Over-limit early warning device for manual operation of robot, related control method and product

Abstract

The embodiment of the invention provides an over-limit early-warning device for manual operation of a robot, a related control method and a product, and the over-limit early-warning device comprises a control module which is used for obtaining a limiting coordinate array of at least one limiting surface and a current coordinate array of the robot, and according to the limiting coordinate array and the current coordinate array, carrying out early-warning on the robot according to the limiting coordinate array and the current coordinate array; determining a current distance value between the target limiting surface closest to the robot and the robot; and the early warning module is used for carrying out over-limit early warning prompt for the robot when the current distance value is lower than a preset early warning distance threshold value. According to the embodiment of the invention, the robot can be prevented from exceeding the set limiting surface when the robot is debugged.

Description

Technical Field

[0001] The present invention relates to the technical field of robot operation, and in particular to an over-limit warning device for manual operation of a robot, a robot control method, a robot control device, an electronic device and a computer-readable storage medium. Background Art

[0002] In modern industrial manufacturing environments, industrial robots are widely used in various production lines. With the improvement of the automation level of production lines, multi-robot collaboration and robot-to-other automated equipment collaboration are becoming increasingly common, which means that other equipment or products exist within the robot's working range. To avoid collisions, the robot's working space must be set up.

[0003] However, the working space and soft limit are virtual limits and are not visible. It is easy for workers to exceed the range limits when debugging and programming. Summary of the invention

[0004] In view of the above problems, a robot manually operated over-limit warning device, a robot control method, a robot control device, an electronic device and a computer-readable storage medium are proposed to overcome the above problems or at least partially solve the above problems, including:

[0005] An over-limit warning device for manual operation of a robot, the over-limit warning device comprising:

[0006] A control module, used to obtain a limit coordinate array of at least one limit surface and a current coordinate array of the robot, and determine a current distance value between a target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array;

[0007] The early warning module is used to issue an out-of-limit early warning prompt to the robot when the current distance value is lower than a preset early warning distance threshold.

[0008] Optionally, the control module includes:

[0009] A limit analysis module is used to determine the limit coordinate array of each limit surface;

[0010] The motion analysis module is used to obtain the current coordinate array of the robot and determine the current distance value between the target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array.

[0011] Optionally, the motion analysis module is further used to determine target time information for the robot to reach the target limit surface according to the limit coordinate array and the current coordinate array;

[0012] The early warning module is also used to determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot; when the robot runs to the alarm point position, the robot is controlled to decelerate.

[0013] Optionally, the early warning module includes: an early warning analysis module, a speed regulation module and an abnormal event processing module;

[0014] The early warning analysis module is used to determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot; when the robot runs to the alarm point position, the speed control module is called to decelerate the robot; and when the current distance value is lower than the preset early warning distance threshold, the abnormal event processing module is called to issue an over-limit early warning prompt to the robot.

[0015] Optionally, the abnormal event processing module is used to issue an early warning prompt of an over-limit to the robot through an interface of a teaching pendant; and / or to issue an early warning prompt of an over-limit to the robot through a sound-emitting device.

[0016] Optionally, the early warning analysis module is used to determine the service life of the robot and determine the target deceleration based on the service life; determine the alarm point position for the target limit surface and the robot based on the target time information, the current speed information of the robot, and the target deceleration.

[0017] Optionally, the over-limit warning device further includes:

[0018] The workspace setting module is used to set parameters of the limit surface in response to the user's operation on the interface of the teaching pendant.

[0019] Optionally, the limit analysis module is used to determine the limit coordinate array of each limit surface according to the parameters set for the limit surface and the soft limit around the joints of the robot.

[0020] An embodiment of the present invention further provides a robot control method, which is applied to the over-limit warning device as described above, and the method comprises:

[0021] Obtaining a current distance value between the target limiting surface closest to the robot and the robot; the current distance value is determined based on a limiting coordinate array of at least one limiting surface and a current coordinate array of the robot;

[0022] When the current distance value is lower than a preset warning distance threshold, an over-limit warning prompt is issued to the robot.

[0023] Optionally, the method further comprises:

[0024] Obtain target time information of the robot reaching the target limit surface; the target time information is determined according to the limit coordinate array and the current coordinate array;

[0025] Determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot;

[0026] When the robot runs to the alarm point, the robot is controlled to decelerate.

[0027] The embodiment of the present invention further provides a robot control device, which is applied to the above-mentioned over-limit warning device, and the device comprises:

[0028] An acquisition module, used for acquiring a current distance value between the target limiting surface closest to the robot and the robot; the current distance value is determined according to a limiting coordinate array of at least one limiting surface and a current coordinate array of the robot;

[0029] The prompt module is used to issue an over-limit warning prompt to the robot when the current distance value is lower than a preset warning distance threshold.

[0030] Optionally, the device further comprises:

[0031] A deceleration module is used to obtain the target time information of the robot reaching the target limit surface; the target time information is determined based on the limit coordinate array and the current coordinate array; based on the target time information and the current speed information of the robot, the alarm point position for the target limit surface and the robot is determined; when the robot runs to the alarm point position, the robot is controlled to decelerate.

[0032] An embodiment of the present invention further provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the above robot control method when executed by the processor.

[0033] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the robot control method as described above is implemented.

[0034] The embodiments of the present invention have the following advantages:

[0035] In an embodiment of the present invention, the over-limit warning device includes: a control module, a limit coordinate array for obtaining at least one limit surface, and a current coordinate array of the robot, and determining the current distance value between the target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array; and a warning module, which is used to issue an over-limit warning prompt to the robot when the current distance value is lower than a preset warning distance threshold. Through the embodiment of the present invention, it can be avoided that the robot exceeds the set limit surface when debugging the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0037] Figure 1 It is a structural schematic diagram of an over-limit warning device for manual operation of a robot according to an embodiment of the present invention;

[0038] Figure 2 It is a partial structural schematic diagram of an over-limit warning device manually operated by a robot according to an embodiment of the present invention;

[0039] Figure 3 It is a partial structural schematic diagram of an over-limit warning device manually operated by a robot according to an embodiment of the present invention;

[0040] Figure 4a It is a schematic diagram of an over-limit warning device providing a warning prompt according to an embodiment of the present invention;

[0041] Figure 4b This is a flowchart of the steps of an early warning prompt in an embodiment of the present invention;

[0042] Figure 5 is a flowchart of a method for controlling a robot according to an embodiment of the present invention;

[0043] Figure 6 It is a structural block diagram of a robot control device according to an embodiment of the present invention.

[0044] Description of the accompanying drawings:

[0045] The over-limit warning device 10 for manual operation of the robot, the control module 110, the warning module 120, the limit analysis module 111, the motion analysis module 112, the warning analysis module 121, the speed regulation module 122, the abnormal event processing module 123, the teaching pendant 20, and the workspace setting module 130. DETAILED DESCRIPTION

[0046] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] In order to prevent the robot from exceeding the set limit surface during debugging, an embodiment of the present invention provides an over-limit warning device for manual operation of the robot, which provides an early warning prompt by determining the distance to the limit surface closest to the robot. Figure 1 , Figure 1 FIG. 1 is a schematic diagram showing the structure of a robot manually operated over-limit warning device according to an embodiment of the present invention. Figure 1 As shown, the over-limit warning device 10 manually operated by the robot may include:

[0048] The control module 110 is used to obtain a limit coordinate array of at least one limit surface and a current coordinate array of the robot, and determine the current distance value between the target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array;

[0049] The warning module 120 is used to issue an over-limit warning prompt to the robot when the current distance value is lower than a preset warning distance threshold.

[0050] In the embodiment of the present invention, the robot may refer to a robot arm. The robot arm is the most common component of an industrial robot and is used to perform various tasks, such as assembly, welding, spraying, material handling, etc. A robot arm is usually composed of multiple joints and links. Through the combined movement of these joints and links, the robot arm can achieve complex movement and posture control. In practical applications, there may be multiple robot arms. In order to avoid mutual influence between the robot arms, a limit surface can be set to limit the area in which each robot arm can move. During the debugging process, the engineer may adjust the robot arm beyond the limit surface, causing the robot arm to collide or exceed the limit surface. Therefore, the occurrence of this situation can be avoided by the over-limit warning device 10 for manual operation of the robot mentioned in the embodiment of the present invention. Specifically:

[0051] When the robot is running, the control module 110 can obtain a preset and determined limit coordinate array of at least one limit surface, and the limit coordinate array can include the Cartesian coordinates of the limit surface in the base coordinate system.

[0052] In addition, the control module 110 may also obtain the current coordinate array of the robot, which may include the Cartesian coordinates of the robot in the base coordinate system. The base coordinate system may be a fixed reference coordinate system pre-set for the working environment of the robot, and is used to describe the absolute position and direction of the robot or the limit surface, which is not limited in the embodiment of the present invention.

[0053] After obtaining the limit coordinate arrays of each limit surface and the current coordinate array of the robot, the control module 110 can determine the distance between the robot and each limit surface based on the limit coordinate array and the current coordinate array, and take the limit surface closest to the robot as the target limit surface, and take the distance between the robot and the target limit surface as the current distance value.

[0054] Exemplarily, the target limit surface may be a limit surface in the direction of robot travel, i.e., limit surfaces in directions other than the robot travel are not considered; as another example, all limit surfaces may also be considered to avoid the robot exceeding the limit or colliding due to the user suddenly adjusting the direction.

[0055] After obtaining the current distance value, the control module 110 can send the current distance value to the early warning module 120. After obtaining the current distance value, the early warning module 120 can determine whether the current distance value is lower than a preset early warning distance threshold. The early warning distance threshold can be set according to actual conditions. For example, the early warning distance threshold can be set to a fixed value, or it can be determined based on the current moving speed of the robot. The embodiment of the present invention does not limit this.

[0056] When the warning module 120 determines that the current distance value is not lower than the preset warning distance threshold, it can be determined that the robot is still within a safe distance range from the nearest target limit surface and will not collide or exceed the limit surface for the time being; therefore, no reminder is required and the control module 110 continues to acquire the position.

[0057] On the contrary, when the early warning module 120 determines that the current distance value is lower than the preset early warning distance threshold, it can be determined that the robot is not within a safe distance range from the nearest target limit surface, that is, the robot is about to collide or exceed the limit surface; therefore, the early warning module 120 can issue an early warning prompt for the robot to exceed the limit; specifically, the early warning prompt can be issued by display or by other means, for example: by sound, which is not limited in the embodiment of the present invention.

[0058] In the embodiment of the present invention, the over-limit warning device 10 includes: a control module 110, a limit coordinate array for obtaining at least one limit surface, and a current coordinate array of the robot, and determining the current distance value between the target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array; and a warning module 120, for issuing an over-limit warning prompt to the robot when the current distance value is lower than a preset warning distance threshold. Through the embodiment of the present invention, it can be avoided that the robot exceeds the set limit surface when debugging the robot.

[0059] In one embodiment of the present invention, Figure 2 As shown, the control module 110 may include: a limit analysis module 111, for determining a limit coordinate array of each limit surface;

[0060] The motion analysis module 112 is used to obtain the current coordinate array of the robot, and determine the current distance value between the target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array.

[0061] In some feasible embodiments, the control module 110 may be composed of a limit analysis module 111 and an operation analysis module; wherein the limit analysis module 111 may be used to set and determine the limit coordinate array of each limit surface. Specifically, the limit coordinate array may be set according to the needs of the user, or may be automatically set according to the robot operation environment, or may be set according to the soft limit of the robot's joints, and the embodiment of the present invention does not limit this.

[0062] After obtaining the limit coordinate arrays of each limit surface, the limit coordinate arrays may be sent to the motion analysis module 112 for motion analysis of the robot.

[0063] Specifically, after the motion analysis module 112 remembers the limit coordinate arrays of each limit surface, it can store them; in addition, the motion analysis module 112 can also obtain the current coordinate array of the robot; exemplarily, the operation analysis module can determine the current coordinate array of the robot based on the positioning device installed on the robot, or it can calculate the current coordinate array of the robot through various key rotation parameters of the robot, and it can also determine the current coordinate array of the robot through visual positioning, radar positioning, etc., and the embodiments of the present invention are not limited to this.

[0064] In one embodiment of the present invention, the motion analysis module 112 is further used to determine the target time information of the robot reaching the target limit surface according to the limit coordinate array and the current coordinate array;

[0065] The early warning module 120 is also used to determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot; when the robot runs to the alarm point position, the robot is controlled to decelerate.

[0066] In some feasible embodiments, in addition to early warning prompts, the robot can also be actively decelerated to avoid the user from controlling the robot to decelerate rapidly when the user finds that the robot is about to exceed the limit surface or collide, thereby affecting the service life of the robot. Specifically, after obtaining the limit coordinate array and the current coordinate array, the operation analysis module can predict the target time information for the robot to reach the target limit surface based on the limit coordinate array and the current coordinate array. The target time information can be used to characterize the time required for the robot to reach the target limit surface if the robot continues to move from the current position, starting from the current moment.

[0067] After obtaining the target time information, the motion analysis module 112 may send the target time information to the early warning module 120 .

[0068] After obtaining the target time information, the early warning module 120 may also obtain the current speed information of the robot, which may include the current speed, acceleration, jerk, etc. of the robot in various directions, and the embodiment of the present invention does not limit this.

[0069] After obtaining the current speed information, the early warning module 120 can determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information; illustratively, when the alarm point is at the position, the robot begins to decelerate using a deceleration rate that does not affect the service life of the robot, and when the robot speed drops to 0, it can at least ensure that the robot will not exceed the target limit surface.

[0070] After determining the alarm point position, the early warning module 120 can continue to obtain the current position of the robot, and when the robot reaches the alarm point position, automatically control the robot to decelerate at a deceleration rate that will not affect the service life of the robot to avoid the robot exceeding the limit or colliding.

[0071] In one embodiment of the present invention, Figure 3 As shown, the early warning module 120 includes: an early warning analysis module 121, a speed regulation module 122 and an abnormal event processing module 123;

[0072] The early warning analysis module 121 is used to determine the alarm point position for the target limit surface and the robot based on the target time information and the current speed information of the robot; when the robot runs to the alarm point position, the speed control module 122 is called to decelerate the robot; and when the current distance value is lower than the preset early warning distance threshold, the abnormal event processing module 123 is called to issue an over-limit early warning prompt to the robot.

[0073] In some feasible embodiments, the warning module 120 may be composed of a warning analysis module 121 , a speed regulation module 122 and an abnormal event processing module 123 ; wherein the warning analysis module 121 may be used to receive the target time information determined by the motion analysis module 112 .

[0074] After obtaining the target time information, the early warning analysis module 121 may also obtain the current speed information of the robot, which may include the current speed, acceleration, jerk, etc. of the robot in various directions, and the embodiment of the present invention does not limit this.

[0075] After obtaining the current speed information, the early warning analysis module 121 can determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information.

[0076] After determining the alarm point position, the early warning analysis module 121 can continue to obtain the current position of the robot, and when the robot reaches the alarm point position, the speed control module 122 can decelerate the robot; specifically, the early warning analysis module 121 can call the speed control module 122 to automatically control the robot to decelerate at a deceleration rate that will not affect the service life of the robot, so as to avoid the robot exceeding the limit or colliding.

[0077] On the other hand, when the warning analysis module 121 determines that the current distance value is lower than the preset warning distance threshold, it can also call the abnormal event processing module 123 to issue an over-limit warning prompt to the robot to prevent the user from continuing to operate the robot, causing the robot to exceed the limit or collide.

[0078] In one embodiment of the present invention, the abnormal event processing module 123 can be used to issue an over-limit warning to the robot through the interface of the teaching pendant 20; and / or to issue an over-limit warning to the robot through a sound-emitting device.

[0079] The teach pendant 20 is an important device in the operation of an industrial robot, and is used to manually control and program the robot. It is usually a handheld device with various buttons, knobs, display screens, and input interfaces, which enables the operator to directly interact with the robot. In actual applications, when the user operates the robot, he will hold the teach pendant 20, and look at the display screen of the teach pendant 20 while looking at the robot.

[0080] Therefore, the abnormal event processing module 123 can provide an over-limit warning for the robot through the interface of the display screen of the teach pendant 20, so that the user can know in time that the robot will exceed the limit or collide. Exemplarily, the abnormal event processing module 123 can pop up a floating box in the upper center of the interface of the display screen of the teach pendant 20, scrolling to remind the user; at the same time, a shadow can be displayed on the interface, and the shadow gradually approaches the center from the four corners as the movement distance approaches, and performs alternating light and dark breathing flashes.

[0081] On the other hand, the abnormal event processing module 123 can also use a sound device to give an early warning of over-limit to the robot. For example, the sound device can be a buzzer, which can emit a pulsed buzzing reminder at the beginning, and the frequency gradually increases as the distance approaches.

[0082] In one embodiment of the present invention, the early warning analysis module 121 is used to determine the service life of the robot and determine the target deceleration based on the service life; determine the alarm point position for the target limit surface and the robot based on the target time information, the current speed information of the robot, and the target deceleration.

[0083] In some feasible embodiments, the early warning analysis module 121 may control the deceleration of the robot in combination with the service life of the robot.

[0084] Specifically, the maximum deceleration that the robot can withstand is different when the remaining service life is different; in order to extend the service life of the robot, the corresponding maximum deceleration can be set in advance for different service lives.

[0085] Then, after determining the current service life of the robot, the corresponding maximum deceleration can be obtained, and 80% of the maximum deceleration can be used as the target deceleration. Then, the early warning analysis module 121 can determine the alarm point position for the target limit surface and the robot according to the target time information, the current speed information of the robot, and the target deceleration. When it is detected that the robot reaches the alarm point position, the robot can be controlled to decelerate according to the target deceleration.

[0086] In one embodiment of the present invention, the over-limit warning device 10 further includes:

[0087] The workspace setting module 130 is used to set parameters of the limit surface in response to the user's operation on the interface of the teaching pendant 20 .

[0088] In some feasible embodiments, the user may set the limit surface through the teach pendant 20 ; specifically, the over-limit warning module 120 may include a workspace setting module 130 , and the workspace setting module 130 may display a setting interface in the interface of the teach pendant 20 .

[0089] The user can perform operations in the interface to set parameters for the coordinates of the limiting surface; illustratively, the user can input the position of the limiting surface in the base coordinate system.

[0090] In one embodiment of the present invention, the limit analysis module 111 is used to determine the limit coordinate array of each limit surface according to the parameters set for the limit surface and the soft limit around the joints of the robot.

[0091] In some feasible embodiments, the workspace setting module 130 can also obtain the robot's joint peri-soft limit after setting the parameters of the limit surface in response to the user's operation on the interface of the teach pendant 20. The robot's joint peri-soft limit can refer to a safety mechanism set in the robot control system to limit the range of motion of the robot joint to prevent the joint from exceeding its physical limit or entering an area that may cause damage or dangerous operation.

[0092] In practical applications, the limit analysis module 111 can determine the limit coordinate array of each limit surface according to the parameters set by the user for the limit surface and the soft limit around the joints of the robot.

[0093] For example, Figure 4a As shown, the workspace setting module 130 can display a corresponding setting interface on the interface of the teaching pendant 20 so that the user can set the limit surface.

[0094] The parameters set by the workspace setting module 130 can be given to the limit analysis module 111 of the control module 110 ; the limit analysis module 111 can determine the limit coordinate array of each limit surface and send it to the motion analysis module 112 .

[0095] The motion analysis module 112 can obtain the current coordinate array of the robot, and determine the current distance value between the target limit surface closest to the robot and the robot based on the limit coordinate array and the current coordinate array, and then send it to the warning analysis module 121 in the warning module 120 for analysis.

[0096] Specifically, when the early warning analysis module 121 determines that an over-limit early warning is needed, it can call the abnormal event processing module 123 to display the processing on the teaching pendant 20, or provide early warning prompts through other feedback methods. When the early warning analysis module 121 determines that a speed reduction early warning is needed, it can call the speed control module 122 to slow down the robot.

[0097] like Figure 4b As shown, after the user sets and activates the workspace in the workspace setting module 130 (ie, the limit surface set by the user), the workspace setting module 130 can convert the coordinates of each workspace into the base coordinate system.

[0098] When the robot is manually operated, the current position and velocity vector of the robot can be obtained and converted to the base coordinate system to obtain the current coordinate array. In addition, the limit coordinate array of the composite workspace can be calculated.

[0099] Then, the limiting surface in the forward direction of the robot can be calculated; if the limiting surface does not exist in the forward direction of the robot, the limiting surface in the forward direction of the robot is recalculated.

[0100] If there is a limit surface in the robot's forward direction, the intersection of the robot's trajectory and the limit surface is calculated, and the distance between the robot and the limit surface and the time to reach the limit surface are calculated.

[0101] When the distance between the robot and the limit surface is lower than the preset warning distance threshold, a warning prompt may be given. Otherwise, it is further determined whether the distance between the robot and the limit surface is lower than the preset warning distance threshold.

[0102] After the early warning prompt, it can be further determined whether the distance between the robot and the limit surface reaches the alarm point. If it reaches the alarm point, the robot can be controlled to slow down until it stops; otherwise, it continues to determine whether the distance between the robot and the limit surface reaches the alarm point.

[0103] Based on the above-mentioned robot manually operated over-limit warning device, the embodiment of the present invention also provides a robot control method, which can be applied to the over-limit warning device mentioned in the above embodiment. Figure 5 , Figure 5 A flowchart showing a method for controlling a robot according to an embodiment of the present invention is shown.

[0104] like Figure 5 As shown, the control method of the robot may include the following steps:

[0105] Step 501, obtaining the current distance value between the robot and the target limiting surface closest to the robot; the current distance value is determined according to the limiting coordinate array of at least one limiting surface and the current coordinate array of the robot.

[0106] In the embodiment of the present invention, when the robot is running, the control module can obtain a preset and determined limit coordinate array of at least one limit surface, and the limit coordinate array can include the Cartesian coordinates of the limit surface in the base coordinate system.

[0107] In addition, the control module can also obtain the current coordinate array of the robot, which can include the Cartesian coordinates of the robot in the base coordinate system. The base coordinate system can be a fixed reference coordinate system pre-set for the working environment of the robot, which is used to describe the absolute position and direction of the robot or the limit surface, and the embodiment of the present invention is not limited to this.

[0108] After obtaining the limit coordinate arrays of each limit surface and the current coordinate array of the robot, the control module can determine the distance between the robot and each limit surface based on the limit coordinate array and the current coordinate array, and take the limit surface closest to the robot as the target limit surface, and take the distance between the robot and the target limit surface as the current distance value.

[0109] Step 502: When the current distance value is lower than the preset warning distance threshold, an over-limit warning prompt is issued to the robot.

[0110] After obtaining the current distance value, the control module can send the current distance value to the early warning module. After obtaining the current distance value, the early warning module can determine whether the current distance value is lower than a preset early warning distance threshold. The early warning distance threshold can be set according to actual conditions. For example, the early warning distance threshold can be set to a fixed value, or it can be determined based on the current moving speed of the robot. The embodiment of the present invention does not limit this.

[0111] When the warning module determines that the current distance value is not lower than the preset warning distance threshold, it can be determined that the robot is still within a safe distance range from the nearest target limit surface and will not collide or exceed the limit surface for the time being; therefore, no reminder is required and the control module continues to acquire the position.

[0112] On the contrary, when the early warning module determines that the current distance value is lower than the preset early warning distance threshold, it can determine that the robot is not within a safe distance range from the nearest target limit surface at this time, that is, the robot is about to collide or exceed the limit surface; therefore, the early warning module can issue an early warning prompt for the robot to exceed the limit; specifically, the early warning prompt can be issued by display or by other means, for example: by sound, which is not limited in the embodiment of the present invention.

[0113] In an embodiment of the present invention, the above method may further include the following steps:

[0114] Obtain the target time information when the robot reaches the target limit surface; the target time information is determined based on the limit coordinate array and the current coordinate array; determine the alarm point position for the target limit surface and the robot based on the target time information and the current speed information of the robot; when the robot runs to the alarm point position, control the robot to decelerate.

[0115] In some feasible embodiments, the control module may be composed of a limit analysis module and an operation analysis module; wherein the limit analysis module may be used to set and determine the limit coordinate array of each limit surface. Specifically, the limit coordinate array may be set according to the needs of the user, or may be automatically set according to the robot operation environment, or may be set according to the soft limit of the robot's joints, and the embodiment of the present invention does not limit this.

[0116] After obtaining the limit coordinate arrays of each limit surface, the limit analysis module can send the limit coordinate arrays to the motion analysis module to perform motion analysis of the robot.

[0117] Specifically, after the motion analysis module remembers the limit coordinate arrays of each limit surface, it can store them; in addition, the motion analysis module can also obtain the current coordinate array of the robot; exemplarily, the operation analysis module can determine the current coordinate array of the robot based on the positioning device installed on the robot, or it can calculate the current coordinate array of the robot through various key rotation parameters of the robot, and it can also determine the current coordinate array of the robot through visual positioning, radar positioning, etc., and the embodiments of the present invention are not limited to this.

[0118] In some feasible embodiments, in addition to early warning prompts, the robot can also be actively decelerated to avoid the user from controlling the robot to decelerate rapidly when the user finds that the robot is about to exceed the limit surface or collide, thereby affecting the service life of the robot. Specifically, after obtaining the limit coordinate array and the current coordinate array, the operation analysis module can predict the target time information for the robot to reach the target limit surface based on the limit coordinate array and the current coordinate array. The target time information can be used to characterize the time required for the robot to reach the target limit surface if the robot continues to move from the current position, starting from the current moment.

[0119] After obtaining the target time information, the motion analysis module can send the target time information to the early warning module.

[0120] After obtaining the target time information, the early warning module may also obtain the current speed information of the robot, which may include the current speed, acceleration, jerk, etc. of the robot in various directions, and the embodiment of the present invention does not limit this.

[0121] After obtaining the current speed information, the early warning module can determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information; illustratively, when the alarm point is at the position, the robot begins to decelerate using a deceleration rate that does not affect the service life of the robot, and when the robot speed drops to 0, it can at least ensure that the robot will not exceed the target limit surface.

[0122] After determining the alarm point position, the early warning module can continue to obtain the current position of the robot, and when the robot reaches the alarm point position, automatically control the robot to decelerate at a deceleration rate that will not affect the service life of the robot, so as to avoid the robot exceeding the limit or colliding.

[0123] In some feasible embodiments, the warning module may be composed of a warning analysis module, a speed regulation module and an abnormal event processing module; wherein the warning analysis module may be used to receive target time information determined by the motion analysis module.

[0124] After obtaining the target time information, the early warning analysis module can also obtain the current speed information of the robot, which may include the current speed, acceleration, jerk, etc. of the robot in various directions, and the embodiment of the present invention does not limit this.

[0125] After obtaining the current speed information, the early warning analysis module can determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information.

[0126] After determining the alarm point position, the early warning analysis module can continue to obtain the current position of the robot, and when the robot reaches the alarm point position, the speed control module will decelerate the robot; specifically, the early warning analysis module can call the speed control module to automatically control the robot to decelerate at a deceleration rate that will not affect the service life of the robot, so as to avoid the robot exceeding the limit or colliding.

[0127] On the other hand, when the early warning analysis module determines that the current distance value is lower than the preset early warning distance threshold, it can also call the abnormal event processing module to issue an over-limit early warning prompt to the robot to prevent the user from continuing to operate the robot, causing the robot to exceed the limit or collide.

[0128] The abnormal event handling module can use the teach pendant display screen interface to give an early warning of the robot's overrun, so that the user can know in time that the robot will exceed the limit or collide. Exemplarily, the abnormal event handling module can pop up a floating box in the upper center of the teach pendant display screen interface to scroll and remind the user; at the same time, a shadow can be displayed on the interface, which gradually approaches the center from the four corners as the movement distance approaches, and performs alternating light and dark breathing flashes.

[0129] On the other hand, the abnormal event processing module can also use a sound device to give an early warning of over-limit to the robot. Exemplarily, the sound device can be a buzzer, which can emit a pulsed buzzing reminder at the beginning, and the frequency gradually increases as the distance approaches.

[0130] In some feasible embodiments, the early warning analysis module can control the deceleration of the robot in combination with the service life of the robot.

[0131] Specifically, the maximum deceleration that the robot can withstand is different when the remaining service life is different; in order to extend the service life of the robot, the corresponding maximum deceleration can be set in advance for different service lives.

[0132] Then, after determining the current service life of the robot, the corresponding maximum deceleration can be obtained, and 80% of the maximum deceleration can be used as the target deceleration. Then, the early warning analysis module can determine the alarm point position for the target limit surface and the robot based on the target time information, the current speed information of the robot, and the target deceleration. When it is detected that the robot reaches the alarm point position, the robot can be controlled to decelerate according to the target deceleration.

[0133] In some feasible embodiments, the user may set the limit surface through a teach pendant; specifically, the over-limit warning module may include a workspace setting module, and the workspace setting module may display a setting interface in the interface of the teach pendant.

[0134] The user can perform operations in the interface to set parameters for the coordinates of the limiting surface; illustratively, the user can input the position of the limiting surface in the base coordinate system.

[0135] In some feasible embodiments, the workspace setting module can also obtain the robot's joint peri-soft limit after setting the parameters of the limit surface in response to the user's operation on the teach pendant interface. The robot's joint peri-soft limit can refer to a safety mechanism set in the robot control system to limit the range of motion of the robot's joints to prevent the joints from exceeding their physical limits or entering areas that may cause damage or dangerous operations.

[0136] In practical applications, the limit analysis module can determine the limit coordinate array of each limit surface based on the parameters set by the user for the limit surface and the soft limit around the robot's joints.

[0137] In the embodiment of the present invention, the current distance value between the target limit surface closest to the robot and the robot is obtained; the current distance value is determined according to the limit coordinate array of at least one limit surface and the current coordinate array of the robot; when the current distance value is lower than the preset warning distance threshold, an over-limit warning prompt is issued to the robot. Through the embodiment of the present invention, it can be avoided that the robot exceeds the set limit surface when debugging the robot.

[0138] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of 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 the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0139] Reference Figure 6 , shows a schematic diagram of the structure of a robot control device according to an embodiment of the present invention, and the robot control device can be applied to the over-limit warning device mentioned in the above embodiment. Specifically, the robot control device may include the following modules:

[0140] The acquisition module 601 is used to acquire the current distance value between the robot and the target limiting surface closest to the robot; the current distance value is determined according to the limiting coordinate array of at least one limiting surface and the current coordinate array of the robot;

[0141] The prompt module 602 is used to issue an over-limit warning prompt to the robot when the current distance value is lower than a preset warning distance threshold.

[0142] In an optional embodiment of the present invention, the device further comprises:

[0143] The deceleration module is used to obtain the target time information of the robot reaching the target limit surface; the target time information is determined based on the limit coordinate array and the current coordinate array; based on the target time information and the current speed information of the robot, the alarm point position for the target limit surface and the robot is determined; when the robot runs to the alarm point position, the robot is controlled to decelerate.

[0144] In the embodiment of the present invention, the current distance value between the target limit surface closest to the robot and the robot is obtained; the current distance value is determined according to the limit coordinate array of at least one limit surface and the current coordinate array of the robot; when the current distance value is lower than the preset warning distance threshold, an over-limit warning prompt is issued to the robot. Through the embodiment of the present invention, it can be avoided that the robot exceeds the set limit surface when debugging the robot.

[0145] An embodiment of the present invention further provides an electronic device, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the above-mentioned robot control method is implemented.

[0146] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned robot control method is implemented.

[0147] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0148] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0149] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0150] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0151] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0152] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0153] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0154] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0155] The above provides a detailed introduction to a manually operated over-limit warning device for a robot, a robot control method, a robot control device, an electronic device and a computer-readable storage medium. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A robot manual overrun warning device, characterized in that: The over-limit warning device comprises: A control module, used to obtain a limit coordinate array of at least one limit surface and a current coordinate array of the robot, and determine a current distance value between a target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array; The early warning module is used to issue an out-of-limit early warning prompt to the robot when the current distance value is lower than a preset early warning distance threshold.

2. The over-limit warning device according to claim 1 is characterized in that: The control module comprises: A limit analysis module is used to determine the limit coordinate array of each limit surface; The motion analysis module is used to obtain the current coordinate array of the robot and determine the current distance value between the target limit surface closest to the robot and the robot according to the limit coordinate array and the current coordinate array.

3. The over-limit warning device according to claim 2 is characterized in that: The motion analysis module is further used to determine the target time information of the robot reaching the target limit surface according to the limit coordinate array and the current coordinate array; The early warning module is also used to determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot; when the robot runs to the alarm point position, the robot is controlled to decelerate.

4. The over-limit warning device according to claim 3 is characterized in that: The early warning module includes: an early warning analysis module, a speed regulation module and an abnormal event processing module; The early warning analysis module is used to determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot; when the robot runs to the alarm point position, the speed control module is called to decelerate the robot; and when the current distance value is lower than the preset early warning distance threshold, the abnormal event processing module is called to issue an over-limit early warning prompt to the robot.

5. The over-limit warning device according to claim 4 is characterized in that: The abnormal event processing module is used to issue an over-limit warning to the robot through the interface of the teaching pendant; and / or to issue an over-limit warning to the robot through a sound-emitting device.

6. The over-limit warning device according to claim 4 is characterized in that: The early warning analysis module is used to determine the service life of the robot and determine the target deceleration based on the service life; determine the alarm point position for the target limit surface and the robot based on the target time information, the current speed information of the robot, and the target deceleration.

7. The over-limit warning device according to claim 2 is characterized in that: The over-limit warning device also includes: The workspace setting module is used to set parameters of the limit surface in response to the user's operation on the interface of the teaching pendant.

8. The over-limit warning device according to claim 7 is characterized in that: The limit analysis module is used to determine the limit coordinate array of each limit surface according to the parameters set for the limit surface and the soft limit around the joints of the robot.

9. A robot control method, characterized in that: Applied to the over-limit warning device according to any one of claims 1 to 8, the method comprises: Obtaining a current distance value between the target limiting surface closest to the robot and the robot; the current distance value is determined based on a limiting coordinate array of at least one limiting surface and a current coordinate array of the robot; When the current distance value is lower than a preset warning distance threshold, an over-limit warning prompt is issued to the robot.

10. The method according to claim 9, characterized in that The method further comprises: Obtain target time information of the robot reaching the target limit surface; the target time information is determined according to the limit coordinate array and the current coordinate array; Determine the alarm point position for the target limit surface and the robot according to the target time information and the current speed information of the robot; When the robot runs to the alarm point, the robot is controlled to decelerate.

11. A robot control device, characterized in that: Applicable to the over-limit warning device according to any one of claims 1 to 8, the device comprising: An acquisition module, used for acquiring a current distance value between the target limiting surface closest to the robot and the robot; the current distance value is determined according to a limiting coordinate array of at least one limiting surface and a current coordinate array of the robot; The prompt module is used to issue an over-limit warning prompt to the robot when the current distance value is lower than a preset warning distance threshold.

12. An electronic device, characterized in that: The robot control method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the robot control method according to any one of claims 9 to 10 is implemented.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the robot control method according to any one of claims 9 to 10 is implemented.

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