Robot motion control method, device and electronic equipment

Abstract

The present invention discloses a method, device and electronic device for controlling the motion of a robot. The method comprises: receiving a branch line instruction. In response to the branch line instruction, determining whether the result of the first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, the first branch instruction is an instruction for the robot to execute the corresponding first branch action within the first cycle, and the main line action includes the first branch action. Based on the result, determining the instruction to be superimposed. Based on the instruction to be superimposed and the branch line instruction, determining the target planning instruction. Controlling the robot to perform joint control according to the target planning instruction until the robot completes the branch line action. The present invention solves the technical problem in the related art that the robot suddenly receives a branch line instruction during the execution of the task instruction and is difficult to deal with the branch line instruction.

Description

Technical Field

[0001] The present invention relates to the field of data processing, and in particular to a method and device for controlling the motion of a robot, and electronic equipment. Background Art

[0002] At present, when controlling robot motion, the commonly used method is to use the robot controller to plan in combination with the target position and the current joint position of the robot to control the robot to complete the specified action. However, this planning method has the problem that when the robot receives the branch line instruction, the robot controller has poor dynamic response capability and cannot complete the planning on time, causing the robot to shake and overvoltage.

[0003] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0004] The embodiments of the present invention provide a robot motion control method, device and electronic equipment to at least solve the technical problem in the related art that the robot suddenly receives a branch line instruction while executing a task instruction and is unable to respond to the branch line instruction.

[0005] According to one aspect of an embodiment of the present invention, a method for controlling the motion of a robot is provided, comprising: receiving a branch line instruction, wherein the branch line instruction is an instruction corresponding to a branch line action made by the robot while executing the main line action. In response to the branch line instruction, determining whether the result of the first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, and the first branch instruction is an instruction for the robot to execute the corresponding first branch action within the first cycle, and the main line action includes the first branch action. Based on the result, determining the instruction to be superimposed. Based on the instruction to be superimposed and the branch line instruction, determining the target planning instruction, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle. Controlling the robot to perform joint control according to the target planning instruction until the robot completes the branch line action.

[0006] Optionally, determining the instruction to be superimposed based on the result includes: if the result is that the first branch instruction is obtained, determining the first branch instruction as the instruction to be superimposed; if the result is that the first branch instruction is not obtained, determining the historical branch instruction corresponding to the main line instruction as the instruction to be superimposed.

[0007] Optionally, determining a target planning instruction based on the instruction to be superimposed and the line splitting instruction includes: determining a second branch instruction corresponding to the line splitting instruction, wherein the second branch instruction is an instruction for the robot to perform a corresponding second branch action within a second cycle, and the line splitting action includes the second branch action. Performing a superposition operation on the instruction to be superimposed and the second branch instruction to obtain the target planning instruction.

[0008] Optionally, performing a superposition operation on the instruction to be superimposed and the second branch instruction to obtain a target planned instruction includes: if there are multiple branch instructions, determining execution levels corresponding to the multiple branch instructions; determining second branch instructions corresponding to the multiple branch instructions; and performing multi-level instruction superposition on the multiple second branch instructions based on the multiple execution levels until the target planned instruction is obtained.

[0009] Optionally, an overlay operation is performed on the instruction to be overlaid and the second branch instruction to obtain a target planning instruction, including: determining multiple sub-cycle instructions corresponding to the instruction to be overlaid; determining a target cycle instruction corresponding to the second branch instruction from the multiple sub-cycle instructions; and performing an overlay operation on the target cycle instruction and the second branch instruction to obtain a target planning instruction.

[0010] Optionally, determining the target planning instruction based on the instructions to be superimposed and the line splitting instruction includes: obtaining the real-time posture of the robot's joints; and determining the target planning instruction based on the instructions to be superimposed, the line splitting instruction and the real-time posture.

[0011] According to one aspect of an embodiment of the present invention, a robot motion control system is provided, comprising: a first planner and a second planner, wherein the first planner is used to receive a main line instruction, wherein the main line instruction is an instruction corresponding to the main line action executed by the robot; determine a first branch instruction corresponding to the main line instruction, wherein the first branch instruction is an instruction for the robot to execute the corresponding first branch action within a first cycle, and the main line action includes the first branch action; the second planner is used to receive a branch line instruction, wherein the branch line instruction is an instruction corresponding to the branch line action executed by the robot; in response to the branch line instruction, determine whether to obtain the result of the first branch instruction; determine the instruction to be superimposed based on the result; determine the target planning instruction based on the instruction to be superimposed and the branch line instruction, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; control the robot to perform joint control according to the target planning instruction until the robot completes the branch line action.

[0012] According to one aspect of an embodiment of the present invention, a robot motion control device is provided, comprising: a receiving module for receiving a branch line instruction, wherein the branch line instruction is an instruction corresponding to a branch line action made by the robot while executing the main line action; a first determining module for determining, in response to the branch line instruction, whether a result of a first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, and the first branch instruction is an instruction for the robot to execute the corresponding first branch action within a first cycle, and the main line action includes the first branch action; a second determining module for determining an instruction to be superimposed based on the result; a third determining module for determining a target planning instruction based on the instruction to be superimposed and the branch line instruction, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; a control module for controlling the robot to perform joint control based on the target planning instruction until the robot completes the branch line action.

[0013] According to one aspect of an embodiment of the present invention, there is provided an electronic device comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement any of the above-mentioned robot motion control methods.

[0014] According to one aspect of an embodiment of the present invention, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute any of the above-mentioned robot motion control methods.

[0015] In an embodiment of the present invention, a branch line instruction is received, wherein the branch line instruction is an instruction corresponding to the branch line action made by the robot while executing the main line action. In response to the branch line instruction, it is determined whether the result of the first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, and the first branch instruction is an instruction for the robot to execute the corresponding first branch action within the first cycle, and the main line action includes the first branch action. Based on the result, the instruction to be superimposed is determined. Based on the instruction to be superimposed and the branch line instruction, the target planning instruction is determined, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle. The robot is controlled to perform joint control according to the target planning instruction until the robot completes the branch line action. It can be seen that the present invention achieves the purpose of controlling the robot to perform joint control according to the target planning instruction until the robot completes the branch line action by determining the target planning instruction based on the instruction to be superimposed and the branch line instruction. Since the target planning instruction is determined based on the instruction to be superimposed and the branch line instruction, wherein the instruction to be superimposed is determined based on the corresponding first branch instruction executed in the first cycle of the robot, and the branch line instruction is the instruction corresponding to completing the branch line action, therefore, according to the target planning instruction, the robot can complete the branch line action while performing the main line action. At the same time, the second cycle frequency corresponding to the target planning instruction is greater than the main line instruction cycle, which can better determine the target planning instruction, monitor the movement of the robot, and ensure that the robot executes joint control according to the target planning instruction and completes the branch line action, thereby solving the technical problem in the related technology that the robot suddenly receives the branch line instruction in the process of executing the task instruction and is difficult to cope with the branch line instruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a flowchart of a method for controlling a robot's motion according to an embodiment of the present invention;

[0018] Figure 2 is a motion planning flow chart of a robot in the related art provided according to an optional embodiment of the present invention;

[0019] Figure 3 This is a structural block diagram of a multi-frequency planning controller provided according to an optional embodiment of the present invention;

[0020] Figure 4 is a module diagram of a robot motion control method provided according to an optional embodiment of the present invention;

[0021] Figure 5 is a flowchart of a robot motion control method provided according to an optional embodiment of the present invention;

[0022] Figure 6 is a flow chart of motion control of a seven-axis redundant serial robot provided according to an optional embodiment of the present invention;

[0023] Figure 7 4 is a structural block diagram of a robot motion control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes 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.

[0026] Example 1

[0027] According to an embodiment of the present invention, an embodiment of a robot motion control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0028] Figure 1 : is a flow chart of a method for controlling a robot's motion according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0029] Step S102: receiving a branch line instruction, wherein the branch line instruction is an instruction corresponding to a branch line action made by the robot while executing the main line action.

[0030] In step S102 provided in this application, a line splitting instruction is received.

[0031] Among them, branch line instructions are involved. Branch line instructions refer to instructions received by the robot that require additional actions or adjustments during the performance of its main work tasks.

[0032] Among them, robots are involved. Robots refer to mechanical devices that can perform precise movements, operations or services according to preset programs or real-time control instructions.

[0033] Among them, the main line action is involved, which refers to the main workflow or task pre-set by the robot.

[0034] Among them, branch line actions are involved. Branch line actions refer to secondary actions that are parallel to or temporarily inserted into the main line actions. They can respond to real-time needs or emergencies and enhance the robot's adaptability to the environment and operational flexibility.

[0035] In this step, the robot receives a branch line instruction while executing the main line action. Receiving a branch line instruction is a fundamental step in controlling the robot to respond to real-time needs or emergencies and complete the branch line action.

[0036] Step S104, in response to the branch line instruction, determines whether the result of the first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is the instruction corresponding to the main line action, the first branch instruction is the instruction for the robot to execute the corresponding first branch action within the first cycle, and the main line action includes the first branch action.

[0037] In step S104 provided in the present application, in response to the branch line instruction, it is determined whether the result of the first branch instruction corresponding to the main line instruction is obtained.

[0038] Among them, the main line instructions are involved. The main line instructions refer to the instructions that control the robot to perform its main actions. The main line instructions usually contain the key parameters of the entire action, such as motion position parameters, speed control parameters, acceleration control parameters, etc.

[0039] Among them, the first branch instruction is involved. The first branch instruction refers to the specific action instruction that the robot needs to execute within the first cycle during the execution of the main line instruction. It describes how the robot adjusts its action to meet the immediate needs of the main line action within the first cycle.

[0040] Among them, the first cycle is involved, and the first cycle refers to the execution cycle of the main line instruction when the branch line instruction is received.

[0041] Among them, the first branch action is involved. The first branch action refers to the specific steps or actions that the robot should perform in the first cycle to complete the main line action.

[0042] In this step, respond to the branch line instruction and determine whether the first branch instruction corresponding to the main line instruction is obtained. That is, when a branch line instruction is received, immediately check whether there is a calculation result of the first branch instruction corresponding to the main line instruction, so as to avoid the sudden stop of the robot's main line action or the interruption of the instruction update, ensure the smooth transition of the action execution, and improve the execution continuity and stability of the action.

[0043] Step S106: Determine the instructions to be superimposed based on the result.

[0044] In step S106 provided in this application, the instructions to be superimposed are determined based on the result.

[0045] Among them, the result is involved, and the result refers to the calculation status of the first branch instruction determined when receiving the branch line instruction, that is, whether the instruction planning calculation of the main line instruction to guide the robot to complete the main line action within the first cycle has been completed.

[0046] Among them, it involves instructions to be superimposed, which refer to specific instructions used to guide the robot to perform main line actions in the first cycle.

[0047] In this step, the instruction that the robot will execute to complete the main line action in the first cycle is determined based on the calculation status of the first branch instruction in the main line instruction, and is used as the instruction to be superimposed.

[0048] Through this step, the instructions to be superimposed are determined, which provides the basis for the formulation of the main line instructions for the subsequent robot motion planning instructions and ensures the continuity of the main line action.

[0049] Step S108, determine the target planning instruction based on the instruction to be superimposed and the line branching instruction, wherein the target planning instruction is that the robot performs the line branching action within the second cycle, and can execute the instruction corresponding to the first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle.

[0050] In step S108 provided in the present application, the target planning instruction is determined based on the instruction to be superimposed and the line division instruction.

[0051] Among them, the target planning instruction is involved. The target planning instruction refers to the instruction that combines the main line instruction in the second cycle and the branch line instruction in the second cycle. It ensures that the robot can simultaneously execute the first branch action and the branch line action in the second cycle to meet the task requirements.

[0052] Among them, the second cycle is involved. The second cycle refers to the cycle in which the branch line instruction executes the action. The time interval of the second cycle is shorter than that of the first cycle, which means that the robot needs to update the action more frequently to respond to the branch line instruction and achieve more dynamic control.

[0053] In this step, the target planning instructions are determined based on the instructions to be superimposed and the branch line instructions, that is, coordination is performed between the main line instructions and the branch line instructions to generate instructions to guide the robot to simultaneously perform the main line actions and the branch line actions in the second cycle.

[0054] Through this step, the robot can respond and execute branch-line actions in a timely manner while the main-line action is being executed, thereby improving the efficiency and timeliness of multi-tasking. At the same time, the high-frequency processing of the second cycle enables the robot to respond quickly to environmental changes or user operations, thereby enhancing the flexibility and safety of the system.

[0055] Step S110 , controlling the robot to perform joint control according to the target planning instruction until the robot completes the line splitting action.

[0056] In step S110 provided in the present application, the robot is controlled to perform joint control according to the target planning instruction until the robot completes the line splitting action.

[0057] Among them, joint control is involved. Joint control refers to the precise control of the robot joints to achieve the predetermined motion trajectory, posture or work goal.

[0058] In this step, the robot's joints are precisely controlled according to the generated target planning instructions to ensure that the robot can complete the main line action according to the instruction requirements while also accurately and timely executing the branch line action until the branch line action is completed.

[0059] Through the above steps S102-S110, it is possible to receive a branch line instruction, wherein the branch line instruction is an instruction corresponding to the branch line action made by the robot while executing the main line action. In response to the branch line instruction, it is determined whether the result of the first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, and the first branch instruction is an instruction for the robot to execute the corresponding first branch action within the first cycle, and the main line action includes the first branch action. Based on the result, the instruction to be superimposed is determined. Based on the instruction to be superimposed and the branch line instruction, the target planning instruction is determined, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle. The robot is controlled to perform joint control according to the target planning instruction until the robot completes the branch line action. It can be seen that the present invention achieves the purpose of controlling the robot to perform joint control according to the target planning instruction until the robot completes the branch line action by determining the target planning instruction based on the instruction to be superimposed and the branch line instruction. Since the target planning instruction is determined based on the instruction to be superimposed and the branch line instruction, wherein the instruction to be superimposed is determined based on the corresponding first branch instruction executed in the first cycle of the robot, and the branch line instruction is the instruction corresponding to completing the branch line action, therefore, according to the target planning instruction, the robot can complete the branch line action while performing the main line action. At the same time, the second cycle frequency corresponding to the target planning instruction is greater than the main line instruction cycle, which can better determine the target planning instruction, monitor the movement of the robot, and ensure that the robot executes joint control according to the target planning instruction and completes the branch line action, thereby solving the technical problem in the related technology that the robot suddenly receives the branch line instruction in the process of executing the task instruction and is difficult to cope with the branch line instruction.

[0060] As an optional embodiment, determining the instruction to be superimposed based on the result includes: when the result is that the first branch instruction is obtained, determining the first branch instruction as the instruction to be superimposed; when the result is that the first branch instruction is not obtained, determining the historical branch instruction corresponding to the main line instruction as the instruction to be superimposed.

[0061] In this embodiment, the specific steps of determining the instructions to be superimposed are described.

[0062] Among them, historical branch instructions are involved. Historical branch instructions refer to branch instructions that have been calculated and executed in the previous cycle of the first cycle when the robot is executing the main line instructions. They can be used to determine the first branch instruction when the first branch instruction is not calculated in time.

[0063] In this step, when it is determined that the first branch instruction is obtained, the first branch instruction is determined to be the instruction to be superimposed. When the first branch instruction is not obtained, the first branch instruction is predicted based on historical branch instructions to determine the instruction to be superimposed.

[0064] In this way, a method for determining the instructions to be superimposed is added, which avoids the situation where the robot stops or suddenly changes its action due to the absence of the first branch instruction, and maintains the continuity and stability of the robot's action.

[0065] As an optional embodiment, the target planning instruction is determined based on the instruction to be superimposed and the line branching instruction, including: determining the second branch instruction corresponding to the line branching instruction, wherein the second branch instruction is an instruction for the robot to execute the corresponding second branch action within the second cycle, and the line branching action includes the second branch action; performing the superposition operation on the instruction to be superimposed and the second branch instruction to obtain the target planning instruction.

[0066] In this embodiment, the specific steps of determining the second branch instruction to determine the target planned instruction are described.

[0067] Among them, the second branch instruction is involved. The second branch instruction refers to the specific action instruction of the branch instruction in the second cycle under the multi-task execution framework. It describes how the robot adjusts its actions to meet the immediate needs of the branch task in the second cycle.

[0068] Among them, the second branch action is involved, and the second branch action refers to the specific steps or actions that the robot is required to perform in the second cycle in the branch line instruction.

[0069] In this step, the second branch instruction corresponding to the branch line instruction is first determined, that is, the instruction for commanding the robot to complete the specific action in the second cycle is determined. Then, the second branch instruction is superimposed with the corresponding instruction to be superimposed to determine the target planning instruction.

[0070] Through this step, a second branch instruction corresponding to the branch instruction is immediately generated, enabling the robot to quickly respond to changes in the environment and demand, improving its adaptability and real-time task processing capabilities in dynamic environments. At the same time, the superposition operation of instructions reduces the amount of calculation required to re-plan the action when encountering a branch instruction, thereby improving the overall efficiency of multi-task execution.

[0071] As an optional embodiment, a superposition operation is performed on the superposition instruction and the second branch instruction to obtain a target planning instruction, including: when there are multiple branch line instructions, determining the execution levels corresponding to the multiple branch line instructions respectively; determining the second branch instructions corresponding to the multiple branch line instructions respectively; and performing multi-level instruction superposition on the multiple second branch instructions based on the multiple execution levels until the target planning instruction is obtained.

[0072] In this embodiment, specific steps of determining the second branch instruction to determine the target planning instruction when there are multiple branch instructions are described.

[0073] This involves the execution level, which quantifies the priority or importance of branch instructions. It determines the order and weight of multiple branch instructions in the current execution cycle when they are superimposed on the main line instructions. Branch instructions with high execution levels are given priority to ensure a quick response to critical tasks or emergencies.

[0074] In this step, first, the execution level of each branch line instruction is determined according to the importance and urgency of multiple branch line instructions. Then, for each branch line instruction, its corresponding specific second branch instruction in the second cycle is determined. Finally, according to the execution level of each branch line instruction, a multi-level instruction superposition method is adopted to superimpose multiple second branch instructions with the instructions to be superimposed of the main line action according to priority and weight, and generate the final target planning instruction to guide the robot's action execution in the current cycle.

[0075] Through this step, in scenarios where multiple branch-line instructions coexist, the robot can effectively coordinate the main-line task with multiple branch-line tasks based on the priority of the tasks, ensuring a rapid response to critical tasks or emergencies, and improving the robot's flexibility and safety in complex multi-tasking environments.

[0076] As an optional embodiment, a superposition operation is performed on the instruction to be superimposed and the second branch instruction to obtain a target planning instruction, including: determining multiple sub-cycle instructions corresponding to the instruction to be superimposed; determining a target cycle instruction corresponding to the second branch instruction from the multiple sub-cycle instructions; and performing a superposition operation on the target cycle instruction and the second branch instruction to obtain a target planning instruction.

[0077] In this embodiment, specific steps of determining a target cycle instruction to determine a target planning instruction are described.

[0078] This involves sub-cycle instructions, which are decomposed from the instructions to be superimposed. They describe how the robot adjusts its movements to meet the immediate needs of the instructions to be superimposed within the sub-cycle. The sub-cycle length is the same as the second cycle length, and the sub-cycles are continuous in time.

[0079] Among them, the target cycle instruction is involved, and the target cycle instruction refers to the sub-cycle instruction corresponding to the second cycle in the sub-cycle instruction.

[0080] In this step, first, the main line task instructions to be superimposed are decomposed into multiple sub-cycle instructions. Then, from these sub-cycle instructions, the sub-cycle instructions corresponding to the second cycle are selected as the target cycle instructions to ensure the coordination between the main line task and the branch task. Finally, the target cycle instructions are superimposed with the second branch instructions to generate the target planning instructions that the robot should execute in the second cycle.

[0081] In this way, the instructions to be superimposed are decomposed into multiple sub-cycle instructions and finely superimposed with the corresponding second branch instructions, thereby achieving a smooth transition of the robot's movements, avoiding sudden changes or discontinuities in the robot's movements, and improving the accuracy and safety of the operation.

[0082] As an optional embodiment, the target planning instruction is determined based on the instructions to be superimposed and the line separation instruction, including: obtaining the real-time posture of the robot's joints; and determining the target planning instruction based on the instructions to be superimposed, the line separation instruction and the real-time posture.

[0083] In this embodiment, the specific steps of obtaining the real-time position and posture of the robot's joints and determining the target planning instructions are described.

[0084] Among them, joints are involved. Joints refer to the connection points in the robot structure that can perform relative movement. They have a certain degree of freedom and can rotate around the axis or slide along the axis to achieve movement in different directions.

[0085] Among them, the real-time posture is involved. The real-time posture refers to the precise position and posture of the robot at the current moment, which reflects the actual motion state of the robot.

[0086] In this step, the precise position and posture of the robot at the current moment are first obtained, and then the target planning instructions are determined by combining the instructions to be superimposed and the line division instructions.

[0087] In this way, the real-time position and posture of the robot are obtained, so that the target planning instructions can more accurately reflect the current actual state of the robot, reducing the error between the instructions and the actual action, and improving the accuracy and stability of the action execution.

[0088] Based on the above embodiment and optional embodiment, an optional implementation manner is provided, which is described in detail below.

[0089] In an optional embodiment of the present invention, a robot motion control method is provided, which is introduced below.

[0090] Figure 2 is a motion planning flow chart of a robot in the related art provided by an optional embodiment of the present invention, such as Figure 2As shown, in the related art, a general technician specifies the target position of each joint of the robot through the corresponding programming tool of the robot. The robot controller plans a set of discrete joint points based on the specified target position and the current position of each joint of the robot. These points are then sent to the robot joint actuator through the communication component between the robot controller and the robot. The robot joint actuator operates according to the received point information, so that the robot reaches the specified target position. Generally, the frequency of this set of discrete points, that is, the time interval between each two points, is strictly fixed. When the path (the trajectory from the current point to the target point) is planned in real time, the robot controller must complete the calculation and transmission of the next point within this time interval. Otherwise, the robot joint actuator will not receive the point and will think that the command speed is 0. If there is a large speed at the previous moment, it will cause the joint actuator speed to suddenly change, causing the robot to shake, or even overcurrent and overvoltage (the robot decelerates at the maximum deceleration, causing the directional electromotive force to be too high, and then overvoltage) and other problems.

[0091] The above traditional planning methods have the following disadvantages:

[0092] 1. If the planned task is complex and time-consuming, and the time interval cannot be met at a fixed frequency, the frequency can only be reduced. Reducing the planning frequency will reduce the robot's dynamic response capability. For example, when the user presses the emergency stop button, the robot controller's response cycle will be extended.

[0093] 2. If the real-time performance of the robot controller is affected, for example, the robot controller is affected by other tasks, the central processing unit (CPU) usage is too high, resulting in the real-time planning task not being completed in time, the planning cannot be completed within the specified time interval, and the robot joint actuators cannot receive the planned points, causing the robot to shake, overvoltage, etc.

[0094] 3. Robot control planning only supports a single target and cannot temporarily change the target point. If modification is required, the planner must be re-planned.

[0095] In response to the above problems, an optional embodiment of the present invention provides a robot motion control method.

[0096] This method has the following characteristics:

[0097] 1. The controller has multiple cascaded planners with increasing planning frequencies. Figure 3 is a structural block diagram of a multi-frequency planning controller provided according to an optional embodiment of the present invention, such as Figure 3 As shown, the low-frequency planner (first planner) can perform complex tasks, and the high-frequency planner (second planner) can perform high dynamic response tasks.

[0098] 2. Each planning period is real-time.

[0099] 3. Each planner has a point loss prediction function. When the previous planning period fails to send the point in time, it can predict the instructions of the next cycle based on the target instructions of the previous cycle to avoid speed and acceleration jumps.

[0100] Furthermore, an optional embodiment of the present invention provides an action control method capable of processing line splitting actions. Figure 4 Schematic diagram of a robot motion control method according to an optional embodiment of the present invention. Figure 4 As shown, this optional implementation mainly includes 11 modules:

[0101] Among them, module 101 is the robot controller module, which includes control, computing, and storage units. It is usually an industrial computer that runs the robot's control software system.

[0102] 102 is the target instruction Q1, which is usually input from the outside and can be in the form of programming, real-time instructions, etc.

[0103] 103 is the target instruction Q2, which is usually input from the outside and can be in the form of programming, real-time instructions, etc.

[0104] Controller 1001 is the first planner, which runs at a frequency of N1. Its function is to perform discrete planning on 102 and output a first planning instruction q1 (same as the first branch instruction mentioned above) every 1 / N1 of the time.

[0105] 1002 is the first planning instruction q1, which is the output of the controller 1001. It usually controls the joint angle adjusted by the robot, and is accompanied by information such as speed, acceleration, and jerk at that moment.

[0106] Controller 1003 is the second real-time planner, and its operating frequency is N2, usually N2>N1. Its function is to synthesize the output of controller 1001 and target instruction Q2 into the second planning instruction q2 (the same as the above-mentioned target planning instruction) through the second planner and the second superimposer.

[0107] 2001 is the second planner, which is the second planner in the second real-time planner. Its function is to convert the output of the 1001 controller into instructions at the N2 frequency.

[0108] 2002 is a second real-time superimposer, which is used to superimpose the planning result of the second planner and the target instruction Q2 into the second planning instruction q2.

[0109] 2003 is the second predictor, which is the second predictor in the second real-time planner. Its function is to predict the output of the 1001 controller at that moment based on the output of the previous 1001 controller when the 1001 controller fails to complete its planning calculation within the 1 / N1 cycle.

[0110] 104 is the second planning instruction q2, which is the output of the 1003 module and is usually the joint angle of the controlled robot.

[0111] 105 is a robot and its actuator module, which receives the output of 1003 and makes the joint move to the output.

[0112] The specific steps involved in the optional implementation manner of the present invention are introduced below.

[0113] Figure 5 is a flow chart of a robot motion control method provided according to an optional embodiment of the present invention, such as Figure 5 As shown, the specific implementation process of the optional implementation method is as follows:

[0114] S1. Get ready and start the robot controller.

[0115] The robot controller executes the planner in the controller in the following order:

[0116] A1. The second planner runs at frequency N2.

[0117] A2. Trigger the first planner to perform a plan.

[0118] Assuming the second planner starts at cycle 1, the first planner is triggered to run a plan every N2 / N1 cycle, using the first planner's previous plan. Therefore, the first planner's execution frequency is N1, and it is completely controlled by the second planner.

[0119] A3. After the first planner is triggered, it will accept the user instruction Q1 and perform planning.

[0120] It should be noted that the user instruction Q1 may not be present every time it is triggered, and the first planner may plan the same target position in multiple cycles.

[0121] S2. Receive target instruction Q2.

[0122] S3. In response to the target instruction Q2, determine whether the result of the first branch instruction corresponding to the main line instruction is obtained.

[0123] Due to the different complexity of the planning task, the first planner may not be able to complete the current planning within 1 / N1 time. Therefore, when the second planner triggers the execution of the first planner this time, it cannot obtain the planning results of the first planner.

[0124] S4. Determine the first planning instruction q1 based on the result.

[0125] If the second planner obtains the planning result of the first planner in this trigger, it will use the result to continue planning.

[0126] If the second planner fails to obtain the planning result of the second planner in this trigger, it uses its own second predictor to make predictions based on the last output result and plans again.

[0127] S5. Determine the second planning instruction q2 based on the first planning instruction q1 and the target instruction Q2.

[0128] The second planner of the controller receives the user instruction Q2 in each cycle and superimposes it with the planning result of the first planner, that is, the first planning instruction q1, so that the superposition satisfies the constraints configured by the controller, such as speed and acceleration constraints.

[0129] S6. Control the robot to perform joint control according to the second planning instruction q2 until the robot completes the action.

[0130] The controller's second planner sends the planning results to the robot execution module. After receiving the instructions, the robot execution module executes them according to the instructions.

[0131] An optional embodiment of the present invention provides a specific motion control example of a 7-axis redundant serial robot:

[0132] Figure 6 is a flow chart of motion control of a seven-axis redundant serial robot according to an optional embodiment of the present invention. Figure 6 Figure 2 shows a 7-axis redundant serial robot with force sensors installed at each joint. The robot is executing a force control application. The user inputs the command "joint move to Q1." During the robot's movement, the robot's joints may contact external objects, generating forces that are converted into joint offset commands. Ultimately, the robot executes the superposition of the user's first target command Q1 and the force control offset target dQ2.

[0133] When the robot controller starts, there are two threads A and B that are always running. Thread A is the thread running by the first planner, and thread B is the thread running by the second planner.

[0134] Because planning the Cartesian controller for redundant serial robots involves the inverse solution of the redundant robots and is computationally intensive, the first planner is set to operate at a frequency of 125 Hz. To quickly respond to external forces acting on the robot and enable it to exhibit high dynamic flexibility, force-controlled offset commands are input to the second planner, which operates at a frequency of 1000 Hz.

[0135] When the controller starts, the second planner begins running. It triggers the first planner to run in cycle 0 and then every 1000 / 125 = 8 cycles. The first planner needs to complete the plan within 1 / 125 second and output the result to the second planner.

[0136] Assume that the first planner completes the planning within 1 / 125 = 0.008 seconds and stores the result in memory A. The next time the second planner is ready to trigger the first planner, it can obtain the planning result of the first planner from memory A.

[0137] Since the second planner runs eight times as frequently as the first, the second planner re-plans the results of the first planner to obtain the planning results for the next eight cycles, namely q11, q12, q13, q14, q15, q16, q17, and q18.

[0138] An optional implementation of the present invention uses a cubic polynomial interpolation method to obtain a planning result for 8 cycles.

[0139] It should be noted that the optional implementation manner of the present invention may use any interpolation method without affecting the framework of the present invention.

[0140] Assuming that the last planned position of the first planner is S0, the planned speed is V0, the current planned position is Se, the speed is Ve, and the total time interval is te (1 / 125 = 0.008s in this embodiment), the cubic polynomial coefficients can be obtained according to the following formula (the following planned path ts = 0):

[0141] The boundary condition B is:

[0142] B=[S0,Se,V0,Ve]′

[0143] Determine the coefficient A of the linear equation system as:

[0144]

[0145] Among them, the cubic coefficient C can be obtained by:

[0146] C=B\A

[0147] The cubic coefficient C is obtained as:

[0148]

[0149] Based on the above results, the output target instruction Q2 of the next 8 cycles of the second planner can be obtained.

[0150] The output target instruction Q2 of the robot in the next 8 cycles is:

[0151] Q2=C(1)+C(2)*t+C(3)*t^2+C(4)*t^3

[0152] Wherein, C(1) represents the coefficient of the constant term in the cubic polynomial, C(2) represents the coefficient of the linear term in the cubic polynomial, C(3) represents the coefficient of the quadratic term in the cubic polynomial, C(4) represents the coefficient of the cubic term in the cubic polynomial, and t represents the cycle time, the first cycle t = 1 / 1000s, the second cycle t = 2 / 1000s, and so on.

[0153] The second planner also receives a position offset dQ2 for the force control function input in each cycle. dQ2 needs to be superimposed on Q2. In an optional embodiment of the present invention, a linear superposition method is used for ease of understanding. That is, the output instruction q2 after adding the offset is:

[0154] q2=dQ2+Q2

[0155] It should be noted that other superposition methods, such as differential trackers, can be used to ensure that the output results meet the robot velocity and acceleration constraints.

[0156] Assume that the first planner fails to complete planning within 1 / 125 = 0.008 seconds. The next time the second planner is ready to trigger the first planner, it cannot retrieve the first planner's planning result from memory A. Therefore, the second planner activates the second predictor. Assume that the output of the first planner in the previous cycle was Q3, where the position was q3 and the speed was v3. In this embodiment, the speed-maintaining predictor is used, which predicts that the output of the first planner, Q4, is:

[0157] Q4=q3+v3*0.008

[0158] It should be noted that other prediction methods may also be used, such as acceleration hold, jerk hold, linear filtering, etc.

[0159] After the second forecast period completes the forecast calculation, the results are written to memory A, and the first planner is tried again to complete the planning and repeat the above steps.

[0160] After the first planner completes its plan, it checks memory A. If it finds a result already in A, it is the result predicted by the second planner. Therefore, it writes its own result to memory A and records the prediction error. In the next planning, the prediction error is compensated.

[0161] Through the above optional implementation, at least the following beneficial effects can be achieved:

[0162] (1) The controller has multiple cascaded planners, whose planning frequencies increase in sequence. Although only two planners are used in this embodiment, in fact, any number of planners can be used within this framework. Different planners can perform different tasks, and the superposition of instructions is completed by the superposition device in the middle. Therefore, real-time planning of different goals can be achieved, enhancing the dynamic response capability of the robot.

[0163] (2) Under this framework, each planner has a point loss prediction function. That is, when the previous planning period fails to send a point in time, it can predict the instructions of the next cycle based on the target instructions of the previous cycle to avoid speed and acceleration jumps. After the upper-level planning task is completed, it can make corrections based on the stored errors to ensure that the task is finally executed.

[0164] (3) Design a multi-layer planner. Simple goals that require high-frequency response can be executed in the high-frequency planner, such as force control offset, welding trajectory offset, grasping position offset, etc., which increases the planning frequency and improves the accuracy and safety of the operation.

[0165] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0166] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0167] Example 2

[0168] According to an embodiment of the present invention, a system for implementing the above-mentioned robot motion control method is also provided, the system comprising: a first planner and a second planner, wherein the first planner is used to receive a main line instruction, wherein the main line instruction is an instruction corresponding to the main line action executed by the robot; determine a first branch instruction corresponding to the main line instruction, wherein the first branch instruction is an instruction for the robot to execute the corresponding first branch action within a first cycle, and the main line action includes the first branch action. The second planner is used to receive a branch line instruction, wherein the branch line instruction is an instruction corresponding to the branch line action executed by the robot; in response to the branch line instruction, determine whether to obtain the result of the first branch instruction; determine the instruction to be superimposed based on the result; determine the target planning instruction based on the instruction to be superimposed and the branch line instruction, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; control the robot to perform joint control according to the target planning instruction until the robot completes the branch line action.

[0169] It should be noted here that the above system corresponds to steps S102 to S110 in the method for implementing the robot's motion control, and is the same as the examples and application scenarios implemented by the corresponding steps, but is not limited to the content disclosed in the above embodiment 1.

[0170] Example 3

[0171] According to an embodiment of the present invention, there is also provided a device for implementing the above-mentioned robot motion control method. Figure 7 : is a structural block diagram of a motion control device for a robot according to an embodiment of the present invention. Figure 7 As shown, the device includes: a receiving module 702, a first determining module 704, a second determining module 706, a third determining module 708 and a control module 710. The device will be described in detail below.

[0172] The receiving module 702 is used to receive a branch line instruction, wherein the branch line instruction is an instruction corresponding to the branch line action made by the robot while executing the main line action; the first determining module 704 is connected to the above-mentioned receiving module 702, and is used to respond to the branch line instruction and determine whether the result of the first branch instruction corresponding to the main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, and the first branch instruction is an instruction for the robot to execute the corresponding first branch action within the first cycle, and the main line action includes the first branch action; the second determining module 706 is connected to the above-mentioned first determining module 704, and is used to determine the instruction to be superimposed based on the result; the third determining module 708 is connected to the above-mentioned second determining module 706, and is used to determine the target planning instruction based on the instruction to be superimposed and the branch line instruction, wherein the target planning instruction is an instruction for the robot to execute the branch line action within the second cycle, and can execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; the control module 710 is connected to the above-mentioned third determining module 708, and is used to control the robot to perform joint control according to the target planning instruction until the robot completes the branch line action.

[0173] It should be noted here that the above-mentioned receiving module 702, first determination module 704, second determination module 706, third determination module 708 and control module 710 correspond to steps S102 to S110 in the method for implementing the robot's motion control. The instances and application scenarios implemented by multiple modules and corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned embodiment 1.

[0174] Example 4

[0175] According to another aspect of an embodiment of the present invention, there is provided an electronic device comprising: a processor; and a memory for storing processor-executable instructions, wherein the processor is configured to execute the instructions to implement any of the above-mentioned robot motion control methods.

[0176] Example 5

[0177] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device can execute any of the above-mentioned robot motion control methods.

[0178] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0179] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0180] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, 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 units or modules, which can be electrical or other forms.

[0181] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0182] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0183] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0184] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A robot motion control method, characterized in that: include: Receive a branch line instruction, wherein the branch line instruction is an instruction corresponding to a branch line action made by the robot while executing the main line action; In response to the branch line instruction, determining whether a result of a first branch instruction corresponding to a main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, the first branch instruction is an instruction for the robot to execute the corresponding first branch action within a first cycle, and the main line action includes the first branch action; Determining instructions to be superimposed based on the result; Determining a target planning instruction based on the to-be-superimposed instruction and the line-dividing instruction, wherein the target planning instruction is an instruction for the robot to execute the line-dividing action within a second cycle and to be able to execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; The robot is controlled to perform joint control according to the target planning instruction until the robot completes the line-splitting action.

2. The method according to claim 1, characterized in that Determining the instructions to be superimposed based on the result includes: If the result is that the first branch instruction is obtained, determining that the first branch instruction is the instruction to be superimposed; If the result is that the first branch instruction is not obtained, the historical branch instruction corresponding to the main line instruction is determined to be the instruction to be superimposed.

3. The method according to claim 1, characterized in that Determining a target planning instruction based on the to-be-superimposed instruction and the line-dividing instruction includes: Determining a second branch instruction corresponding to the line splitting instruction, wherein the second branch instruction is an instruction for the robot to perform a corresponding second branch action within the second cycle, and the line splitting action includes the second branch action; A superposition operation is performed on the instruction to be superimposed and the second branch instruction to obtain the target planning instruction.

4. The method according to claim 3, characterized in that Performing a superposition operation on the instruction to be superimposed and the second branch instruction to obtain the target planning instruction includes: In the case where there are multiple branch line instructions, determining the execution levels corresponding to the multiple branch line instructions respectively; Determine second branch instructions corresponding to the plurality of branch line instructions respectively; According to multiple execution levels, multiple second branch instructions are superimposed at multiple levels until the target planning instruction is obtained.

5. The method according to claim 3, characterized in that Performing a superposition operation on the instruction to be superimposed and the second branch instruction to obtain the target planning instruction includes: Determine a plurality of sub-cycle instructions corresponding to the instruction to be superimposed; Determining a target cycle instruction corresponding to the second branch instruction from the plurality of sub-cycle instructions; A superposition operation is performed on the target cycle instruction and the second branch instruction to obtain the target planning instruction.

6. The method according to any one of claims 1 to 5, characterized in that Determining a target planning instruction based on the to-be-superimposed instruction and the line-dividing instruction includes: Obtaining the real-time position and posture of the robot's joints; The target planning instruction is determined according to the instruction to be superimposed, the line separation instruction and the real-time posture.

7. A robot motion control system, characterized in that: include: A first planner, a second planner, wherein, The first planner is used to receive a mainline instruction, wherein the mainline instruction is an instruction corresponding to a mainline action executed by the robot; Determining a first branch instruction corresponding to the main line instruction, wherein the first branch instruction is an instruction for the robot to execute a corresponding first branch action within a first cycle, and the main line action includes the first branch action; The second planner is used to receive a line splitting instruction, wherein the line splitting instruction is an instruction corresponding to a line splitting action executed by the robot; In response to the branch instruction, determining whether to obtain a result of the first branch instruction; Determining instructions to be superimposed based on the result; Determining a target planning instruction based on the to-be-superimposed instruction and the line-dividing instruction, wherein the target planning instruction is an instruction for the robot to execute the line-dividing action within a second cycle and to be able to execute the corresponding first branch action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; The robot is controlled to perform joint control according to the target planning instruction until the robot completes the line-splitting action.

8. A robot motion control device, characterized in that: include: A receiving module is used to receive a branch line instruction, wherein the branch line instruction is an instruction corresponding to a branch line action made by the robot while executing the main line action; a first determining module, configured to determine, in response to the branch line instruction, whether a result of a first branch instruction corresponding to a main line instruction is obtained, wherein the main line instruction is an instruction corresponding to the main line action, the first branch instruction is an instruction for the robot to execute the corresponding first branch action within a first cycle, and the main line action includes the first branch action; A second determining module, configured to determine the instruction to be superimposed based on the result; a third determining module, configured to determine a target planning instruction based on the to-be-superimposed instruction and the line-dividing instruction, wherein the target planning instruction is an instruction for the robot to execute the line-dividing action within a second cycle and to be able to execute the corresponding first branching action within the first cycle, and the frequency corresponding to the second cycle is greater than the frequency corresponding to the first cycle; A control module is used to control the robot to perform joint control according to the target planning instruction until the robot completes the line splitting action.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to perform the robot motion control method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the robot motion control method according to any one of claims 1 to 6.

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