Robot control method and device and storage medium

Abstract

The invention provides a robot control method and device and a storage medium, and relates to the technical field of robots. The control method of the robot comprises the steps that a robot motion simulation model is built according to a robot three-dimensional model; according to preset motion parameters, at least one target joint of the robot motion simulation model is controlled to move; in the motion process of the robot motion simulation model, measuring barycentric coordinates of the robot motion simulation model to obtain a plurality of barycentric coordinates; and according to the plurality of barycentric coordinates, obtaining a barycentric change track of the robot motion simulation model in the motion process. Compared with a robot three-dimensional model which only can be static in one posture in the prior art, the built robot motion simulation model can be controlled to move continuously, multiple barycentric coordinates are measured in the process, and the barycentric change track is determined; and the gravity center change of the robot motion simulation model in the motion process can be reflected through the gravity center change track.

Description

Technical Field

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

[0002] With the development of science and technology, robots have been widely used in many industries and fields. Robots can rise and fall and perform some actions. If the center of gravity of the robot is too high and the offset is too much, the robot is at risk of tipping over. When the robot changes its posture, it is crucial to obtain the change in the center of gravity position for evaluating the stability of the robot.

[0003] In the related art, the posture of the robot three-dimensional model is manually adjusted in the three-dimensional modeling software, and the center of gravity coordinates of the robot three-dimensional model in the posture are output through the three-dimensional modeling software.

[0004] However, in the related art, only the coordinates of the center of gravity in a certain posture can be output, and the change of the center of gravity cannot be reflected when the robot performs continuous actions. Summary of the invention

[0005] The purpose of this application is to provide a robot control method, 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, comprising:

[0008] Build a robot motion simulation model based on the robot 3D model;

[0009] Controlling at least one target joint of the robot motion simulation model to move according to preset motion parameters;

[0010] During the movement of the robot motion simulation model, measuring the center of gravity coordinates of the robot motion simulation model to obtain a plurality of center of gravity coordinates;

[0011] According to the multiple center-of-gravity coordinates, a trajectory of center-of-gravity changes of the robot motion simulation model during the motion process is obtained.

[0012] Optionally, building a robot motion simulation model based on the robot three-dimensional model includes:

[0013] Determining key structural parts in the three-dimensional model of the robot and other parts in the three-dimensional model of the robot except the key structural parts;

[0014] Determining the material density of the key structural component according to the mass parameters of the remaining components and the connection relationship between the key structural component and the remaining components;

[0015] The robot motion simulation model is constructed according to the material density of the key structural parts and the key structural parts.

[0016] Optionally, building the robot motion simulation model according to the material density of the key structural component and the key structural component includes:

[0017] Building an initial robot motion simulation model according to the material density of the key structural component and the key structural component;

[0018] Based on the building instructions, a rotating object is added to the rotating joint in the initial robot motion simulation model, a fixed object is added to the fixed part, a spring damper is added to the preset position, and a ground contact parameter is set for the bottom position to obtain the robot motion simulation model.

[0019] Optionally, during the movement of the robot motion simulation model, the center of gravity coordinates of the robot motion simulation model are measured to obtain a plurality of center of gravity coordinates, including:

[0020] During the movement of the robot motion simulation model, the center of gravity coordinates of each part in the robot motion simulation model relative to a preset fixed point in a preset coordinate system are measured to obtain the center of gravity coordinates of each part at multiple moments; wherein the preset fixed point is the origin of the preset coordinate system;

[0021] According to the center-of-gravity coordinates of the parts at the multiple moments and the mass of the parts, the multiple center-of-gravity coordinates of the robot motion simulation model at the multiple moments are calculated.

[0022] Optionally, the robot is a wheeled robot, and the origin of the preset coordinate system is: the vertical projection of the midpoint of the line connecting the centers of two driving wheels on the chassis of the wheeled robot on the ground where the wheeled robot contacts the ground.

[0023] Optionally, after determining the trajectory of the center of gravity change of the robot motion simulation model during the motion process according to the multiple center of gravity coordinates, the method further includes:

[0024] constructing an indication object model at the center of gravity of the robot motion simulation model;

[0025] During the movement of the robot motion simulation model, the indicated object model is driven to move according to the multiple center of gravity coordinates; wherein the center of gravity movement trajectory of the indicated object model is the same as the center of gravity change trajectory.

[0026] Optionally, the method further comprises:

[0027] The motion process of the robot motion simulation model and the motion process of the indicated object model are displayed.

[0028] Optionally, the method further comprises:

[0029] According to a preset driving function, driving at least one target joint of the robot motion simulation model and / or a chassis wheel of the robot motion simulation model to move;

[0030] The motion posture of the robot motion simulation model is displayed to evaluate the motion stability of the robot motion simulation model.

[0031] In a second aspect, an embodiment of the present application further provides a robot control 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.

[0032] 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.

[0033] In a fourth aspect, an embodiment of the present application provides a control device for a robot, comprising:

[0034] A building module is used to build a robot motion simulation model based on the robot three-dimensional model;

[0035] A control module, used for controlling at least one target joint of the robot motion simulation model to move according to preset motion parameters;

[0036] A measuring module, used for measuring the center of gravity coordinates of the robot motion simulation model during the motion of the robot motion simulation model to obtain a plurality of center of gravity coordinates;

[0037] The acquisition module is used to acquire the trajectory of the center of gravity change of the robot motion simulation model during the motion process according to the multiple center of gravity coordinates.

[0038] Optionally, the building module is specifically used to determine the key structural parts in the robot three-dimensional model and the remaining parts in the robot three-dimensional model except the key structural parts; determine the material density of the key structural parts according to the mass parameters of the remaining parts and the connection relationship between the key structural parts and the remaining parts; build the robot motion simulation model according to the material density of the key structural parts and the key structural parts.

[0039] Optionally, the building module is specifically used to build an initial robot motion simulation model according to the material density of the key structural parts and the key structural parts; based on the building instructions, a rotating object is added to the rotating joint in the initial robot motion simulation model, a fixed object is added to the fixed part, a spring damper is added to the preset part, and a ground contact parameter is set for the bottom part to obtain the robot motion simulation model.

[0040] Optionally, the measurement module is specifically used to measure the center of gravity coordinates of each part in the robot motion simulation model relative to a preset fixed point in a preset coordinate system during the movement of the robot motion simulation model, so as to obtain the center of gravity coordinates of each part at multiple moments; wherein the preset fixed point is the origin of the preset coordinate system; and based on the center of gravity coordinates of each part at multiple moments and the mass of each part, calculate the multiple center of gravity coordinates of the robot motion simulation model at the multiple moments.

[0041] Optionally, the robot is a wheeled robot, and the origin of the preset coordinate system is: the vertical projection of the midpoint of the line connecting the centers of two driving wheels on the chassis of the wheeled robot on the ground where the wheeled robot contacts the ground.

[0042] Optionally, the device further comprises:

[0043] A construction module, used to construct an indication object model at the center of gravity of the robot motion simulation model;

[0044] The first driving module is used to drive the indicated object model to move according to the multiple center of gravity coordinates during the movement of the robot motion simulation model; wherein the center of gravity movement trajectory of the indicated object model is the same as the center of gravity change trajectory.

[0045] Optionally, the device further comprises:

[0046] The first display module is used to display the motion process of the robot motion simulation model and the motion process of the indicated object model.

[0047] Optionally, the device further comprises:

[0048] A second driving module, used for driving at least one target joint of the robot motion simulation model and / or a chassis wheel of the robot motion simulation model to move according to a preset driving function;

[0049] The second display module is used to display the motion posture of the robot motion simulation model to evaluate the motion stability of the robot motion simulation model.

[0050] The beneficial effects of the present application are as follows: the present application embodiment provides a robot control method, including: building a robot motion simulation model according to a robot three-dimensional model; controlling at least one target joint of the robot motion simulation model to move according to preset motion parameters; measuring the center of gravity coordinates of the robot motion simulation model during the movement of the robot motion simulation model to obtain multiple center of gravity coordinates; obtaining the center of gravity change trajectory of the robot motion simulation model during the movement according to the multiple center of gravity coordinates. Compared with the robot three-dimensional model that can only be stationary in one posture in the related art, the robot motion simulation model built by the present application can control it to move continuously, measure multiple center of gravity coordinates and determine the center of gravity change trajectory during the process, and the center of gravity change trajectory can reflect the center of gravity change of the robot motion simulation model during the movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] 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.

[0052] Figure 1 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 1 ;

[0053] Figure 2 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 2 ;

[0054] Figure 3 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 3 ;

[0055] Figure 4 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 4 ;

[0056] Figure 5 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 5 ;

[0057] Figure 6 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 6 ;

[0058] Figure 7 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] An embodiment of the present application provides a robot control method, which is applied to a robot control device. The robot control device may be a terminal device. Optionally, the terminal device may be any one of the following: a computer device, a laptop computer, a tablet computer, or a smart phone.

[0065] The following is an explanation of a robot control method provided in an embodiment of the present application.

[0066] 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:

[0067] S101. Build a robot motion simulation model based on the robot three-dimensional model.

[0068] In the embodiment of the present application, the robot three-dimensional model is a robot model built using three-dimensional modeling software, and the robot three-dimensional model cannot be controlled to move automatically. In response to the input posture adjustment operation, the robot three-dimensional model is adjusted from one posture to another. The robot motion simulation model is a robot model built using multi-body kinematics simulation software. According to the control instructions, the robot motion simulation model can be automatically controlled to perform a continuous action, thereby realizing automatic control of the robot motion simulation model.

[0069] In some embodiments, in response to the input construction instruction, a robot motion simulation model is constructed based on the robot three-dimensional model. Optionally, the structural parts included in the robot three-dimensional model and the robot motion simulation model are not completely the same, but have the same center of gravity and mass.

[0070] S102: Control at least one target joint of the robot motion simulation model to move according to preset motion parameters.

[0071] Wherein, at least one target joint includes at least one of the following: a leg joint, a waist joint, an arm joint, and a head rotation joint.

[0072] In some embodiments, the robot motion simulation model can be a simulated wheeled robot, and the wheels of the robot motion simulation model are controlled to remain stationary according to preset motion parameters, that is, the drive of the wheels of the robot motion simulation model is 0; according to a preset angular velocity and / or a preset angular acceleration in the preset motion parameters, at least one target joint of the robot motion simulation model is controlled to move.

[0073] It should be noted that, according to the preset motion parameters, the robot motion simulation model can be controlled to move continuously for a period of time.

[0074] S103. During the movement of the robot motion simulation model, measure the center of gravity coordinates of the robot motion simulation model to obtain a plurality of center of gravity coordinates.

[0075] It is worth noting that during the continuous movement of the robot motion simulation model, the center of gravity coordinates of the robot motion simulation model can be measured in real time to obtain multiple center of gravity coordinates; or, the center of gravity coordinates of the robot motion simulation model can be measured at preset time intervals to obtain multiple center of gravity coordinates. The embodiments of the present application do not impose specific restrictions on this.

[0076] In some embodiments, the barycentric coordinates are three-dimensional coordinates. In practical applications, the coordinate data of the X-axis, Y-axis, and Z-axis in the multiple barycentric coordinates can be exported as three text files, and each text file can be organized into two columns of data. Among them, the first column of the two columns of data organized into the three text files can be the measurement time, and for the first text file, the second column can be the coordinate value of the barycentric coordinate on the X-axis; for the second text file, the second column can be the coordinate value of the barycentric coordinate on the Y-axis; for the third text file, the second column can be the coordinate value of the barycentric coordinate on the Z-axis.

[0077] S104. Obtaining a trajectory of the center of gravity change of the robot motion simulation model during the motion process according to the multiple center of gravity coordinates.

[0078] In an embodiment of the present application, a center of gravity coordinate measurement curve is drawn according to a plurality of center of gravity coordinates, and the center of gravity coordinate measurement curve is used as a center of gravity change trajectory. The center of gravity coordinate measurement curve can be directly displayed on the simulation interface, or the movement of the target object can be controlled according to the center of gravity change trajectory, and the movement of the target object can be displayed on the simulation interface, so that the user can intuitively know the center of gravity change trajectory of the robot motion simulation model during the movement process.

[0079] In addition, the movement of the robot motion simulation model can be displayed in the simulation interface, so that the user can observe the posture changes of the robot motion simulation model and whether it falls over in the simulation interface.

[0080] To sum up, the robot control method provided in the embodiment of the present application can control the robot to perform continuous movement by building a robot motion simulation model. During this process, multiple center of gravity coordinates are measured and the center of gravity change trajectory is determined. The center of gravity change trajectory can reflect the center of gravity change of the robot motion simulation model during the movement.

[0081] Optionally, Figure 2 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 2 ,like Figure 2 As shown, the process of building a robot motion simulation model according to the robot three-dimensional model in S101 may include:

[0082] S201. Determine key structural parts in the three-dimensional model of the robot and other parts except the key structural parts in the three-dimensional model of the robot.

[0083] Among them, the key structural parts may include: rotating parts involved in the change of robot posture.

[0084] In some embodiments, in response to a selection operation on a key structural component in the robot three-dimensional model, the selected structural component is determined as the key structural component in the robot three-dimensional model. The remaining parts can be understood as the unselected parts in the robot three-dimensional model.

[0085] S202. Determine the material density of the key structural part according to the mass parameters of the remaining parts and the connection relationship between the key structural part and the remaining parts.

[0086] It should be noted that in order to keep the center of gravity of the robot 3D model and the robot motion simulation model consistent, when the robot motion simulation model discards the remaining parts, the mass of the remaining parts should be equivalently applied to the key structural parts connected to the remaining parts, so that the volume of the key structural parts does not change, and the mass of the key structural parts needs to be increased. Therefore, when setting the material density of the key structural parts in the robot motion simulation model, a larger value needs to be set compared to the material density of the key structural parts in the robot 3D model.

[0087] Among them, the volume of the key structural parts has not changed, the material density has increased, and the mass of the key structural parts has increased, which is equivalent to adding the mass of the parts that are connected to the key structural parts to the key structural parts.

[0088] S203: Build a robot motion simulation model based on the material density of key structural parts and key structural parts.

[0089] In some implementations, target simulation parameters are acquired in response to input building instructions, and a robot motion simulation model is built according to the material density of key structural parts, the key structural parts, and the target simulation parameters.

[0090] The target simulation parameters include at least one of the following: adding simulation parameters and contact simulation parameters. The adding simulation parameters are used to indicate adding corresponding targets for preset joints and preset parts, and the contact simulation parameters are used to indicate setting contact parameters for preset parts.

[0091] Optionally, ADAMS (Automatic Dynamic Analysis of Mechanical Systems) software may be installed on the control device of the robot, and the robot's three-dimensional model may be simplified and then imported into the ADAMS software to establish a robot motion simulation model.

[0092] Optionally, Figure 3A schematic diagram of a robot control method provided in an embodiment of the present application Figure 3 ,like Figure 3 As shown, the process of building a robot motion simulation model according to the material density of the key structural parts and the key structural parts in the above S203 may include:

[0093] S301. Build an initial robot motion simulation model based on the material density of key structural parts and key structural parts.

[0094] In an embodiment of the present application, after building the initial robot motion simulation model, it is possible to check whether the center of gravity of the initial robot motion simulation model is correct. If the center of gravity of the initial robot motion simulation model is correct, the following process S302 is executed.

[0095] In addition, if the center of gravity of the initial robot motion simulation model is incorrect, the center of gravity of the initial robot motion simulation model is adjusted in response to the input adjustment instruction.

[0096] S302. Based on the building instructions, add rotating objects to the rotating joints in the initial robot motion simulation model, add fixed objects to the fixed parts, add spring dampers to the preset parts, and set ground contact parameters for the bottom parts to obtain the robot motion simulation model.

[0097] The revolute joints may include: wheel revolute joints, leg revolute joints, waist revolute joints, arm revolute joints, and head revolute joints. Adding a revolute object to a revolute joint means adding a revolute pair to the revolute joint, and adding a fixed object to a fixed part means establishing a fixed pair between fixed parts.

[0098] In addition, the preset position can be a chassis, and a shock absorber is added to the chassis by adding a spring damper to the chassis, so that the chassis is provided with suspension shock absorption. In some embodiments, the spring stiffness, damping and force value of the spring damper can be set in response to a setting instruction.

[0099] It is worth noting that a ground model is also established for the robot motion simulation model so as to be used to set the contact between the wheels and the ground. Setting the ground contact parameters for the bottom part refers to setting the contact parameters for the contact between the wheels and the ground. Optionally, the ground contact parameters may include: material stiffness, contact force index, material damping, penetration, static friction coefficient, dynamic friction coefficient, etc.

[0100] It should be noted that in the embodiment of the present application, there is no specific restriction on the order of adding a rotating object, adding a fixed object, adding a spring damper, and setting ground contact parameters.

[0101] To sum up, in the embodiments of the present application, by adding rotating objects to rotating joints and adding fixed objects to fixed parts, automatic motion control of the robot motion simulation model can be achieved. By adding spring dampers to preset parts and setting ground contact parameters for the bottom parts, the motion simulation of the robot motion simulation model is closer to the motion of a real robot, thereby improving the simulation reliability and accuracy.

[0102] Optionally, Figure 4 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 4 ,like Figure 4 As shown, in the above S103, during the movement of the robot motion simulation model, the process of measuring the center of gravity coordinates of the robot motion simulation model to obtain multiple center of gravity coordinates may include:

[0103] S401. During the movement of the robot motion simulation model, the center of gravity coordinates of each part in the robot motion simulation model relative to a preset fixed point in a preset coordinate system are measured to obtain the center of gravity coordinates of each part at multiple moments.

[0104] The preset fixed point is the origin of the preset coordinate system. The directions of the X-axis, Y-axis, and Z-axis of the preset fixed point are the same as the directions of the X-axis, Y-axis, and Z-axis in the preset coordinate system.

[0105] It should be noted that the centroid coordinates of each part at multiple moments include: the centroid coordinates of each part on the X-axis at multiple moments, the centroid coordinates of each part on the Y-axis, and the centroid coordinates of each part on the Z-axis.

[0106] S402, calculating multiple center of gravity coordinates of the robot motion simulation model at multiple times according to the center of gravity coordinates of each part at multiple times and the mass of each part.

[0107] In some embodiments, a preset formula is used to calculate the center of gravity coordinates of the robot motion simulation model on the X-axis, Y-axis, and Z-axis at multiple moments according to the center of gravity coordinates of each part on the X-axis, the center of gravity coordinates of each part on the Y-axis, the center of gravity coordinates of each part on the Z-axis, and the mass of each part.

[0108] The preset formula can be expressed as:

[0109] X=∑m i x i / ∑m i ; Y = ∑m i y i / ∑m i ; Z = ∑m i z i / ∑m i .

[0110] Among them, m i represents the mass of the i-th part; i = 1, 2…n, n represents the total number of parts in the robot motion simulation model; x i represents the coordinate of the center of gravity of the i-th part on the X-axis at a moment; y i represents the coordinate of the center of gravity of the i-th part on the Y axis at a certain moment; z i Represents the coordinate of the center of gravity of the i-th part on the Z axis at a moment.

[0111] Optionally, the robot is a wheeled robot, and the origin of the preset coordinate system is the vertical projection of the midpoint of the line connecting the centers of two driving wheels on the chassis of the wheeled robot on the ground where the wheeled robot contacts the ground.

[0112] In some embodiments, the X-axis in the preset coordinate system is the forward direction, the Y-axis is the left direction, and the Z-axis is the upward direction. Based on this preset coordinate system, the measurement of the center of gravity coordinates can be achieved. Of course, the directions corresponding to the X-axis and the Y-axis of the preset coordinate system can also be set according to actual needs, and the embodiments of the present application do not impose specific restrictions on this.

[0113] In practical applications, the magnitude and direction of gravity acceleration can also be set for the robot motion simulation model, so that the motion simulation of the robot motion simulation model is closer to the motion of the real robot.

[0114] Optionally, Figure 5 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 5 ,like Figure 5 As shown, after determining the trajectory of the center of gravity change of the robot motion simulation model during the motion process according to the multiple center of gravity coordinates in the above S104, the method may further include:

[0115] S501. Construct an indication object model at the center of gravity of the robot motion simulation model.

[0116] Among them, the indicated object model is used as a tracking display of the center of gravity change trajectory, the mass of the indicated object model is approximately 0, the size of the indicated object model can be a preset size, the indicated object model is defined by the center of gravity of the robot motion simulation model, and can be defined by a preset function, which can be an AGGREGATE_MASS function.

[0117] In practical applications, the indication object model may be a virtual geometric body, for example, a small sphere, and the radius of the small sphere may be set to 3 mm.

[0118] S502: During the movement of the robot motion simulation model, drive the indicated object model to move according to a plurality of center of gravity coordinates.

[0119] The trajectory of the center of mass motion of the indicated object model is the same as the trajectory of the center of gravity change.

[0120] In the embodiment of the present application, a displacement drive of the indicated object model is established at the mass center position of the indicated object model, that is, a displacement drive of the center of gravity of the robot motion simulation model.

[0121] In some embodiments, the robot control device may be installed with ADAMS software, and three text files containing multiple center of gravity coordinates may be imported into the ADAMS software, so that the ADAMS software generates three spline data, spline1, spline2, and spline3, according to the three text files. The three spline data are used as driving functions, and the origin of the preset coordinates is used as a driving reference point. According to the driving function and the driving reference point, the object model is driven to move.

[0122] Optionally, the method may further include:

[0123] Display the motion process of the robot motion simulation model and the motion process of the indicated object model.

[0124] In an embodiment of the present application, the driving of at least one target joint in the above S102 and the driving process of the indicated object model are calculated synchronously, so that during the movement of the robot motion simulation model, the indicated object model also moves along with the movement of the robot motion simulation model. The indicated object model moves based on the motion trajectory of the center of mass of the indicated object model, and the display of the motion process of the indicated object model can be understood as the display of the motion trajectory of the center of mass of the indicated object model. In this way, the user can intuitively know the change process of the center of gravity position of the robot motion simulation model during the movement process, thereby improving the user experience.

[0125] Among them, the user can intuitively observe the center of gravity position corresponding to any posture during the movement of the robot motion simulation model. Based on the displayed movement process of the robot motion simulation model, the user can also observe whether the movement process of the robot motion simulation model is stable and conduct stability evaluation of the robot motion simulation model.

[0126] In practical applications, the chassis wheels of the robot motion simulation model remain stationary, and corresponding drive is applied to at least one target joint. The robot posture changes continuously, and the center of gravity changes can be dynamically monitored to track and display the trajectory of the center of gravity changes during the posture change of the robot motion simulation model. At the same time, based on the contact between the robot and the ground, under the action of gravity, an intuitive evaluation of the robot posture stability is achieved.

[0127] In addition, if the machine tips over, the corresponding center of gravity position can be determined, thereby improving the design and controlling the center of gravity of the robot motion simulation model within a safe range.

[0128] Optionally, Figure 6 A schematic diagram of a robot control method provided in an embodiment of the present application Figure 6 ,like Figure 6 As shown, the method may also include:

[0129] S601. Drive at least one target joint of the robot motion simulation model and / or a chassis wheel of the robot motion simulation model to move according to a preset driving function.

[0130] Wherein, at least one target joint includes: at least one of a leg joint, a waist joint, an arm joint, and a head rotation joint.

[0131] In some embodiments, at least one target joint of the robot motion simulation model is driven according to a preset driving function to adjust the robot motion simulation model to a posture with the highest center of gravity; and / or, the chassis wheels of the robot motion simulation model are driven to move according to an angular velocity or angular acceleration function in a preset driving function. The preset driving function is divided into three stages: an acceleration stage, a uniform speed stage, and a deceleration stage. The driving wheel of the chassis is driven to evaluate the robot motion stability under the action of acceleration, deceleration and gravity.

[0132] It should be noted that the driving process in the above S601 refers to driving only at least one target joint to move; or driving only the chassis wheels to move; or driving at least one target joint and the chassis wheels to move at the same time.

[0133] S602: Display the motion posture of the robot motion simulation model to evaluate the motion stability of the robot motion simulation model.

[0134] In practical applications, users can observe the motion posture of the robot motion simulation model and then know whether the motion process of the robot motion simulation model is stable. For example, they can observe whether the robot motion simulation model tips over during chassis movement and whether it is greatly affected by acceleration and deceleration, thereby evaluating the motion stability of the robot motion simulation model.

[0135] To summarize, in the embodiments of the present application, through at least one target joint and chassis motion simulation, the influence of the center of gravity and acceleration and deceleration on the motion stability of the whole machine is comprehensively analyzed to provide the motion performance index of the robot motion simulation model.

[0136] The following describes the robot control device, robot control equipment and storage medium used to execute the robot control method provided in this application. Its specific implementation process and technical effects refer to the relevant content of the above-mentioned robot control method, which will not be repeated below.

[0137] Figure 7 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the device may include:

[0138] A building module 101 is used to build a robot motion simulation model based on the robot three-dimensional model;

[0139] A control module 102, used to control at least one target joint of the robot motion simulation model to move according to preset motion parameters;

[0140] A measuring module 103 is used to measure the center of gravity coordinates of the robot motion simulation model during the motion of the robot motion simulation model to obtain a plurality of center of gravity coordinates;

[0141] The acquisition module 104 is used to acquire the trajectory of the center of gravity change of the robot motion simulation model during the motion process according to the multiple center of gravity coordinates.

[0142] Optionally, the building module 101 is specifically used to determine the key structural parts in the robot three-dimensional model and the remaining parts in the robot three-dimensional model except the key structural parts; determine the material density of the key structural parts according to the mass parameters of the remaining parts and the connection relationship between the key structural parts and the remaining parts; build the robot motion simulation model according to the material density of the key structural parts and the key structural parts.

[0143] Optionally, the building module 101 is specifically used to build an initial robot motion simulation model according to the material density of the key structural parts and the key structural parts; based on the building instructions, a rotating object is added to the rotating joint in the initial robot motion simulation model, a fixed object is added to the fixed part, a spring damper is added to the preset part, and a ground contact parameter is set for the bottom part to obtain the robot motion simulation model.

[0144] Optionally, the measurement module 103 is specifically used to measure the center of gravity coordinates of each part in the robot motion simulation model relative to a preset fixed point in a preset coordinate system during the movement of the robot motion simulation model, and obtain the center of gravity coordinates of each part at multiple times; wherein the preset fixed point is the origin of the preset coordinate system; based on the center of gravity coordinates of each part at multiple times and the mass of each part, calculate the multiple center of gravity coordinates of the robot motion simulation model at the multiple times.

[0145] Optionally, the robot is a wheeled robot, and the origin of the preset coordinate system is the vertical projection of the midpoint of the line connecting the centers of two driving wheels on the chassis of the wheeled robot on the ground where the wheeled robot contacts the ground.

[0146] Optionally, the device further comprises:

[0147] A construction module, used to construct an indication object model at the center of gravity of the robot motion simulation model;

[0148] The first driving module is used to drive the indicated object model to move according to the multiple center of gravity coordinates during the movement of the robot motion simulation model; wherein the center of gravity movement trajectory of the indicated object model is the same as the center of gravity change trajectory.

[0149] Optionally, the device further comprises:

[0150] The first display module is used to display the motion process of the robot motion simulation model and the motion process of the indicated object model.

[0151] Optionally, the device further comprises:

[0152] A second driving module, used for driving at least one target joint of the robot motion simulation model and / or a chassis wheel of the robot motion simulation model to move according to a preset driving function;

[0153] The second display module is used to display the motion posture of the robot motion simulation model to evaluate the motion stability of the robot motion simulation model.

[0154] 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.

[0155] 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).

[0156] Figure 8 A schematic diagram of the structure of a robot control device provided in an embodiment of the present application, such as Figure 8 As shown, the control device of the robot includes: a processor 201 and a memory 202.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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.

[0163] 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: include: Build a robot motion simulation model based on the robot 3D model; Controlling at least one target joint of the robot motion simulation model to move according to preset motion parameters; During the movement of the robot motion simulation model, measuring the center of gravity coordinates of the robot motion simulation model to obtain a plurality of center of gravity coordinates; According to the multiple center-of-gravity coordinates, a trajectory of center-of-gravity changes of the robot motion simulation model during the motion process is obtained.

2. The method according to claim 1, characterized in that: The robot motion simulation model is constructed based on the robot three-dimensional model, including: Determine key structural parts in the three-dimensional model of the robot and other parts in the three-dimensional model of the robot except the key structural parts; Determining the material density of the key structural component according to the mass parameters of the remaining components and the connection relationship between the key structural component and the remaining components; The robot motion simulation model is constructed according to the material density of the key structural parts and the key structural parts.

3. The method according to claim 2, characterized in that The step of building the robot motion simulation model according to the material density of the key structural component and the key structural component comprises: Building an initial robot motion simulation model according to the material density of the key structural component and the key structural component; Based on the building instructions, a rotating object is added to the rotating joint in the initial robot motion simulation model, a fixed object is added to the fixed part, a spring damper is added to the preset position, and a ground contact parameter is set for the bottom position to obtain the robot motion simulation model.

4. The method according to claim 1, characterized in that: During the movement of the robot motion simulation model, the center of gravity coordinates of the robot motion simulation model are measured to obtain a plurality of center of gravity coordinates, including: During the movement of the robot motion simulation model, the center of gravity coordinates of each part in the robot motion simulation model relative to a preset fixed point in a preset coordinate system are measured to obtain the center of gravity coordinates of each part at multiple moments; wherein the preset fixed point is the origin of the preset coordinate system; According to the center-of-gravity coordinates of the parts at the multiple moments and the mass of the parts, the multiple center-of-gravity coordinates of the robot motion simulation model at the multiple moments are calculated.

5. The method according to claim 4, characterized in that The robot is a wheeled robot, and the origin of the preset coordinate system is: the vertical projection of the midpoint of the line connecting the centers of two driving wheels on the chassis of the wheeled robot on the ground where the wheeled robot contacts.

6. The method according to claim 1, characterized in that After determining the trajectory of the center of gravity change of the robot motion simulation model during the motion process according to the multiple center of gravity coordinates, the method further includes: constructing an indication object model at the center of gravity of the robot motion simulation model; During the movement of the robot motion simulation model, the indicated object model is driven to move according to the multiple center of gravity coordinates; wherein the center of mass movement trajectory of the indicated object model is the same as the center of gravity change trajectory.

7. The method according to claim 6, characterized in that The method further comprises: The motion process of the robot motion simulation model and the motion process of the indicated object model are displayed.

8. The method according to claim 1, characterized in that: The method further comprises: According to a preset driving function, driving at least one target joint of the robot motion simulation model and / or a chassis wheel of the robot motion simulation model to move; The motion posture of the robot motion simulation model is displayed to evaluate the motion stability of the robot motion simulation model.

9. A robot control 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 8 is implemented.

10. 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 8 is implemented.

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