Robot control method, terminal equipment and storage medium

Abstract

The invention provides a robot control method, terminal equipment and a storage medium, and relates to the technical field of robots. The robot control method comprises the steps that in response to input area configuration operation, the position of a first vertex and the position of a second vertex are determined on a three-dimensional model, and the first vertex and the second vertex are diagonal points of a preset cube; according to the position of the first vertex and the position of the second vertex, a three-dimensional safety area of the to-be-controlled robot in a preset three-dimensional space is determined; and controlling the to-be-controlled robot to operate in a preset three-dimensional space according to the three-dimensional safety area. By setting the diagonal points, namely the first vertex and the second vertex, of the preset cube on the three-dimensional model, the three-dimensional safety area can be efficiently configured for the to-be-controlled robot, the preset cube can be directly determined based on the first vertex and the second vertex, and the preset cube corresponds to the three-dimensional safety area. And the three-dimensional safety area configuration process of the to-be-controlled robot is more convenient and efficient.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot control method, terminal device and storage medium. Background Art

[0002] In the field of modern industrial automation, the safety zone function has become an indispensable part of industrial robots. The core purpose of this function is to ensure the safety of robot operation and prevent damage to equipment or personnel. Currently, industrial robots on the market generally have safety zone functions, which play a basic and key role in the operation of robots.

[0003] In the related art, in the safety plane configuration, after the user sets the plane, one side is determined to be a safe side by setting safety surface points, and then a safe operating space for the robot can be determined by setting multiple safety planes, that is, the safety area of ​​the robot can be determined.

[0004] However, in the related art, when determining a safe area for a robot, the configuration process is relatively complicated and the configuration efficiency is low. Summary of the invention

[0005] The purpose of this application is to provide a robot control method, terminal device and storage medium to address the deficiencies in the above-mentioned prior art, so as to solve the above-mentioned technical problems existing in the related technology.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a robot control method, which is applied to a client of a control application, wherein a three-dimensional model of a robot to be controlled is presented on the client, and the method comprises:

[0008] In response to the input area configuration operation, determining the position of a first vertex and the position of a second vertex on the three-dimensional model, wherein the first vertex and the second vertex are diagonal points of a preset cube;

[0009] Determining a three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex;

[0010] According to the three-dimensional safety area, the robot to be controlled is controlled to run in the preset three-dimensional space.

[0011] Optionally, the region configuration operation in response to the input, determining the position of the first vertex and the position of the second vertex on the three-dimensional model, comprises:

[0012] In response to a drag operation input to the three-dimensional model, dragging a preset part of the three-dimensional model to a preset position in the model space;

[0013] Determine the position of the first vertex according to the position of the first end of the preset part, and determine the position of the second vertex according to the position of the second end of the preset part;

[0014] Alternatively, in response to the input coordinate information, the position of the first vertex and the position of the second vertex on the three-dimensional model are determined.

[0015] Optionally, the region configuration operation in response to the input, determining the position of the first vertex and the position of the second vertex on the three-dimensional model, comprises:

[0016] In response to the input area configuration operation, determining the position of the first vertex and the position of the second vertex on the robot to be controlled, and determining a reference coordinate system;

[0017] Determining a rotation angle of the preset cube according to the reference coordinate system;

[0018] The step of determining the three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex includes:

[0019] Determine a virtual safety area in the model space according to the position of the first vertex, the position of the second vertex, and the rotation angle of the preset cube;

[0020] The three-dimensional safety area is determined according to the virtual safety area in the model space.

[0021] Optionally, the method further comprises:

[0022] In response to the input information configuration operation, setting the associated information for the three-dimensional safety area;

[0023] According to the three-dimensional safety area, controlling the robot to be controlled to operate in the preset three-dimensional space includes:

[0024] According to the three-dimensional safety area and the associated information, the robot to be controlled is controlled to run in the preset three-dimensional space.

[0025] Optionally, the configuration operation in response to the input information, setting the associated information for the three-dimensional safety area, includes:

[0026] In response to the input startup mode configuration operation, a startup mode for the three-dimensional safety area is set, where the startup mode is: startup by power-on, program startup, or external startup;

[0027] The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes:

[0028] The three-dimensional safety area is started according to the starting mode described in the association information.

[0029] Optionally, the configuration operation in response to the input information, setting the associated information for the three-dimensional safety area, includes:

[0030] In response to an inputted restriction enabling operation, setting to enable or not enable a restriction on a target part of the robot to be controlled;

[0031] The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes:

[0032] If the association information indicates that the restriction of the target part is activated, prohibiting the target part from passing through the three-dimensional safety area;

[0033] If the associated information indicates that the restriction of the target part is not activated, the target part is allowed to pass through the three-dimensional safety area.

[0034] Optionally, the configuration operation in response to the input information to set the association information for the three-dimensional safety area further includes:

[0035] In response to the input security event configuration operation, a security event for the three-dimensional security area is set; wherein the security event of the security area is stop, reduction mode or protective stop.

[0036] Optionally, controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes:

[0037] If the safety event is stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop moving, and the control program of the robot to be controlled is closed;

[0038] A first prompt message is displayed, where the first prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and needs to move into the three-dimensional safety area.

[0039] Optionally, controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes:

[0040] If the safety event is the reduction mode, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, controlling the robot to be controlled to decelerate;

[0041] The second prompt information is displayed, where the second prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the robot to be controlled has been controlled to perform deceleration movement.

[0042] Optionally, controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes:

[0043] If the safety event is the protective stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop moving, and the control program of the robot to be controlled is suspended;

[0044] Displaying a third prompt message and an exit control, wherein the third prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the control program has been paused;

[0045] In response to the selection operation for the exit control, the robot to be controlled is controlled to continue moving.

[0046] Optionally, after determining the three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex, the method further includes:

[0047] In response to an activation close operation input, determining that the three-dimensional safety area is in a closed state;

[0048] Alternatively, in response to a first activation operation input, determining that the three-dimensional safety area is in an activated state;

[0049] Alternatively, in response to a second activation operation being input, the three-dimensional safety area is determined to be activated based on a set external signal.

[0050] In a second aspect, an embodiment of the present application further provides a terminal device, comprising: a memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the robot control method described in any one of the first aspects above is implemented.

[0051] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is read and executed, the robot control method described in any one of the first aspects above is implemented.

[0052] In a fourth aspect, an embodiment of the present application further provides a robot control device, which is applied to a client of a control application, and a three-dimensional model of a robot to be controlled is presented on the client, and the device includes:

[0053] a determination module, configured to respond to an input area configuration operation, determine a position of a first vertex and a position of a second vertex on the three-dimensional model, wherein the first vertex and the second vertex are diagonal points of a preset cube; and determine a three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex;

[0054] A control module is used to control the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area.

[0055] Optionally, the determination module is specifically used to respond to a drag operation input to the three-dimensional model, drag a preset part of the three-dimensional model to a preset position in the model space; determine the position of the first vertex according to the position of the first end of the preset part, and determine the position of the second vertex according to the position of the second end of the preset part; or, respond to input coordinate information, determine the position of the first vertex and the position of the second vertex on the three-dimensional model.

[0056] Optionally, the determination module is specifically used to respond to the input area configuration operation, determine the position of the first vertex and the position of the second vertex on the robot to be controlled, and determine a reference coordinate system; determine the rotation angle of the preset cube according to the reference coordinate system; determine the virtual safety area in the model space according to the position of the first vertex, the position of the second vertex and the rotation angle of the preset cube; determine the three-dimensional safety area according to the virtual safety area in the model space.

[0057] Optionally, the device further comprises:

[0058] A setting module, configured to respond to an input information configuration operation and set association information for the three-dimensional safety area;

[0059] The control module is specifically used to control the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information.

[0060] Optionally, the setting module is specifically used to respond to the input startup mode configuration operation and set the startup mode for the three-dimensional safety area, the startup mode being: power-on startup, program startup or external startup;

[0061] The control module is specifically configured to start the three-dimensional safety area according to the start-up method in the association information.

[0062] Optionally, the setting module is specifically used to respond to the inputted restriction enabling operation to set enabling or disabling of the restriction on the target part of the robot to be controlled;

[0063] The control module is specifically used to prohibit the target part from passing through the three-dimensional safety area if the associated information indicates that the restriction of the target part is activated; if the associated information indicates that the restriction of the target part is not activated, allow the target part to pass through the three-dimensional safety area.

[0064] Optionally, the setting module is specifically used to respond to an input security event configuration operation to set a security event for the three-dimensional security area; wherein the security event of the security area is stop, reduction mode or protective stop.

[0065] Optionally, the control module is specifically used to control the robot to be controlled to stop moving and close the control program of the robot to be controlled when the movement range of the robot to be controlled exceeds the three-dimensional safety area if the safety event is a stop; and display a first prompt message, wherein the first prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and needs to move into the three-dimensional safety area.

[0066] Optionally, the control module is specifically used to control the robot to be controlled to decelerate when the movement range of the robot to be controlled exceeds the three-dimensional safety area if the safety event is the reduction mode; and display a second prompt information, wherein the second prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and has been controlled to decelerate.

[0067] Optionally, the control module is specifically used to control the robot to be controlled to stop moving and pause the control program of the robot to be controlled if the safety event is the protective stop and the movement range of the robot to be controlled exceeds the three-dimensional safety area; display a third prompt message and an exit control, the third prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the control program has been paused; and control the robot to be controlled to continue moving in response to a selection operation on the exit control.

[0068] Optionally, the determination module is further used to respond to an activation / closing operation input to determine that the three-dimensional safety area is in a closed state; or, respond to a first activation operation input to determine that the three-dimensional safety area is in an activated state; or, respond to a second activation operation input to determine that the three-dimensional safety area is activated based on a set external signal.

[0069] The beneficial effects of the present application are as follows: the present application embodiment provides a robot control method, which may include: responding to the input area configuration operation, determining the position of the first vertex and the second vertex on the three-dimensional model, the first vertex and the second vertex being the diagonal points of the preset cube; determining the three-dimensional safety area of ​​the robot to be controlled in the preset three-dimensional space according to the position of the first vertex and the second vertex; and controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area. By setting the diagonal points of the preset cube, i.e. the first vertex and the second vertex, on the three-dimensional model, the three-dimensional safety area can be efficiently configured for the robot to be controlled. Based on the first vertex and the second vertex, the preset cube can be directly determined, and the preset cube corresponds to the three-dimensional safety area. There is no need to configure the safety plane multiple times to form a three-dimensional safety area, making the three-dimensional safety area configuration process of the robot to be controlled more convenient and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] 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.

[0071] Figure 1 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 1 ;

[0072] Figure 2 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 2 ;

[0073] Figure 3 A schematic diagram of the positional relationship between a preset part of a three-dimensional model and a virtual safety area provided in an embodiment of the present application;

[0074] Figure 4 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 3 ;

[0075] Figure 5 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 4 ;

[0076] Figure 6 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 5 ;

[0077] Figure 7A schematic diagram of a robot control method provided in an embodiment of the present application Figure 6 ;

[0078] Figure 8 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 7 ;

[0079] Fig. 9 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application;

[0080] Fig.10 A schematic diagram of the structure of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments.

[0082] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0083] In the description of the present application, it should be noted that if the terms "upper", "lower", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the application is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0084] In addition, the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0085] It should be noted that, in the absence of conflict, the features in the embodiments of the present application may be combined with each other.

[0086] The embodiment of the present application provides a robot control method, which is applied to a terminal device, which is installed with a client of a control application; the terminal device can be any of the following: a computer device, a laptop computer, a tablet computer, a smart phone, etc. The client of the control application is connected to the robot to be controlled. The three-dimensional model of the robot to be controlled is presented on the client of the control application. The control application refers to a control application program, which is used to control the robot to be controlled.

[0087] The following is an explanation of a robot control method provided in an embodiment of the present application.

[0088] Figure 1 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 1 ,like Figure 1 As shown, the method may include:

[0089] S101 . In response to an input area configuration operation, determine a position of a first vertex and a position of a second vertex on a three-dimensional model.

[0090] The first vertex and the second vertex are diagonal points of a preset cube.

[0091] In an embodiment of the present application, when the user needs to configure a three-dimensional safety area for a robot to be controlled in a preset three-dimensional space, the user can input an area configuration operation on the graphical user interface presented by the control application, and in response to the area configuration operation, determine the position of the first vertex and the position of the second vertex at a preset position of the three-dimensional model.

[0092] It should be noted that different positions of the first vertex and the second vertex can be set for different preset parts of the three-dimensional model. A pair of the first vertex and the second vertex can form a preset cube, and multiple pairs of the first vertex and the second vertex can form multiple preset cubes, and the multiple pairs of the first vertex and the second vertex are distributed in different parts of the three-dimensional model.

[0093] S102: Determine a three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex.

[0094] In some embodiments, according to the position of the first vertex and the position of the second vertex, a cube set for the three-dimensional model can be determined as a virtual safety area configured for the three-dimensional model. According to the virtual safety area set for the three-dimensional model, a three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space can be determined.

[0095] It should be noted that, assuming the coordinates of the two diagonal points, P1 (x1, y1, z1) and P2 (x2, y2, z2) define the spatial range of the preset cube. The other six vertices of the cuboid can be derived from the diagonal points. Assuming that they are aligned on the coordinate axis, the coordinate difference between P1 and P2 can be used to find other points.

[0096] The robot to be controlled is a real robot, and the three-dimensional model is a virtual robot presented on the graphical user interface. By configuring the virtual safety zone of the virtual robot, the three-dimensional safety zone of the real robot can be configured. Configuring the three-dimensional safety zone of the real robot can improve the safety of the real robot when it is working.

[0097] S103. According to the three-dimensional safety area, the robot to be controlled is controlled to run in a preset three-dimensional space.

[0098] Among them, according to the three-dimensional safety area, the robot to be controlled can be controlled to run in the preset three-dimensional space, and according to the virtual safety area, the three-dimensional model can be synchronously controlled to run in the virtual space.

[0099] In actual applications, the robot to be controlled and the staff are usually in the same preset three-dimensional space. After configuring the three-dimensional safety area for the robot to be controlled, it should be ensured that the robot to be controlled moves within the three-dimensional safety area. If the range of movement of the robot to be controlled exceeds the three-dimensional safety area, it means that there are hidden dangers in the current movement of the robot to be controlled, and corresponding measures need to be taken.

[0100] In summary, the embodiment of the present application provides a robot control method, which may include: responding to an input area configuration operation, determining the position of a first vertex and a second vertex on a three-dimensional model, the first vertex and the second vertex being diagonal points of a preset cube; determining a three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the second vertex; and controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area. By setting the diagonal points of the preset cube, i.e., the first vertex and the second vertex, on the three-dimensional model, the three-dimensional safety area can be efficiently configured for the robot to be controlled. Based on the first vertex and the second vertex, the preset cube can be directly determined, and the preset cube corresponds to the three-dimensional safety area. There is no need to configure the safety plane multiple times to form a three-dimensional safety area, making the three-dimensional safety area configuration process of the robot to be controlled more convenient and efficient.

[0101] Optionally, Figure 2 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 2 ,like Figure 2As shown, the process of determining the position of the first vertex and the position of the second vertex on the three-dimensional model in response to the input area configuration operation in S101 may include:

[0102] S201 . In response to a drag operation inputted to a three-dimensional model, a preset part of the three-dimensional model is dragged to a preset position in a model space.

[0103] Among them, the space where the three-dimensional model is located is the model space.

[0104] In an embodiment of the present application, when the user needs to set a virtual safety area for a preset part of a three-dimensional model, the client of the application can be controlled to input a drag operation for the three-dimensional model, and the client of the application can be controlled to respond to the drag operation to drag the preset part of the three-dimensional model to a preset position in the model space.

[0105] S202, determining the position of the first vertex according to the position of the first end of the preset part, and determining the position of the second vertex according to the position of the second end of the preset part.

[0106] In some embodiments, the two ends of a preset part of the three-dimensional model, namely the first end and the second end, are determined, and the three-dimensional coordinates of the first end in the model space are used as the three-dimensional coordinates of the first vertex, and the three-dimensional coordinates of the second end are used as the three-dimensional coordinates of the second vertex.

[0107] The method from S201 to S202 described above is a teaching method.

[0108] Alternatively, in response to the input coordinate information, the three-dimensional coordinates of the first vertex and the second vertex on the three-dimensional model in the model space are determined. The three-dimensional coordinates of the first vertex and the second vertex on the three-dimensional model can be the three-dimensional coordinates of the two ends of the preset part in the three-dimensional model.

[0109] It should be noted that the position of the preset cube in the model space can be determined based on the three-dimensional coordinates of the first vertex and the three-dimensional coordinates of the second vertex. Usually, the preset part of the three-dimensional model passes through the preset cube. When controlling the movement, the preset part of the three-dimensional model moves within the virtual safety area corresponding to the preset cube. Similarly, when the preset part of the robot to be controlled passes through the three-dimensional safety area, the preset part of the robot to be controlled moves within the three-dimensional safety area when controlling the movement.

[0110] Figure 3 A schematic diagram of the positional relationship between a preset part of a three-dimensional model and a virtual safety area provided in an embodiment of the present application is shown in FIG. Figure 3 As shown, the first vertex and the second vertex are respectively located at two ends of a preset part of the three-dimensional model, and the preset part of the three-dimensional model passes through the cube corresponding to the first vertex and the second vertex, that is, the virtual safety area.

[0111] Figure 4 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 3 ,like Figure 4 As shown, the process of determining the position of the first vertex and the position of the second vertex on the three-dimensional model in response to the input area configuration operation in S101 may include:

[0112] S301 . In response to an input area configuration operation, a position of a first vertex and a position of a second vertex are determined on the robot to be controlled, and a reference coordinate system is determined.

[0113] In an embodiment of the present application, a custom coordinate system, a world coordinate system, and a user coordinate system are displayed on a graphical user interface. In response to an input coordinate system selection operation, a selected coordinate system is determined from the custom coordinate system, the world coordinate system, and the user coordinate system as a reference coordinate system.

[0114] S302: Determine the rotation angle of the preset cube according to the reference coordinate system.

[0115] In some embodiments, if the custom coordinate system is the reference coordinate system, the rotation angle input in response to the preset text box is determined as the rotation angle of the preset cube; if the reference coordinate system is the world coordinate system or the user coordinate system, the rotation angle corresponding to the world coordinate system or the user coordinate system is displayed in the preset text box, and the text box is only readable but not writable.

[0116] The directions of the vertices in the preset cube are adjusted by the given coordinate system rotation angle. The rotation is described by the angles in three directions (around the x-axis, y-axis, and z-axis). The coordinates of the rotated vertices are calculated by creating a rotation matrix, that is, the coordinates of the vertices in the preset cube after rotation.

[0117] In an embodiment of the present application, the preset cube is set using a reference coordinate system and a diagonal point method. After configuration, click on the configuration interface again. When you enter the editing interface again, you can view the previously defined and saved data, and the user can control the robot to move to this point. The preset cube diagonal points support user teaching and can also be manually modified in the text box.

[0118] The process of determining the three-dimensional safety area of ​​the robot to be controlled in the preset three-dimensional space according to the position of the first vertex and the position of the second vertex in the above S102 may include:

[0119] S303: Determine a virtual safety area in the model space according to the position of the first vertex, the position of the second vertex, and the rotation angle of the preset cube.

[0120] S304: Determine a three-dimensional safety area according to the virtual safety area in the model space.

[0121] The relative position between the three-dimensional model and the preset cube is determined according to the position of the first vertex, the position of the second vertex, and the rotation angle of the preset cube, and the virtual safety area set for the three-dimensional model in the model space is determined according to the relative position. Then, according to the virtual safety area set for the three-dimensional model in the model space, the three-dimensional safety area set for the robot to be controlled in the preset three-dimensional space is determined.

[0122] Optionally, Figure 5 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 4 ,like Figure 5 As shown, the method may also include:

[0123] S401. In response to an input information configuration operation, set association information for a three-dimensional safety area.

[0124] In some embodiments, setting the associated information for the 3D safety zone may include: setting at least one of the activation mode, state output, collision sensitivity, safety zone, and effective zone of the 3D safety zone. When there are multiple 3D safety zones, each 3D safety zone may be configured independently.

[0125] Among them, for collision sensitivity, in the enabled state, when the rising edge signal is input, the collision level of the motion limit parameter of the robot to be controlled is set. The smaller the value, the higher the sensitivity. When multiple levels are triggered at the same time, the stricter level is prioritized. Collision sensitivity can only be set when setting a safety plane or safety cube (i.e., a three-dimensional safety area). Select collision sensitivity, and after triggering the safety plane or safety cube, turn on the configured collision sensitivity limit. After returning to the safety area, the collision sensitivity limit is lifted. Among them, the safety area includes: safety plane and safety cube.

[0126] The process of controlling the robot to be controlled to operate in a preset three-dimensional space according to the three-dimensional safety area in S103 may include:

[0127] S402: Control the robot to be controlled to run in a preset three-dimensional space according to the three-dimensional safety area and the associated information.

[0128] Among them, according to the three-dimensional safety area, and the configuration content of at least one of the activation method, state output, collision sensitivity, safety area, and effective area indicated by the associated information, the robot to be controlled is controlled to operate in a preset three-dimensional space.

[0129] In the embodiment of the present application, the configuration information corresponding to the three-dimensional safety area and the configuration information corresponding to the associated information can be saved in the configuration file.

[0130] Optionally, Figure 6 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 5 ,like Figure 6 As shown, the process of setting the associated information for the three-dimensional safety area in response to the input information configuration operation in S401 may include:

[0131] S501. In response to an input startup mode configuration operation, a startup mode for a three-dimensional safety area is set.

[0132] The startup modes include: power-on startup, program startup, or external startup.

[0133] In addition, the activation method refers to the activation method of the overall function of setting the three-dimensional safety zone.

[0134] The process of controlling the robot to be controlled to run in a preset three-dimensional space according to the three-dimensional safety area and the associated information in S402 may include:

[0135] S502: Activate the three-dimensional safety area according to the activation method in the associated information.

[0136] It is worth noting that if the startup mode in the associated information is power-on startup, the three-dimensional safety area will take effect after the control cabinet of the robot to be controlled is powered on; if the startup mode in the associated information is program startup, the three-dimensional safety area will take effect after the program of the robot to be controlled moves; if the startup mode in the associated information is external startup, the three-dimensional safety area will take effect according to the signal input from the external device.

[0137] In some embodiments, if the startup method in the associated information is external startup, it is necessary to check whether DI (dependency injection, the basic principle is to inject the dependency of an object through an external method) is configured; if DI is not configured, the client of the control application displays a pop-up window to prompt the user that DI has not been configured; if DI is configured, the three-dimensional safety area will take effect when the function DI is set to 1.

[0138] In addition, if the activation mode in the associated information is off, the three-dimensional safety area will not take effect.

[0139] Optionally, Figure 7 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 6 ,like Figure 7 As shown, the process of setting the associated information for the three-dimensional safety area in response to the input information configuration operation in S401 may include:

[0140] S601. In response to an input restriction enabling operation, setting to enable or not enable the restriction of the target part of the robot to be controlled.

[0141] In some embodiments, if the restrictions on the target part of the robot to be controlled are set, the restrictions on the target part of the three-dimensional model will also be set. After the restrictions on the target part of the three-dimensional model are enabled, a sphere for the target part can be displayed on the three-dimensional model to indicate the restriction range.

[0142] For example, the target part may be the elbow of the robot to be controlled, and the sphere for the target part may be the elbow sphere.

[0143] The process of controlling the robot to be controlled to run in a preset three-dimensional space according to the three-dimensional safety area and the associated information in S402 may include:

[0144] S602: If the associated information indicates that the restriction of the target part is to be activated, the target part is prohibited from passing through the three-dimensional safety area.

[0145] S603: If the associated information indicates that the restriction of the target part is not activated, the target part is allowed to pass through the three-dimensional safety area.

[0146] In the embodiment of the present application, if the associated information indicates that the restriction of the target part is activated, the target part is prohibited from passing through the three-dimensional safety area, and when the target part passes through the three-dimensional safety area, the processing logic corresponding to the three-dimensional safety area will be executed. For example, the target part is controlled to move out of the three-dimensional safety area, or the target part is controlled to stop, etc.

[0147] Optionally, the process of setting association information for the three-dimensional safety area in response to the input information configuration operation in S401 may further include:

[0148] In response to the input security event configuration operation, a security event for the three-dimensional security zone is set.

[0149] Among them, the safety event of the safety zone is stop, reduced mode or protective stop.

[0150] In the embodiment of the present application, a drop-down option is provided for security events, and the drop-down options include: an option corresponding to stop, an option corresponding to reduction mode, or an option corresponding to protective stop. In response to a selection operation for one of the three options, the security event corresponding to the selected option is set as a security event of the three-dimensional security area.

[0151] Optionally, the process of controlling the robot to be controlled to run in a preset three-dimensional space according to the three-dimensional safety area and the associated information in S402 may include:

[0152] If the safety event is stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop moving, and the control program of the robot to be controlled is closed; and the first prompt information is displayed.

[0153] The first prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and needs to move into the three-dimensional safety area.

[0154] In an embodiment of the present application, when the user obtains the first prompt information, he can manually control the robot to be controlled to move into the three-dimensional safety area. Of course, when the first prompt information appears, the client of the control application can also automatically control the robot to be controlled to move into the three-dimensional safety area. The embodiment of the present application does not impose specific restrictions on this.

[0155] In addition, after the control program of the robot to be controlled is closed, when the robot to be controlled is to be controlled again, the control program of the robot to be controlled needs to be reopened.

[0156] Optionally, the process of controlling the robot to be controlled to run in a preset three-dimensional space according to the three-dimensional safety area and the associated information in S402 may include:

[0157] If the safety event is in the reduction mode, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to decelerate; and the second prompt information is displayed.

[0158] The second prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area, and the robot to be controlled has been controlled to perform deceleration movement.

[0159] It should be noted that the robot to be controlled can be decelerated according to the current speed of the robot to be controlled, so that after the speed of the robot to be controlled is reduced, the safety hazard caused by the robot to be controlled when it moves outside the three-dimensional safety area can be reduced. When the safety event is in the reduction mode, the program state does not change.

[0160] Optionally, Figure 8 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 7 ,like Figure 8 As shown, the process of controlling the robot to be controlled to run in the preset three-dimensional space according to the three-dimensional safety area and the associated information in the above S402 may include:

[0161] S701. If the safety event is a protective stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop moving, and the control program of the robot to be controlled is suspended.

[0162] In an embodiment of the present application, if the safety event is a protective stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop movement, the movement rate is 0, the enabled state is maintained, and the control program of the robot to be controlled is paused.

[0163] S702: Display the third prompt information and exit the control.

[0164] The third prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the control program has been suspended.

[0165] In some implementations, the third prompt information and the exit control may be displayed through a pop-up window, so that the user can clearly know the status of the current robot to be controlled.

[0166] S703, in response to the selection operation for the exit control, controlling the robot to be controlled to continue moving.

[0167] In actual applications, the selection operation for the exit control can be a touch operation. When the user receives the third prompt information and still wants to control the robot to be controlled to continue moving, the user can input the selection operation for the exit control. Since the control program of the robot to be controlled in this protective stop mode is in a paused state, the client of the control application responds to the selection operation for the exit control to release the paused state and control the robot to be controlled to continue moving.

[0168] Optionally, after determining the three-dimensional safety area of ​​the robot to be controlled in the preset three-dimensional space according to the position of the first vertex and the position of the second vertex in the above S102, the method may further include:

[0169] In response to an activation close operation input, determining that the three-dimensional safety area is in a closed state;

[0170] Alternatively, in response to a first activation operation input, determining that the three-dimensional safety area is in an activated state;

[0171] In which, in response to a selection operation on an activation option, it is determined that the three-dimensional safety area is in an activated state.

[0172] Alternatively, in response to the input of the second activation operation, the three-dimensional safety area is determined to be activated based on a set external signal.

[0173] In response to the selection operation for the input activation option, it is determined that the three-dimensional safety area is in a state of being activated based on a set external signal, that is, the input activation state.

[0174] In some embodiments, the required safety area can be selected, which can be a safety plane and / or a three-dimensional safety area; for the safety plane, the user can set the plane according to the parameters; for the three-dimensional safety area, the user can set the cube according to the parameters. For the input activation state, the external signal can be an external DI, that is, it is triggered by an external DI method. If the DI state is 0, the safety area is effective, and if the DI state is 1, the safety area is not effective. Add an external activation DI signal selection in the safety plane or three-dimensional safety area settings. This function cannot coexist with the functional DI configuration.

[0175] Among them, DI can support activation status binding by multiple three-dimensional safety areas or safety planes. When the user selects external startup as the startup mode, if the user has not configured the external DI selection, a pop-up prompt is required, "The external activation DI interface is not configured, please configure the external activation DI interface". If it is configured as external activation, when the external signal is given for activation, it is not restricted by the robot status and program status.

[0176] In addition, this function supports DO feedback. If the safety zone function is triggered, the corresponding DO light will light up. In addition, users can also choose whether the corresponding safety zone is visible and the collision sensitivity.

[0177] In the embodiment of the present application, there may be multiple security areas, and each security area may be configured to be in a closed state, an activated state, or a state activated based on a set external signal according to actual needs.

[0178] It should be noted that in addition to the external DI method, the client can also be used for activation. The client activation can be set to activate directly when configuring the safety area, or it can be set to activate during program writing. In actual use, it is common to use DI to control the robot on site, or the technician sets it to activate through the client at the beginning and saves the configuration.

[0179] To summarize, the embodiments of the present application provide a method for controlling a robot. By setting the diagonal points of a preset cube, namely the first vertex and the second vertex, on a three-dimensional model, a three-dimensional safety area can be efficiently configured for the robot to be controlled. The preset cube can be directly determined based on the first vertex and the second vertex. The preset cube corresponds to the three-dimensional safety area, and there is no need to configure the safety plane multiple times to form a three-dimensional safety area, which makes the three-dimensional safety area configuration process of the robot to be controlled more convenient and efficient.

[0180] Moreover, users are allowed to configure multiple independent preset cubes, namely three-dimensional safety areas and safety planes, to adapt to diverse and complex application environments. Each safety area can be personalized according to needs, which not only enhances the flexibility of the system but also improves user satisfaction. When setting the preset cube, a teaching method combined with numerical input is provided to ensure that users can quickly and accurately define the required cube parameters, thereby significantly improving operating efficiency.

[0181] The following describes the robot control device, terminal equipment, storage medium, etc. used to execute the robot control method provided in this application. Its specific implementation process and technical effects can be found in the relevant content of the above-mentioned robot control method, which will not be repeated below.

[0182] Fig. 9 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the device comprises:

[0183] The determination module 101 is used to respond to the input area configuration operation, determine the position of the first vertex and the position of the second vertex on the three-dimensional model, wherein the first vertex and the second vertex are diagonal points of a preset cube; and determine the three-dimensional safety area of ​​the robot to be controlled in the preset three-dimensional space according to the position of the first vertex and the position of the second vertex;

[0184] The control module 102 is used to control the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area.

[0185] Optionally, the determination module 101 is specifically used to respond to a drag operation input to the three-dimensional model, drag a preset part of the three-dimensional model to a preset position in the model space; determine the position of the first vertex according to the position of the first end of the preset part, and determine the position of the second vertex according to the position of the second end of the preset part; or, respond to input coordinate information, determine the position of the first vertex and the position of the second vertex on the three-dimensional model.

[0186] Optionally, the determination module 101 is specifically used to respond to the input area configuration operation, determine the position of the first vertex and the position of the second vertex on the robot to be controlled, and determine a reference coordinate system; determine the rotation angle of the preset cube according to the reference coordinate system; determine the virtual safety area in the model space according to the position of the first vertex, the position of the second vertex and the rotation angle of the preset cube; determine the three-dimensional safety area according to the virtual safety area in the model space.

[0187] Optionally, the device further comprises:

[0188] A setting module, configured to respond to an input information configuration operation and set association information for the three-dimensional safety area;

[0189] The control module 102 is specifically configured to control the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information.

[0190] Optionally, the setting module is specifically used to respond to the input startup mode configuration operation and set the startup mode for the three-dimensional safety area, the startup mode being: power-on startup, program startup or external startup;

[0191] The control module 102 is specifically configured to start the three-dimensional safety area according to the start-up method in the association information.

[0192] Optionally, the setting module is specifically used to respond to the inputted restriction enabling operation to set enabling or disabling of the restriction on the target part of the robot to be controlled;

[0193] The control module 102 is specifically configured to prohibit the target part from passing through the three-dimensional safety area if the associated information indicates that the restriction on the target part is activated; and to allow the target part to pass through the three-dimensional safety area if the associated information indicates that the restriction on the target part is not activated.

[0194] Optionally, the setting module is specifically used to respond to an input security event configuration operation to set a security event for the three-dimensional security area; wherein the security event of the security area is stop, reduction mode or protective stop.

[0195] Optionally, the control module 102 is specifically used to control the robot to be controlled to stop moving and close the control program of the robot to be controlled when the movement range of the robot to be controlled exceeds the three-dimensional safety area if the safety event is a stop; and display a first prompt message, wherein the first prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and needs to move into the three-dimensional safety area.

[0196] Optionally, the control module 102 is specifically used to control the robot to be controlled to decelerate when the movement range of the robot to be controlled exceeds the three-dimensional safety area if the safety event is the reduction mode; and display a second prompt information, wherein the second prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and has been controlled to decelerate.

[0197] Optionally, the control module 102 is specifically used to control the robot to be controlled to stop moving and pause the control program of the robot to be controlled when the movement range of the robot to be controlled exceeds the three-dimensional safety area if the safety event is the protective stop; display a third prompt message and an exit control, the third prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the control program has been paused; and control the robot to be controlled to continue moving in response to a selection operation on the exit control.

[0198] Optionally, the determination module 101 is further used to respond to an activation / closing operation input to determine that the three-dimensional safety area is in a closed state; or, respond to a first activation operation input to determine that the three-dimensional safety area is in an activated state; or, respond to a second activation operation input to determine that the three-dimensional safety area is activated based on a set external signal.

[0199] The above-mentioned device is used to execute the method provided by the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0200] The above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more digital singnal processors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0201] Fig.10 A schematic diagram of the structure of a terminal device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the terminal device includes: a processor 201 and a memory 202.

[0202] The memory 202 is used to store programs, and the processor 201 calls the programs stored in the memory 202 to execute the above method embodiment. The specific implementation method and technical effect are similar and will not be repeated here.

[0203] Optionally, the present application also provides a program product, such as a computer-readable storage medium, including a program, which is used to execute the above method embodiment when executed by a processor.

[0204] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0205] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0206] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0207] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (English: processor) to perform some 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 (English: Read-Only Memory, abbreviated: ROM), random access memory (English: Random Access Memory, abbreviated: RAM), disk or optical disk and other media that can store program codes.

[0208] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot control method, characterized in that: The method is applied to a client of a control application, wherein a three-dimensional model of a robot to be controlled is presented on the client, and comprises: In response to the input area configuration operation, determining the position of a first vertex and the position of a second vertex on the three-dimensional model, wherein the first vertex and the second vertex are diagonal points of a preset cube; Determining a three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex; According to the three-dimensional safety area, the robot to be controlled is controlled to run in the preset three-dimensional space.

2. The method according to claim 1, characterized in that The region configuration operation in response to the input, determining the position of the first vertex and the position of the second vertex on the three-dimensional model, comprises: In response to a drag operation input to the three-dimensional model, dragging a preset part of the three-dimensional model to a preset position in the model space; Determine the position of the first vertex according to the position of the first end of the preset part, and determine the position of the second vertex according to the position of the second end of the preset part; Alternatively, in response to the input coordinate information, the position of the first vertex and the position of the second vertex on the three-dimensional model are determined.

3. The method according to claim 1, characterized in that The region configuration operation in response to the input, determining the position of the first vertex and the position of the second vertex on the three-dimensional model, comprises: In response to the input area configuration operation, determining the position of the first vertex and the position of the second vertex on the robot to be controlled, and determining a reference coordinate system; Determining a rotation angle of the preset cube according to the reference coordinate system; The step of determining the three-dimensional safety area of ​​the robot to be controlled in a preset three-dimensional space according to the position of the first vertex and the position of the second vertex includes: Determine a virtual safety area in the model space according to the position of the first vertex, the position of the second vertex, and the rotation angle of the preset cube; The three-dimensional safety area is determined according to the virtual safety area in the model space.

4. The method according to claim 1, characterized in that The method further comprises: In response to the input information configuration operation, setting the associated information for the three-dimensional safety area; According to the three-dimensional safety area, controlling the robot to be controlled to operate in the preset three-dimensional space includes: According to the three-dimensional safety area and the associated information, the robot to be controlled is controlled to run in the preset three-dimensional space.

5. The method according to claim 4, characterized in that The response input information configuration operation sets the associated information for the three-dimensional safety area, including: In response to the input startup mode configuration operation, a startup mode for the three-dimensional safety area is set, where the startup mode is: startup by power-on, program startup, or external startup; The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes: The three-dimensional safety area is started according to the starting mode described in the association information.

6. The method according to claim 4, characterized in that The response input information configuration operation sets the associated information for the three-dimensional safety area, including: In response to an inputted restriction enabling operation, setting to enable or not enable a restriction on a target part of the robot to be controlled; The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes: If the association information indicates that the restriction of the target part is activated, prohibiting the target part from passing through the three-dimensional safety area; If the associated information indicates that the restriction of the target part is not activated, the target part is allowed to pass through the three-dimensional safety area.

7. The method according to claim 4, characterized in that The step of configuring the information in response to the input, setting the associated information for the three-dimensional safety area, further includes: In response to the input security event configuration operation, a security event for the three-dimensional security area is set; wherein the security event of the security area is stop, reduction mode or protective stop.

8. The method according to claim 7, characterized in that The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes: If the safety event is stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop moving, and the control program of the robot to be controlled is closed; A first prompt message is displayed, where the first prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and needs to move into the three-dimensional safety area.

9. The method according to claim 7, characterized in that: The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes: If the safety event is the reduction mode, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, controlling the robot to be controlled to decelerate; The second prompt information is displayed, where the second prompt information is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the robot to be controlled has been controlled to perform deceleration movement.

10. The method according to claim 7, characterized in that The controlling the robot to be controlled to operate in the preset three-dimensional space according to the three-dimensional safety area and the associated information includes: If the safety event is the protective stop, when the movement range of the robot to be controlled exceeds the three-dimensional safety area, the robot to be controlled is controlled to stop moving, and the control program of the robot to be controlled is suspended; Displaying a third prompt message and an exit control, wherein the third prompt message is used to indicate that the robot to be controlled has moved outside the three-dimensional safety area and the control program has been paused; In response to the selection operation for the exit control, the robot to be controlled is controlled to continue moving.

11. The method according to claim 1, characterized in that: After determining the three-dimensional safety area of ​​the robot to be controlled in the preset three-dimensional space according to the position of the first vertex and the position of the second vertex, the method further includes: In response to an activation close operation input, determining that the three-dimensional safety area is in a closed state; Alternatively, in response to a first activation operation input, determining that the three-dimensional safety area is in an activated state; Alternatively, in response to a second activation operation being input, the three-dimensional safety area is determined to be activated based on a set external signal.

12. A terminal device, characterized in that: include: A memory and a processor, wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the robot control method described in any one of claims 1 to 11 is implemented.

13. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is read and executed, the robot control method described in any one of claims 1 to 11 is implemented.

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