existing technologies, the safety parameters of collaborative robots are relatively fixed in different application scenarios, and cannot be adjusted safely and flexibly. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of the prior art by providing a method, electronic device, and storage medium for dynamically adjusting robot parameters, thereby improving the accuracy of dynamic adjustment of robot parameters.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a method for dynamically adjusting robot parameters, the method comprising:

[0007] The current position of the collaborative robot and the current information of at least one pre-configured safe zone corresponding to the collaborative robot are obtained. The current information of the safe zone includes the planar information of the safe zone and the current functional information of the safe zone. The current functional information is used to indicate whether the safety function of the safe zone is activated.

[0008] Based on the current location and the current information of each of the safety zones, the target safety zone where the collaborative robot is currently located is determined. The target safety zone includes a working sub-zone and a collaborative sub-zone, and the collaborative sub-zone 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-region within the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-region.

[0010] Optionally, determining the target safe area where the collaborative robot is currently located based on the current location and the current information of each of the safe areas includes:

[0011] Based on the current information of each of the security zones, at least one initial security zone is determined;

[0012] Based on the current position and the planar information of each initial safety zone, the positional relationship between the current position and each initial safety zone is determined, resulting in multiple positional relationships. These positional relationships are used to indicate that the current position of the collaborative robot is located in the collaborative sub-region or working sub-region of the initial safety zone.

[0013] The target security area is determined based on the multiple positional relationships and the security parameters of the cooperative sub-regions in each of the initial security areas.

[0014] Optionally, determining the positional relationship between the current location and each of the initial safe zones based on the current location and the planar information of each of the initial safe zones includes:

[0015] Based on the current position and the planar information of the initial safe area, determine the distance vector between the current position and the initial safe area, and obtain the distance vector result corresponding to the initial safe area;

[0016] Based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined.

[0017] Optionally, determining at least one initial security zone based on the current information of each of the security zones includes:

[0018] Obtain the current functional information of the security area from the current information of the security area;

[0019] Determine whether the functionality of the security zone is activated;

[0020] If so, the safe area will be used as the initial safe area.

[0021] Optionally, determining the distance vector between the current position and each of the initial safe zones based on the current position and the planar information of each initial safe zone, and obtaining the distance vector result corresponding to each initial safe zone, includes:

[0022] If the working sub-region and the cooperative sub-region in the initial safe region are divided by a first plane, then the dot product 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 safe region.

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

[0024] Optionally, determining the positional relationship between the current position and the initial safe area based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area includes:

[0025] If the number of distance vector results corresponding to the initial safe area is one, the positional relationship between the current position and the initial safe area is determined based on whether the direction of the distance vector result is consistent with the direction of the preset safe distance vector of the initial safe area;

[0026] If there are multiple distance vector results corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area.

[0027] Optionally, determining the positional relationship between the current position and the initial safe area based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area includes:

[0028] Based on the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safe area, the initial positional relationship between the current position and the initial safe area is determined;

[0029] Based on the preset positional relationship between the working sub-region and the initial safe region, the preset positional relationship between the cooperative sub-region and the initial safe region, and the initial positional relationship, the positional relationship between the current position and the initial safe region is determined.

[0030] Optionally, determining the target security area based on the plurality of positional relationships and preset security parameters of each of the initial security areas includes:

[0031] At least one intermediate safety zone is determined based on the plurality of positional relationships, wherein the collaborative robot is located in a collaborative sub-region of each of the intermediate safety zones;

[0032] If there is only one intermediate security zone, then the intermediate security zone is taken as the target security zone.

[0033] If there are multiple intermediate safety zones, the target safety zone is determined based on the safety coefficient of the safety parameters of each intermediate safety zone.

[0034] Secondly, embodiments of this application also provide a dynamic adjustment device for robot parameters, the device comprising:

[0035] The acquisition module is used to acquire the current position of the collaborative robot and the current information of at least one pre-configured safe area corresponding to the collaborative robot. The current information of the safe area includes the planar information of the safe area and the current functional information of the safe area. The current functional information is used to indicate whether the safety function of the safe area is activated.

[0036] The determination module is used to determine the target safe area where the collaborative robot is currently located based on the current position and the current information of each of the safe areas. The target safe 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-region within the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-region.

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

[0039] Based on the current information of each of the security zones, at least one initial security zone is determined;

[0040] Based on the current position and the planar information of each initial safety zone, the positional relationship between the current position and each initial safety zone is determined, resulting in multiple positional relationships. These positional relationships are used to indicate that the current position of the collaborative robot is located in the collaborative sub-region or working sub-region of the initial safety zone.

[0041] The target security area is determined based on the multiple positional relationships and the security parameters of the cooperative sub-regions in each of the initial security areas.

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

[0043] Based on the current position and the planar information of the initial safe area, determine the distance vector between the current position and the initial safe area, and obtain the distance vector result corresponding to the initial safe area;

[0044] Based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined.

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

[0046] Obtain the current functional information of the security area from the current information of the security area;

[0047] Determine whether the functionality of the security zone is activated;

[0048] If so, the safe area will be used as the initial safe area.

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

[0050] If the working sub-region and the cooperative sub-region in the initial safe region are divided by a first plane, then the dot product 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 safe region.

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

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

[0053] If the number of distance vector results corresponding to the initial safe area is one, the positional relationship between the current position and the initial safe area is determined based on whether the direction of the distance vector result is consistent with the direction of the preset safe distance vector of the initial safe area;

[0054] If there are multiple distance vector results corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area.

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

[0056] Based on the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safe area, the initial positional relationship between the current position and the initial safe area is determined;

[0057] Based on the preset positional relationship between the working sub-region and the initial safe region, the preset positional relationship between the cooperative sub-region and the initial safe region, and the initial positional relationship, the positional relationship between the current position and the initial safe region is determined.

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

[0059] At least one intermediate safety zone is determined based on the plurality of positional relationships, wherein the collaborative robot is located in a collaborative sub-region of each of the intermediate safety zones;

[0060] If there is only one intermediate security zone, then the intermediate security zone is taken as the target security zone.

[0061] If there are multiple intermediate safety zones, the target safety zone is determined based on the safety coefficient of the safety parameters of each intermediate safety zone.

[0062] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the application runs, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the dynamic adjustment method for robot parameters described in the first aspect.

[0063] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is read and executes the steps of the dynamic adjustment method for robot parameters described in the first aspect.

[0064] The beneficial effects of this application are:

[0065] This application provides a method, electronic device, and storage medium for dynamically adjusting robot parameters. By determining the target safety zone where the collaborative robot is currently located based on its current position and the current information of at least one pre-configured safety zone corresponding to the robot, the current safety parameters of the collaborative robot can be adjusted to the safety parameters of a collaborative sub-region within the target safety zone. This allows the collaborative robot to perform collaborative operations according to the safety parameters of the collaborative sub-region. Therefore, when the collaborative robot is in different target safety zones, the safety parameters during collaborative operations will also be different, thus achieving dynamic adjustment of the collaborative robot's safety parameters. This can meet the safety parameter requirements of different safety zones without imposing strict restrictions on the collaborative robot, thereby improving the production efficiency and safety of the collaborative robot. Attached Figure Description

[0066] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0067] Figure 1 A flowchart illustrating a method for dynamically adjusting robot parameters provided in an embodiment of this application;

[0068] Figure 2 A flowchart illustrating a method for determining a target security area provided in an embodiment of this application;

[0069] Figure 3 A flowchart illustrating another method for determining a target security area provided in an embodiment of this application;

[0070] Figure 4 A flowchart illustrating a method for determining a distance vector result provided in an embodiment of this application;

[0071] Figure 5 A flowchart illustrating a method for determining positional relationships provided in an embodiment of this application;

[0072] Figure 6 A flowchart illustrating another method for determining positional relationships provided in an embodiment of this application;

[0073] Figure 7 A flowchart illustrating another method for determining a target security area provided in an embodiment of this application;

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

[0075] Figure 9 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0077] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0078] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence 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 hinders their application in some scenarios. For critical collaborative safety parameters, most manufacturers impose stringent restrictions on their adjustment, generally prohibiting unsafe behaviors. To ensure safety, the machine's operating speed is typically reduced, and its load capacity is also affected. Therefore, while fixed safety configuration parameters guarantee collaborative safety, work efficiency is reduced. In applications such as glue removal and screw driving, where the machine needs to overcome external forces, collision detection becomes a hindrance. Therefore, this application proposes a method for dynamically adjusting robot parameters.

[0080] Optionally, the dynamic adjustment method for robot parameters provided in this application embodiment can be applied to an electronic device, such as a mobile phone, tablet computer, laptop computer, PDA, desktop computer, or other terminal device with computing power and display function, or it can be a server. Specifically, it can be applied to an application in the terminal device, such as a mobile phone APP or a computer application system. The electronic device can be installed in the robot or can be an electronic device connected to the robot. Using the dynamic adjustment method for robot parameters provided in this application embodiment, the safety parameters of the collaborative robot can be dynamically adjusted.

[0081] The following section will explain in detail the specific implementation process of the dynamic adjustment of robot parameters provided in the embodiments of this application.

[0082] Figure 1 This is a flowchart illustrating a method for dynamically adjusting robot parameters provided in an embodiment of this application. The execution entity of this method is as described above, namely, an electronic device. Figure 1 As shown, the method includes:

[0083] S101. Obtain the current location of the collaborative robot and the current information of at least one pre-configured safe zone corresponding to the collaborative robot.

[0084] Optionally, the collaborative robot can move within a factory floor, which can be divided into multiple safe zones. The collaborative robot can perform collaborative operations within one or more of these safe zones. Therefore, the pre-configured at least one safe zone corresponding to the collaborative robot refers to the safe zone where the collaborative robot performs its collaborative operations.

[0085] For example, if a factory workshop is divided into six safety zones, such as safety zone 1, safety zone 2, safety zone 3, safety zone 4, safety zone 5, and safety zone 6, and a collaborative robot A can perform collaborative operations in three of these six safety zones, for example, in safety zone 2, safety zone 3, and safety zone 4, then the at least one pre-configured safety zone corresponding to collaborative robot A is safety zone 2, safety zone 3, and safety zone 4.

[0086] Optionally, when the collaborative robot moves to its current position, it can obtain current information about at least one pre-configured safety zone associated with the robot. This current information may include: planar information of the safety zone and current functional information of the safety zone. The current functional information can be used to indicate whether the safety functions of the safety zone are 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 robot is at its current position.

[0087] Optionally, if the security function of a security area is activated, it means that the security area includes both a work sub-area and a collaboration sub-area; if the security function of a security area is not activated, it means that the security function of the security area is disabled, i.e., the security area only contains the work sub-area.

[0088] Optionally, the planar information of the safe area may include: the number of planes in the safe area, plane identification, plane normal vector information, and safe facets of the safe area.

[0089] S102. Based on the current location and the current information of each safety zone, determine the target safety zone where the collaborative robot is currently located.

[0090] The target security area is a security area that includes a working sub-area and a collaborative sub-area. This means that the security function of the determined target security area is an activated security area, and the collaborative sub-area is pre-configured with corresponding security 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, safety area 3 and 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-region in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-region.

[0093] Optionally, when the target safe area is determined, it means that the collaborative robot's current position is within a collaborative sub-region of the target safe area. In this case, the collaborative robot's current safety parameters can be adjusted to match the safety parameters of the collaborative sub-region within the target safe area, allowing the collaborative robot to perform collaborative operations within that sub-region according to its safety parameters. The safety parameters of the collaborative sub-region within the target safe area may include parameters such as speed, robot elbow speed, carrying capacity, mechanical power, maximum stopping time, maximum stopping distance, and collision sensitivity.

[0094] Optionally, if the aforementioned electronic device is installed inside the robot, the collaborative robot can directly obtain the safety parameters of the collaborative sub-region within the target safety area and adjust its current safety parameters to match those of the collaborative sub-region within the target safety area. If the aforementioned electronic device is an external electronic device connected to the robot, it can send the safety parameters of the collaborative sub-region within the target safety area to the collaborative robot, enabling the collaborative robot to perform collaborative operations within the collaborative sub-region of the target safety area according to the safety parameters of that sub-region.

[0095] In this embodiment, the target safety zone where the collaborative robot is currently located is determined based on the robot's current position and the current information of at least one pre-configured safety zone corresponding to the robot. This allows the robot's current safety parameters to be adjusted to the safety parameters of a collaborative sub-region within the target safety zone, enabling the robot to perform collaborative operations according to these sub-region safety parameters. Therefore, the safety parameters differ when the robot is in different target safety zones, achieving dynamic adjustment of the robot's safety parameters. This meets the safety parameter requirements of different safety zones without imposing strict restrictions on the robot, improving both its production efficiency and safety.

[0096] Figure 2 A flowchart illustrating a method for determining a target security area provided in an embodiment of this application is shown below. Figure 2 As shown, in step S102 above, determining the target safe area where the collaborative robot is currently located based on its current position and the current information of each safe area may include:

[0097] S201. Based on the current information of each security zone, determine at least one initial security zone.

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

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

[0100] S202. Based on the current location and the planar information of each initial safe zone, determine the positional relationship between the current location and each initial safe zone, and obtain multiple positional relationships.

[0101] Among them, positional relationship refers to the current position of the collaborative robot being located in the collaborative sub-region or working sub-region of the initial safe area.

[0102] For example, for collaborative robot A, if the initial safe areas are safe area 2 and safe area 3, then based on the current position of collaborative robot A and the planar information of safe area 2 and safe area 3, the positional relationship between the current position of collaborative robot A and safe area 2, and between the current position of collaborative robot A and safe 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 the working sub-area of ​​safe area 2, and whether collaborative robot A is located in the collaborative sub-area or the working sub-area of ​​safe area 3.

[0103] S203. Determine the target security area based on multiple location relationships and the security parameters of the cooperative sub-regions in each initial security area.

[0104] Optionally, after determining the positional relationship between the collaborative robot and each initial safety zone, a target safety zone can be determined using a preset method based on the obtained multiple positional relationships and the safety parameters of the collaborative sub-regions in each initial safety zone.

[0105] Figure 3 A flowchart illustrating another method for determining a target security area provided in this application embodiment is shown below. Figure 3 As shown, in step S202 above, determining the positional relationship between the current position and each initial safety zone based on the current position and the planar information of each initial safety zone may include:

[0106] S301. Based on the current position and the planar information of the initial safe area, determine the distance vector between the current position and the initial safe area, and obtain the distance vector result corresponding to the initial safe area.

[0107] Optionally, the distance vector between the current location and the initial safe zone can indicate the relative position of the current location and the initial safe zone.

[0108] S302. Based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area, determine the positional relationship between the current position and the initial safe area.

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

[0110] It is worth noting that S301 to S302 are the processes for determining the positional relationship between the collaborative robot and an initial safe zone. The process for determining the positional relationship between the current position and other initial safe zones is the same and will not be elaborated here.

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

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

[0113] For example, for collaborative robot A, the initial safe areas are safe area 2 and safe area 3. When collaborative robot A is in its current position, only the safety functions of safe area 2 and safe area 3 are activated, while the safety function of safe area 4 is deactivated. Therefore, the initial safe areas are safe area 2 and safe area 3.

[0114] Figure 4 A flowchart illustrating a method for determining a distance vector result provided in an embodiment of this application is shown below. Figure 4 As shown, in step S301 above, determining the distance vector between the current position and the initial safe area based on the current position and the planar information of the initial safe area, and obtaining the distance vector result corresponding to the initial safe area, may include:

[0115] S401. If the working sub-region and the cooperative sub-region in the initial safe region are divided by a first plane, then the dot product of the coordinates at the current position and the normal vector of the first plane is used as a distance vector result corresponding to the initial safe region.

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

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

[0118]

[0119] Where A, B, and 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-region and the cooperative sub-region in the initial safe region are divided by a cube, calculate the dot product of the coordinates in the current position with the normal vectors of each second plane of the cube to obtain multiple dot product results, and use these multiple dot product results as multiple distance vector results corresponding to the initial safe region.

[0121] Optionally, if the working sub-region and the cooperative sub-region in the initial safe region are divided by a cube, it can be said that the initial safe region is divided into an inner region of the cube and an outer region of the cube.

[0122] Alternatively, the dot product of the coordinates at the current position with the normal vectors of each of the second planes of the cube can be calculated using the above formula (i). This yields the dot product of the current position with each second plane, thus providing the dot product of the coordinates at the current position with each second plane. If the cube includes four second planes, then four dot product results can be obtained, and these four dot product results can be used as multiple distance vector results for the initial safe area.

[0123] Figure 5 A flowchart illustrating a method for determining positional relationships provided in an embodiment of this application is shown below. Figure 5 As shown, in step S302 above, determining the positional relationship between the current position and the initial safe area based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area may include:

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

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

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

[0127] S502. If there are multiple distance vector results corresponding to the initial safe area, determine the positional relationship between the current position and the initial safe area based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area.

[0128] Optionally, if there are multiple distance vector results corresponding to the initial safe area, it means that the initial safe area is divided by a cube. In this case, the center distance vector refers to the distance vector from the center point of the cube to each of the second planes of the cube. The center distance vector can indicate the relative position of the center point of the cube to each of 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, the positional relationship between the current position of the collaborative robot and the initial safe area can be determined using a preset method based on multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-area and collaborative sub-area corresponding to the initial safe area.

[0130] Figure 6 A flowchart illustrating another method for determining positional relationships provided in this application embodiment is shown below. Figure 6 As shown, in S502 above, if there are multiple distance vector results corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area. This can include:

[0131] S601. Determine the initial positional relationship between the current position and the initial safe area based on the directions of multiple distance vector results and the direction of the center distance vector corresponding to the initial safe area.

[0132] Optionally, the initial positional relationship is whether the current position is located within or outside the initial safe zone.

[0133] Specifically, if at least one distance vector among multiple distance vector results has a direction different from the other distance vectors, or if multiple distance vector results have the same direction but a different direction from the center distance vector, then the initial positional relationship between the current position and the initial safe area is determined to be that the current position is located outside the initial safe area. If multiple distance vector results have the same direction and also have the same direction as the center distance vector, then the initial positional relationship between the current position and the initial safe area is determined to be that the current position is located inside the initial safe area.

[0134] S602. Determine the positional relationship between the current position and the initial safe area based on the preset positional relationship between the working sub-area and the initial safe area, the preset positional relationship between the cooperative sub-area and the initial safe area, and the initial positional relationship.

[0135] Specifically, if the preset positional relationship between the working sub-region and the initial safe region is that the working sub-region is outside the initial safe region, then the preset positional relationship between the collaborative sub-region and the initial safe region is that the collaborative sub-region is inside the initial safe region. Therefore, when the outer region of the initial safe region is the working sub-region and the inner region is the collaborative sub-region, if the initial positional relationship indicates that the current position is inside the initial safe region, then the current position of the collaborative robot can be determined as the collaborative sub-region of the initial safe region; if the initial positional relationship indicates that the current position is outside the initial safe region, then the current position of the collaborative robot can be determined as the working sub-region of the initial safe region.

[0136] Specifically, if the preset positional relationship between the working sub-region and the initial safe region is that the working sub-region is an internal region of the initial safe region, then the preset positional relationship between the collaborative sub-region and the initial safe region is that the collaborative sub-region is an external region of the initial safe region. Therefore, when the internal region of the initial safe region is the working sub-region and the external region is the collaborative sub-region, if the initial positional relationship indicates that the current position is within the internal region of the initial safe region, then the current position of the collaborative robot can be determined as the working sub-region of the initial safe region; if the initial positional relationship indicates that the current position is within the external region of the initial safe region, then the current position of the collaborative robot can be determined as the collaborative sub-region of the initial safe region.

[0137] Figure 7 A flowchart illustrating another method for determining a target security area provided in this application embodiment is shown below. Figure 7 As shown, determining the target security area in S203 above, based on multiple positional relationships and the security parameters of cooperative sub-regions within each initial security area, may include:

[0138] S701. Determine at least one intermediate safety zone based on multiple positional relationships.

[0139] Among them, collaborative robots are located in collaborative sub-regions within the intermediate safety zones.

[0140] Optionally, the intermediate safety zone can be determined based on the collaborative sub-regions or working sub-regions where the collaborative robot is located within each initial safety zone. Specifically, if the current position of the collaborative robot is located within a collaborative sub-region of the initial safety zone, then that initial safety zone is taken as the intermediate safety zone.

[0141] S702. If there is only one intermediate security zone, then that intermediate security zone shall be taken as the target security zone.

[0142] For example, if the current position of collaborative robot A is in the collaborative sub-region of safe zone 2, and the current position of collaborative robot A is in the working sub-region of safe zone 3, then the only intermediate safe zone is safe zone 2, and safe zone 2 is taken as the target safe zone.

[0143] S703. If there are multiple intermediate safety zones, the target safety zone shall be determined based on the safety parameters of each intermediate safety zone.

[0144] Optionally, if there are multiple intermediate safe zones, it can be said that the current position of the collaborative robot is in a collaborative sub-region of multiple safe zones.

[0145] For example, if collaborative robot A's current position is located in the collaborative sub-region of safety zone 2, and collaborative robot A's current position is located in the collaborative sub-region of safety zone 3, then there are two intermediate safety zones: safety zone 2 and safety zone 3. The target safety zone is then determined based on the safety parameters of safety zones 2 and 3. Specifically, the target safety zone can be determined based on the safety parameters of the collaborative sub-regions of safety zone 2 and safety zone 3. For example, the intermediate safety zone with the higher safety parameter coefficient can be selected as the target safety zone.

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

[0147] Optionally, the state of a collaborative robot within a collaborative sub-region of a safe area can include: a stopped state, a paused state, a low-speed state, and a state that only outputs signals and switches collision sensitivity. This can meet the needs of different safety responses in different scenarios. Currently, the most common state for collaborative robots is the stopped state.

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

[0149] Figure 8 A schematic diagram of an apparatus for a method of dynamically adjusting robot parameters provided in an embodiment of this application is shown below. Figure 8 As shown, the device includes:

[0150] The acquisition module 801 is used to acquire the current position of the collaborative robot and the current information of at least one pre-configured safe area corresponding to the collaborative robot. The current information of the safe area includes the planar information of the safe area and the current functional information of the safe area. The current functional information is used to indicate whether the safety function of the safe area is activated.

[0151] The determining module 802 is used to determine the target safe area where the collaborative robot is currently located based on the current position and the current information of each of the safe areas. The target safe 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-region in the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-region.

[0153] Optionally, the determining module 802 is specifically used for:

[0154] Based on the current information of each of the security zones, at least one initial security zone is determined;

[0155] Based on the current position and the planar information of each initial safety zone, the positional relationship between the current position and each initial safety zone is determined, resulting in multiple positional relationships. These positional relationships are used to indicate that the current position of the collaborative robot is located in the collaborative sub-region or working sub-region of the initial safety zone.

[0156] The target security area is determined based on the multiple positional relationships and the security parameters of the cooperative sub-regions in each of the initial security areas.

[0157] Optionally, the determining module 802 is specifically used for:

[0158] Based on the current position and the planar information of the initial safe area, determine the distance vector between the current position and the initial safe area, and obtain the distance vector result corresponding to the initial safe area;

[0159] Based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined.

[0160] Optionally, the determining module 802 is specifically used for:

[0161] Obtain the current functional information of the security area from the current information of the security area;

[0162] Determine whether the functionality of the security zone is activated;

[0163] If so, the safe area will be used as the initial safe area.

[0164] Optionally, the determining module 802 is specifically used for:

[0165] If the working sub-region and the cooperative sub-region in the initial safe region are divided by a first plane, then the dot product 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 safe region.

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

[0167] Optionally, the determining module 802 is specifically used for:

[0168] If the number of distance vector results corresponding to the initial safe area is one, the positional relationship between the current position and the initial safe area is determined based on whether the direction of the distance vector result is consistent with the direction of the preset safe distance vector of the initial safe area;

[0169] If there are multiple distance vector results corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area.

[0170] Optionally, the determining module 802 is specifically used for:

[0171] Based on the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safe area, the initial positional relationship between the current position and the initial safe area is determined;

[0172] Based on the preset positional relationship between the working sub-region and the initial safe region, the preset positional relationship between the cooperative sub-region and the initial safe region, and the initial positional relationship, the positional relationship between the current position and the initial safe region is determined.

[0173] Optionally, the determining module 802 is specifically used for:

[0174] At least one intermediate safety zone is determined based on the plurality of positional relationships, wherein the collaborative robot is located in a collaborative sub-region of each of the intermediate safety zones;

[0175] If there is only one intermediate security zone, then the intermediate security zone is taken as the target security zone.

[0176] If there are multiple intermediate safety zones, the target safety zone is determined based on the safety coefficient of the safety parameters of each intermediate safety zone.

[0177] Figure 9 This is a structural block diagram of an electronic device 900 provided in an embodiment of this application. This electronic device can, for example, be used for the dynamic adjustment of robot parameters as described in the foregoing embodiments. Figure 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 and the memory 902 communicate via the bus 903. When the machine-readable instructions are executed by the processor 901, the method steps in the above method embodiments are performed.

[0179] This application also provides a computer-readable storage medium storing a computer program, which, when run by a processor, executes the method steps in the above-described embodiment of the dynamic adjustment method for robot parameters.

[0180] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, 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 displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0181] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0182] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for dynamically adjusting robot parameters, characterized in that, The method includes: The current position of the collaborative robot and the current information of at least one pre-configured safe zone corresponding to the collaborative robot are obtained. The current information of the safe zone includes the planar information of the safe zone and the current functional information of the safe zone. The current functional information is used to indicate whether the safety function of the safe zone is activated. Based on the current location and the current information of each of the safety zones, the target safety zone where the collaborative robot is currently located is determined. The target safety zone includes a working sub-zone and a collaborative sub-zone, and the collaborative sub-zone 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-region within the target safety area, so that the collaborative robot performs collaborative operations according to the safety parameters of the collaborative sub-region. Determining the target safe zone where the collaborative robot is currently located based on the current location and the current information of each of the safe zones includes: Based on the current information of each of the security zones, at least one initial security zone is determined; Based on the current position and the planar information of each initial safety zone, the positional relationship between the current position and each initial safety zone is determined, resulting in multiple positional relationships. These positional relationships are used to indicate that the current position of the collaborative robot is located in the collaborative sub-region or working sub-region of the initial safety zone. The target security area is determined based on the multiple positional relationships and the security parameters of the cooperative sub-regions in each of the initial security areas.

2. The method for dynamically adjusting robot parameters according to claim 1, characterized in that, Determining the positional relationship between the current position and each of the initial safe zones based on the current position and the planar information of each initial safe zone includes: Based on the current position and the planar information of the initial safe area, determine the distance vector between the current position and the initial safe area, and obtain the distance vector result corresponding to the initial safe area; Based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined.

3. The method for dynamically adjusting robot parameters according to claim 1, characterized in that, The step of determining at least one initial security zone based on the current information of each of the security zones includes: Obtain the current functional information of the security area from the current information of the security area; Determine whether the functionality of the security zone is activated; If so, the safe area will be used as the initial safe area.

4. The method for dynamically adjusting robot parameters according to claim 2, characterized in that, The step of determining the distance vector between the current position and each of the initial safe zones based on the current position and the planar information of each initial safe zone, and obtaining the distance vector result corresponding to each initial safe zone, includes: If the working sub-region and the cooperative sub-region in the initial safe region are divided by a first plane, then the dot product 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 safe region. If the working sub-region and the cooperative sub-region in the initial safe region are divided by a cube, then the dot product of the coordinates in the current position with the normal vectors of each second plane of the cube is calculated to obtain multiple dot product results, and the multiple dot product results are used as multiple distance vector results corresponding to the initial safe region.

5. The method for dynamically adjusting robot parameters according to claim 2, characterized in that, The step of determining the positional relationship between the current position and the initial safe area based on the distance vector result corresponding to the initial safe area, the preset safe distance vector of the initial safe area, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area includes: If the number of distance vector results corresponding to the initial safe area is one, the positional relationship between the current position and the initial safe area is determined based on whether the direction of the distance vector result is consistent with the direction of the preset safe distance vector of the initial safe area; If there are multiple distance vector results corresponding to the initial safe area, the positional relationship between the current position and the initial safe area is determined based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-region and cooperative sub-region corresponding to the initial safe area.

6. The method for dynamically adjusting robot parameters according to claim 5, characterized in that, The step of determining the positional relationship between the current position and the initial safe area based on the multiple distance vector results, the center distance vector corresponding to the initial safe area, and the working sub-area and cooperative sub-area corresponding to the initial safe area includes: Based on the directions of the multiple distance vector results and the direction of the center distance vector corresponding to the initial safe area, the initial positional relationship between the current position and the initial safe area is determined; Based on the preset positional relationship between the working sub-region and the initial safe region, the preset positional relationship between the cooperative sub-region and the initial safe region, and the initial positional relationship, the positional relationship between the current position and the initial safe region is determined.

7. The method for dynamically adjusting robot parameters according to claim 1, characterized in that, The step of determining the target security area based on the multiple positional relationships and the preset security parameters of each initial security area includes: At least one intermediate safety zone is determined based on the multiple positional relationships, wherein the collaborative robot is located in a collaborative sub-region of each of the intermediate safety zones; If there is only one intermediate security zone, then the intermediate security zone is taken as the target security zone. If there are multiple intermediate safety zones, the target safety zone is determined based on the safety coefficient of the safety parameters of each intermediate safety zone.

8. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the steps of the dynamic adjustment method for robot parameters as described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the dynamic adjustment method for robot parameters as described in any one of claims 1-7.

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