Robot control method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a robot control method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: acquiring a current control mode of the robot; a plurality of sensors are integrated on the electronic skin on the outer surface of the robot; determining a current register corresponding to the current control mode from a plurality of candidate registers deployed by the robot; the current register is used for storing the state information of each sensor in the current control mode; based on the state information of each sensor, determining a trigger state corresponding to each sensor; and under the condition that at least one of the sensors is in the triggered state, the robot is controlled to move according to the current control mode. By adopting the method, the efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a robot control method, device, computer equipment, computer-readable storage medium and computer program product. Background Art

[0002] With the development of robot control technology, the key technology of electronic skin has emerged. Covering the robot's surface with electronic skin can give the robot a sense of touch similar to that of human skin, allowing the robot to interact with humans more safely and flexibly.

[0003] In traditional technology, it is generally necessary to analyze the sensor signals of the sensors on the electronic skin to determine the current situation of the robot and then adjust the movement of the robot. However, when there are a large number of sensors on the electronic skin, analyzing multiple sensor signals at the same time has the problem of low efficiency. Summary of the invention

[0004] Based on this, it is necessary to provide a robot control method, device, computer equipment, computer-readable storage medium and computer program product that can improve efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a robot control method, comprising:

[0006] Acquire the current control mode of the robot; the electronic skin on the robot's exterior is integrated with a plurality of sensors;

[0007] Determine a current register corresponding to the current control mode from a plurality of candidate registers deployed by the robot; the current register is used to store state information of each of the sensors under the current control mode;

[0008] Based on the state information of each of the sensors, determining the trigger state corresponding to each of the sensors;

[0009] When at least one of the sensors is in a triggered state, the robot is controlled to move according to the current control mode.

[0010] In one embodiment, the current control mode includes an anti-collision mode; and determining the trigger state corresponding to each of the sensors based on the state information of each of the sensors includes:

[0011] Reading the status information corresponding to each of the sensors from the current register;

[0012] For each of the sensors, if the state information satisfies the anti-collision condition, determining that the sensor is in a triggered state;

[0013] If the state information does not satisfy the anti-collision condition, it is determined that the sensor is in an untriggered state.

[0014] In one embodiment, controlling the robot movement according to the current control mode includes:

[0015] Controlling the robot to perform deceleration movement, and recording the continuous deceleration duration of the robot;

[0016] If the continuous deceleration time does not reach the preset time, returning to the step of reading the state information corresponding to each of the sensors from the current register, and controlling the robot to stop decelerating when each of the sensors is in an untriggered state;

[0017] If the continuous deceleration time reaches the preset time, the robot is controlled to stop moving.

[0018] In one embodiment, the current control mode includes an obstacle avoidance mode; the current register includes a threshold register and a real-time register corresponding to each of the sensors; and determining the trigger state corresponding to each of the sensors based on the state information of each of the sensors includes:

[0019] For each of the sensors, read the real-time sensing value of the sensor from the real-time register corresponding to the sensor, and read the sensing threshold of the sensor from the threshold register corresponding to the sensor;

[0020] If the real-time sensing value is greater than or equal to the sensing threshold, it is determined that the sensor is in a triggered state.

[0021] In one embodiment, controlling the robot movement according to the current control mode includes:

[0022] For a target sensor in a triggered state among the sensors, based on the current posture of the robot and the position of the target sensor on the electronic skin, determine the position of the obstacle relative to the robot;

[0023] The movement direction of the robot is adjusted according to the position of the obstacle relative to the robot.

[0024] In one embodiment, there are multiple obstacles; adjusting the movement direction of the robot according to the positions of the obstacles relative to the robot includes:

[0025] Determine the current position of the robot and the desired destination position;

[0026] Determining the shortest path from the current position to the end position based on the respective positions of the obstacles relative to the robot;

[0027] According to the shortest path, the movement direction of the robot is adjusted.

[0028] In a second aspect, the present application also provides a robot control device, comprising:

[0029] A control mode acquisition module is used to acquire the current control mode of the robot; the electronic skin on the robot's exterior is integrated with multiple sensors;

[0030] A register determination module, used to determine a current register corresponding to the current control mode from a plurality of candidate registers deployed by the robot; the current register is used to store state information of each of the sensors under the current control mode;

[0031] A trigger state determination module, used for determining the trigger state corresponding to each of the sensors based on the state information of each of the sensors;

[0032] The motion control module is used to control the motion of the robot according to the current control mode when at least one of the sensors is in a triggered state.

[0033] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0035] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0036] The robot control method, device, computer equipment, computer-readable storage medium and computer program product can obtain the current control mode of the robot and determine the control movement of the robot at the current moment. The electronic skin on the robot's exterior is integrated with multiple sensors, and each sensor can monitor the obstacle situation in a certain direction outside the robot. After that, the current register corresponding to the current control mode for storing the state information of each sensor under the current control mode is determined from the multiple candidate registers deployed by the robot. Based on the state information of each sensor, the trigger state corresponding to each sensor can be determined. When at least one of the sensors is in the triggered state, it indicates that the robot is close to the obstacle in one or some directions. Therefore, the robot movement can be controlled according to the current control mode. By adopting the robot control method, the trigger state corresponding to each sensor can be directly determined through the state information stored in the current register corresponding to each current control mode, which can significantly improve the efficiency of robot control. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0038] Figure 1 A diagram showing an application environment of a robot control method in one embodiment;

[0039] Figure 2 A schematic diagram of a flow chart of a robot control method in one embodiment;

[0040] Figure 3 A schematic diagram of a communication connection method of a robot control method in one embodiment;

[0041] Figure 4 A schematic diagram of a flow chart of an anti-collision mode in a robot control method in one embodiment;

[0042] Figure 5 A schematic diagram of a flow chart of an obstacle avoidance mode in a robot control method in one embodiment;

[0043] Figure 6 A diagram of the electronic skin architecture in a robot control method in one embodiment;

[0044] Figure 7 A schematic flow chart of a robot control method in another embodiment;

[0045] Figure 8 is a structural block diagram of a robot control device in one embodiment;

[0046] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] The robot control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the server 102 communicates with the robot 104 through the network. The data storage system can store the data that the server 102 needs to process. The data storage system can be integrated on the server 102, or it can be placed on the cloud or other network servers. Among them, the server 102 can be an independent physical server, or it can be a server cluster or distributed system composed of multiple physical servers, or it can be a cloud server that provides cloud computing services. Alternatively, the server 102 can also be integrated on the robot 104. The robot 104 refers to a robot used to directly interact or cooperate with humans safely in a common workspace. For example, the robot 104 can be a collaborative manipulator, an industrial manipulator, or a humanoid robot. Specifically, during the process of robot control by the server 102, the current control mode of the robot 104 is obtained; a plurality of sensors are integrated on the electronic skin on the surface of the robot 104; a current register corresponding to the current control mode is determined from a plurality of candidate registers deployed by the robot 104; the current register is used to store the status information of each sensor under the current control mode; based on the status information of each sensor, the trigger state corresponding to each sensor is determined; when at least one of the sensors is in a triggered state, the movement of the robot 104 is controlled according to the current control mode.

[0049] In an exemplary embodiment, Figure 2 As shown, a robot control method is provided, which is applied to Figure 1 The server 102 in the example is used as an example to illustrate the method, which includes the following steps S202 to S208. Among them:

[0050] Step S202, obtaining the current control mode of the robot.

[0051] Among them, the robot refers to a robot used to directly interact or cooperate with humans in a common workspace safely. For example, the robot can be a collaborative manipulator, an industrial manipulator or a humanoid robot. Multiple sensors are integrated on the electronic skin on the robot's surface. Electronic skin is a system that allows robots or other devices to have a sense of touch. It imitates the perception function of human skin. Specifically, electronic skin is a new type of flexible wearable sensor with the characteristics of being thin, soft, and flexible. It can perceive various external stimuli like human skin, such as pressure, temperature, humidity, etc., and convert these stimuli into electrical signals for feedback. A sensor is a device that can convert various information in the physical world (such as temperature, light, pressure, gas concentration, etc.) into electrical signals that can be processed by an electronic system. The current control mode refers to the control mode of the robot at the current moment. For example, in this embodiment, the control mode includes two types: anti-collision mode and obstacle avoidance mode. The anti-collision mode refers to controlling the robot to decelerate when an obstacle is detected within a certain distance. The obstacle avoidance mode refers to avoiding an obstacle in the opposite direction of a certain direction when an obstacle is detected within a certain distance.

[0052] Specifically, during the robot control process, the server needs to first obtain the current control mode of the robot and determine the control mode of the robot at the current moment before controlling the robot according to the control mode. It can be understood that the operation of obtaining the current control mode of the robot can be active or passive.

[0053] Step S204, determining a current register corresponding to the current control mode from a plurality of candidate registers deployed by the robot.

[0054] The candidate register refers to a register that is in a state of waiting to be selected. The current register is used to store the state information of each sensor in the current control mode.

[0055] Specifically, different control modes correspond to different registers. Therefore, after obtaining the current control mode of the robot, the server also needs to obtain multiple candidate registers deployed by the robot, and determine the current register corresponding to the current control mode from the above multiple candidate registers, so as to subsequently control the robot according to the information stored in the current register.

[0056] Step S206: determining the trigger state corresponding to each sensor based on the state information of each sensor.

[0057] The trigger state is used to indicate whether the sensor is triggered, that is, the trigger state can include a triggered state and an untriggered state. It can be understood that when a sensor is triggered, it means that an obstacle appears within a certain distance of the relative position of the robot corresponding to the sensor. The state information refers to the information corresponding to the sensor state of the sensor, which can be used to reflect the current state of the sensor.

[0058] Specifically, after determining the current register corresponding to the current control mode, the server can obtain the state information of each sensor stored in the current register from the current register, and determine the trigger state corresponding to each sensor according to the above state information. In some specific embodiments, the relationship between the state information and the trigger state can be preset, and the state information can be analyzed according to the above relationship to determine the trigger state corresponding to each sensor.

[0059] Step S208: When at least one of the sensors is in a triggered state, the robot is controlled to move according to the current control mode.

[0060] Specifically, if at least one of the sensors is in a triggered state, it indicates that at least one of the positions of the robot has an obstacle close to the robot, so the server can control the robot to move according to the current control mode. Exemplarily, since the control mode includes an obstacle avoidance mode and an anti-collision mode, the server selects an appropriate response strategy according to the type of the current control mode to control the robot to move.

[0061] The above robot control method obtains the current control mode of the robot and can determine the control movement of the robot at the current moment. There are multiple sensors integrated on the electronic skin of the robot, and each sensor can monitor the obstacle situation in a certain direction outside the robot. After that, the current register corresponding to the current control mode for storing the status information of each sensor under the current control mode is determined from the multiple candidate registers deployed by the robot. Then, the trigger state corresponding to each sensor can be determined based on the status information of each sensor. When at least one of the sensors is in the triggered state, it indicates that the robot is close to the obstacle in one or some directions. Therefore, the robot movement can be controlled according to the current control mode. By adopting the above robot control method, the trigger state corresponding to each sensor can be directly determined through the status information stored in the current register corresponding to each current control mode, which can significantly improve the efficiency of robot control.

[0062] In an exemplary embodiment, the current control mode includes an anti-collision mode; based on the status information of each sensor, the trigger state corresponding to each sensor is determined, including: reading the status information corresponding to each sensor from the current register; for each sensor, if the status information meets the anti-collision condition, it is determined that the sensor is in a triggered state; if the status information does not meet the anti-collision condition, it is determined that the sensor is in an untriggered state.

[0063] The anti-collision mode refers to a collision prevention mode, that is, when the robot is in the anti-collision mode, if there is an obstacle within a certain distance, the robot needs to be decelerated to prevent the robot from colliding with the obstacle. The anti-collision condition refers to a condition for preventing collision. In this embodiment, the anti-collision condition mainly refers to the state information being 1.

[0064] Specifically, in this embodiment, if the status information is 1, it indicates that the status information meets the anti-collision condition; if the status information is 0, it indicates that the status information does not meet the anti-collision condition. That is, the server can read the status information corresponding to each sensor from the current register, and then, for each sensor, it is determined whether the status information of the sensor meets the anti-collision condition. If the status information meets the anti-collision condition, it is determined that the sensor is in a triggered state; if the status information does not meet the anti-collision condition, it is determined that the sensor is in an untriggered state.

[0065] In this embodiment, when the current control mode is the anti-collision mode, the state information of each sensor is judged whether it meets the anti-collision condition, which can ensure the accuracy of the sensor state determination.

[0066] In an exemplary embodiment, the movement of the robot is controlled according to the current control mode, including: controlling the robot to decelerate and recording the continuous deceleration duration of the robot; if the continuous deceleration duration does not reach the preset duration, returning to the step of reading the status information corresponding to each sensor from the current register, and controlling the robot to stop decelerating when all sensors are in an untriggered state; if the continuous deceleration duration reaches the preset duration, controlling the robot to stop moving.

[0067] The continuous deceleration duration refers to the duration of continuous deceleration, and the preset duration refers to the preset duration.

[0068] Specifically, in the anti-collision mode and when at least one of the sensors is in the triggered state, the server needs to control the robot to decelerate and record the continuous deceleration time of the robot. If the continuous deceleration time reaches the preset time, it indicates that the obstacle still has a risk of collision with the robot during the deceleration movement of the robot. Therefore, the robot needs to be controlled to stop moving. If the continuous deceleration time does not reach the preset time, it can return to the step of reading the status information corresponding to each sensor from the current register, and re-judge whether the status information meets the anti-collision condition. If all sensors are in the untriggered state this time, it indicates that the robot and the obstacle are at a safe distance. Therefore, the robot can be controlled to stop decelerating.

[0069] In this embodiment, by repeatedly reading the status information of the sensor, the distance status between the robot and the obstacle can be continuously determined, and the anti-collision function between the robot and the obstacle can be accurately ensured.

[0070] In an exemplary embodiment, the current control mode includes an obstacle avoidance mode; the current register includes a threshold register and a real-time register corresponding to each sensor; based on the status information of each sensor, the trigger status of each sensor is determined, including: for each sensor, the real-time sensing value of the sensor is read from the real-time register corresponding to the sensor, and the sensing threshold of the sensor is read from the threshold register corresponding to the sensor; if the real-time sensing value is greater than or equal to the sensing threshold, it is determined that the sensor is in a triggered state.

[0071] Among them, the obstacle avoidance mode refers to a mode for avoiding obstacles, that is, when the robot is in the obstacle avoidance mode, if an obstacle appears on one side of the robot, the robot will move to the other side to avoid the obstacle. The real-time register refers to a register that records the real-time sensing value of the sensor. The real-time sensing value is used to characterize the real-time state of the sensor. The threshold register stores the pre-set sensing threshold. It can be understood that the sensing threshold can be set according to the actual situation.

[0072] Specifically, when the current control mode is the obstacle avoidance mode, the registers include two types: a threshold register and a real-time register. The threshold register is used to store a preset sensor threshold, and the real-time register is used to record the real-time sensor value of the sensor. The real-time sensor value is compared with the sensor threshold, and the trigger state of the sensor can be determined based on the comparison. That is, the server can read the real-time sensor value of each sensor from the real-time register corresponding to the sensor, and read the sensor threshold of the sensor from the threshold register corresponding to the sensor. If the real-time sensor value is greater than or equal to the sensor threshold, it is determined that the sensor is in a triggered state. If the real-time sensor value is less than the sensor threshold, it is determined that the sensor is in an untriggered state.

[0073] In a specific embodiment, the number of configuration holding registers is 17, with addresses ranging from 0 to 16, where addresses 0 to 7 are four electronic skin sensor data reference channels, and the values ​​of the current four channels will be read once each time the power is turned on as real-time sensing values. Addresses 8 to 15 correspond to the threshold channels of the four channels, and the register values ​​can be set arbitrarily as sensing thresholds. The 16-bit register at address 16 has only the lower five bits valid, and the lower five bits correspond from low to high to the four sensors CHO, CH1, CH2, and CH3 and the initialization calibration configuration bits of the program.

[0074] In this embodiment, when the current control mode is the obstacle avoidance mode, a threshold register for storing a pre-set sensor threshold and a real-time register for recording the real-time sensor value of the sensor are provided. By comparing the real-time sensor value with the sensor threshold, the trigger state of the sensor can be determined based on the comparison, thereby ensuring the accuracy of the trigger state determination.

[0075] In an exemplary embodiment, the movement of the robot is controlled according to the current control mode, including: for the target sensor in the triggered state among the sensors, based on the current posture of the robot and the position of the target sensor on the electronic skin, determining the position of the obstacle relative to the robot; according to the position of the obstacle relative to the robot, adjusting the movement direction of the robot.

[0076] Among them, the current posture refers to the position and posture of the robot in three-dimensional space at the current moment.

[0077] Specifically, for the target sensor in the triggered state among the sensors, the server can first determine the position of the target sensor on the electronic skin, and determine the position of the obstacle relative to the robot in combination with the current position of the robot. After determining the position of the obstacle relative to the robot, the server can adjust the movement direction of the robot according to the position. In a specific embodiment, the position of the target sensor on the electronic skin is the left side of the electronic skin, and the current position of the robot indicates that the robot is operating normally on a horizontal ground, then the position of the obstacle relative to the robot is on the left side, so the movement direction of the robot can be adjusted to offset to the right.

[0078] In this embodiment, the movement direction of the robot is adjusted according to the current posture of the robot and the position of the target sensor on the electronic skin, which can ensure the accuracy of the adjustment of the robot's movement direction and thereby improve the efficiency of the robot control.

[0079] In an exemplary embodiment, there are multiple obstacles; according to the positions of the obstacles relative to the robot, the movement direction of the robot is adjusted, including: determining the current position of the robot and the desired end position; based on the positions of each obstacle relative to the robot, determining the shortest path from the current position to the end position; and adjusting the movement direction of the robot according to the shortest path.

[0080] Specifically, when there are multiple obstacles, in order to improve the efficiency of robot control, the shortest path that can avoid obstacles can be planned for the robot. That is, the server can first determine the current position of the robot and the desired destination position, and then determine the shortest path from the current position to the destination position based on the position of each obstacle relative to the robot. The shortest path refers to the shortest path that the robot can take to reach the destination position from the current position by avoiding all obstacles. Therefore, the server can adjust the robot's movement direction according to the shortest path, thereby improving the efficiency of robot control.

[0081] In a specific embodiment, a robot control method for an actual application scenario is also provided, which mainly implements two functions: non-contact safe collision stop and active obstacle avoidance (the two functions require manual configuration switching).

[0082] (1) Non-contact safety collision stop mainly controls the robot body to decelerate and stop when a conductor approaches the body within a certain distance. The motion controller controls the robot body to decelerate and stop according to the signal fed back by the electronic skin sensor board.

[0083] (2) The active obstacle avoidance mode mainly performs dynamic trajectory planning when it detects that a conductor is approaching, so that the collision detection signal of the sensor board is always within the safety threshold range.

[0084] The purpose of this embodiment is to solve the shortcomings of the electronic skin currently on the market, such as weak anti-interference ability, slow response time, weak scalability, high cost, low sensitivity, and contact type, so as to realize efficient and safe non-contact electronic skin for collaborative robots.

[0085] In this embodiment, the system as a whole consists of four parts: an electric control box, a collaborative robot body, an electronic skin sensor board and a sensor.

[0086] Connection method: Figure 3As shown in the figure, the connection between the electrical skin sensor board (electronic skin) and the four sensors is connected by low-impedance conductive cables. The electronic skin sensor board communicates with each joint control board of the collaborative robot body through RS485, which is equivalent to each electronic skin sensor board as a MODBUS slave of each joint control board. Each joint control board communicates with the motion controller body through ETHERCAT, thereby realizing a non-contact safety collision stop function.

[0087] Control method: The electronic skin sensor board is equivalent to a MODBUS slave for the joint control board. The joint control board communicates with the electronic skin sensor board via RS485. The XML protocol has an SDO index configured to read the MODBUS slave register data. The controller needs to read and configure the register value in the electronic skin sensor board through the bus. The registers in the sensor board are divided into input registers and holding registers. The register configuration is as follows:

[0088] Input register: The number of configurations is 9, with addresses from 0 to 8. Addresses 0 to 7 are four electronic skin sensor input channels, and each sensor channel occupies two register addresses. Taking CHO as an example, addresses 0 to 1 correspond to the sensor data input channel of CH0, address 0 is the low 16-bit data input channel of CHO, and address 1 is the high 12-bit data input channel of CH0. The 16-bit register corresponding to address 8 has only the lower four bits valid, and the lower four bits correspond to the trigger states of the four sensor channels CH0, CH1, CH2, and CH3 from low to high. Figure 4 As shown, it is possible to determine whether a sensor is triggered by determining whether any of the lower four bits of the input register at address 8 is in the state of 1, and then implement a series of subsequent operations.

[0089] Holding registers: There are 17 registers with addresses from 0 to 16. Addresses 0 to 7 are the four electronic skin sensor data reference channels. Each time the power is on, the current values ​​of the four channels will be read from the input register as the reference value. Addresses 8 to 15 correspond to the threshold channels of the four channels. The register values ​​can be set arbitrarily as the electronic skin trigger threshold (sensor threshold). Only the lower five bits of the 16-bit register at address 16 are valid. The lower five bits correspond to CHO, CH1, CH2, CH3 and the initialization calibration configuration bits of the program from low to high. Figure 5 As shown, it can be determined whether the motion path of the robot needs to be adjusted by judging whether any channel of the four-channel input register value of the electronic skin exceeds the set sensing threshold.

[0090] like Figure 6As shown, the control architecture of this embodiment is mainly centered on the electronic skin PCB board, which collects and converts the data of the capacitive sensor in real time upwards, and transmits the input register and holding register data in real time downwards, including the 5V to 3.3V power conversion part. The MCU is controlled by STM32, and the chip that collects and converts the data of the capacitive sensor board uses TI's FDC2214, which supports up to 4 channels of data acquisition and conversion at the same time. The control architecture is shown in the figure below:

[0091] The way in which safe electronic skin achieves contactless human-machine collaboration is mainly through the following steps and technical features:

[0092] (1) Pre-perception and pre-collision stop:

[0093] Safety skin can sense the presence of objects (such as people or obstacles) approaching the robot in advance. This perception usually occurs within a certain range of the robot (such as 10-20cm), and can respond quickly in a very short time (such as 10ms) to suspend the robot's operation to avoid collision. This pre-collision perception technology does not require the robot to slow down in advance, and can ensure the safety of human-machine collaboration while maintaining production efficiency.

[0094] (2) All-round perception:

[0095] The safety skin is wrapped around the robot in a wearable form, providing 360-degree all-round perception capabilities. This means that no matter which direction an object approaches the robot from, it can be detected in time, thus avoiding detection blind spots.

[0096] (3) High sensitivity and fast response:

[0097] The safety skin is highly sensitive and can respond to the approach of an object in a very short time. This fast response capability ensures that the robot can stop quickly when an obstacle is detected, thus avoiding a collision.

[0098] (4) Automatic obstacle avoidance function:

[0099] Combined with advanced AI algorithm technology, the safety skin also has an automatic obstacle avoidance function. When an obstacle is detected, the robot will automatically choose the optimal path to perform the task and avoid collision with the obstacle.

[0100] (5) Compatibility and ease of use:

[0101] Safety skin can be installed not only on the robot arm, but also in the end tool, effectively protecting all mechanical structures from contact collision. In addition, the safety skin adopts a ready-to-use design, which lowers the threshold for use, and the advantages in later maintenance and cost are also very obvious.

[0102] (6) Intelligent interaction and self-learning capabilities:

[0103] Some advanced collaborative robots also have intelligent interactive panels and self-learning capabilities, which can understand human intentions through AI deep learning algorithms and imitate human actions to perform tasks. This human-centered interaction method further improves the robot's perception, response and ease of use.

[0104] In summary, safe electronic skin realizes contactless human-machine collaboration through its characteristics of early perception, all-round perception, high sensitivity and rapid response, automatic obstacle avoidance, intelligent interaction and self-learning capabilities, providing possibility for large-scale application of collaborative robots and entry into a wider range of scenarios.

[0105] In a specific embodiment, Figure 7 As shown, a robot control method is also provided, comprising:

[0106] Step S701, obtaining the current control mode of the robot, and determining the current register corresponding to the current control mode from multiple candidate registers deployed by the robot;

[0107] Among them, the electronic skin of the robot is integrated with multiple sensors; the current register is used to store the status information of each sensor in the current control mode; the current control mode includes the anti-collision mode and the obstacle avoidance mode; the current register includes the threshold register and the real-time register corresponding to each sensor;

[0108] Step S702, reading the status information corresponding to each sensor from the current register;

[0109] Step S703, for each sensor, if the state information satisfies the anti-collision condition, determining that the sensor is in a triggered state;

[0110] Step S704: if the state information does not meet the anti-collision condition, it is determined that the sensor is in an untriggered state;

[0111] Step S705, when at least one of the sensors is in a triggered state, controlling the robot to decelerate, and recording the continuous deceleration time of the robot;

[0112] Step S706, if the continuous deceleration time does not reach the preset time, return to the step of reading the state information corresponding to each sensor from the current register, and control the robot to stop deceleration when all sensors are in the untriggered state;

[0113] Step S707, if the continuous deceleration time reaches a preset time, the robot is controlled to stop moving;

[0114] Step S708, for each sensor, read the real-time sensing value of the sensor from the real-time register corresponding to the sensor, and read the sensing threshold of the sensor from the threshold register corresponding to the sensor;

[0115] Step S709, if the real-time sensing value is greater than or equal to the sensing threshold, it is determined that the sensor is in a triggered state;

[0116] Step S710, when at least one of the sensors is in a triggered state, for a target sensor in a triggered state among the sensors, based on the current posture of the robot and the position of the target sensor on the electronic skin, determining the position of the obstacle relative to the robot;

[0117] Among them, there are multiple obstacles;

[0118] Step S711, determining the current position of the robot and the desired end position;

[0119] Step S712, based on the positions of the obstacles relative to the robot, determine the shortest path from the current position to the end position, and adjust the movement direction of the robot according to the shortest path.

[0120] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0121] Based on the same inventive concept, the embodiment of the present application also provides a robot control device for implementing the robot control method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more robot control device embodiments provided below can refer to the limitations of the robot control method above, and will not be repeated here.

[0122] In an exemplary embodiment, Figure 8As shown, a robot control device 800 is provided, including: a control mode acquisition module 802, a register determination module 804, a trigger state determination module 806 and a motion control module 808, wherein:

[0123] The control mode acquisition module 802 is used to acquire the current control mode of the robot; the electronic skin of the robot is integrated with multiple sensors;

[0124] The register determination module 804 is used to determine the current register corresponding to the current control mode from multiple candidate registers deployed by the robot; the current register is used to store the state information of each sensor under the current control mode;

[0125] A trigger state determination module 806, configured to determine a trigger state corresponding to each sensor based on the state information of each sensor;

[0126] The motion control module 808 is used to control the motion of the robot according to the current control mode when at least one of the sensors is in a triggered state.

[0127] In an exemplary embodiment, the current control mode includes an anti-collision mode. In this embodiment, the trigger state determination module 806 is used to:

[0128] Read the status information corresponding to each sensor from the current register;

[0129] For each sensor, if the state information satisfies the anti-collision condition, it is determined that the sensor is in a triggered state;

[0130] If the state information does not satisfy the anti-collision condition, it is determined that the sensor is in an untriggered state.

[0131] In an exemplary embodiment, the motion control module 808 is used to:

[0132] Control the robot to decelerate and record the duration of the robot's continuous deceleration;

[0133] If the continuous deceleration time does not reach the preset time, return to the step of reading the status information corresponding to each sensor from the current register, and control the robot to stop deceleration when all sensors are in the untriggered state;

[0134] If the continuous deceleration time reaches the preset time, the robot will be controlled to stop moving.

[0135] In an exemplary embodiment, the current control mode includes an obstacle avoidance mode; the current register includes a threshold register and a real-time register corresponding to each sensor. In the case of this embodiment, the trigger state determination module 806 is also used to:

[0136] For each sensor, read the real-time sensing value of the sensor from the real-time register corresponding to the sensor, and read the sensing threshold of the sensor from the threshold register corresponding to the sensor;

[0137] If the real-time sensing value is greater than or equal to the sensing threshold, it is determined that the sensor is in a triggered state.

[0138] In an exemplary embodiment, the motion control module 808 includes:

[0139] A position determination unit, for determining the position of the obstacle relative to the robot based on the current posture of the robot and the position of the target sensor on the electronic skin for the target sensor in the triggered state among the sensors;

[0140] The movement direction adjustment unit is used to adjust the movement direction of the robot according to the position of the obstacle relative to the robot.

[0141] In an exemplary embodiment, there are multiple obstacles. In the case of this embodiment, the motion direction adjustment unit is specifically used for:

[0142] Determine the current position of the robot and the desired destination position;

[0143] Determine the shortest path from the current position to the final position based on the position of each obstacle relative to the robot;

[0144] Adjust the robot's movement direction according to the shortest path.

[0145] Each module in the above robot control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0146] In an exemplary embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig. 9As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, near field communication (NFC) or other technologies. When the computer program is executed by the processor, a robot control method is implemented. The display unit of the computer device is used to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device shell, or an external keyboard, touchpad or mouse.

[0147] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0148] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above method when executing the computer program.

[0149] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0150] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above method when executed by a processor.

[0151] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0152] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0153] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0154] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A robot control method, characterized in that: The method comprises: Acquire the current control mode of the robot; the electronic skin on the robot's exterior is integrated with a plurality of sensors; Determine a current register corresponding to the current control mode from a plurality of candidate registers deployed by the robot; the current register is used to store state information of each of the sensors under the current control mode; Based on the state information of each of the sensors, determining the trigger state corresponding to each of the sensors; When at least one of the sensors is in a triggered state, the robot is controlled to move according to the current control mode.

2. The method according to claim 1, characterized in that The current control mode includes an anti-collision mode; and determining the trigger state corresponding to each of the sensors based on the state information of each of the sensors includes: Reading the status information corresponding to each of the sensors from the current register; For each of the sensors, if the state information satisfies the anti-collision condition, determining that the sensor is in a triggered state; If the state information does not satisfy the anti-collision condition, it is determined that the sensor is in an untriggered state.

3. The method according to claim 2, characterized in that The controlling the robot movement according to the current control mode comprises: Controlling the robot to perform deceleration movement, and recording the continuous deceleration duration of the robot; If the continuous deceleration time does not reach the preset time, returning to the step of reading the state information corresponding to each of the sensors from the current register, and controlling the robot to stop decelerating when each of the sensors is in an untriggered state; If the continuous deceleration time reaches the preset time, the robot is controlled to stop moving.

4. The method according to claim 1, characterized in that: The current control mode includes an obstacle avoidance mode; the current register includes a threshold register and a real-time register corresponding to each of the sensors; and determining the trigger state corresponding to each of the sensors based on the state information of each of the sensors includes: For each of the sensors, read the real-time sensing value of the sensor from the real-time register corresponding to the sensor, and read the sensing threshold of the sensor from the threshold register corresponding to the sensor; If the real-time sensing value is greater than or equal to the sensing threshold, it is determined that the sensor is in a triggered state.

5. The method according to claim 4, characterized in that The controlling the robot movement according to the current control mode comprises: For a target sensor in a triggered state among the sensors, based on the current posture of the robot and the position of the target sensor on the electronic skin, determine the position of the obstacle relative to the robot; The movement direction of the robot is adjusted according to the position of the obstacle relative to the robot.

6. The method according to claim 5, characterized in that There are multiple obstacles; and adjusting the movement direction of the robot according to the positions of the obstacles relative to the robot includes: Determine the current position of the robot and the desired destination position; Determining the shortest path from the current position to the end position based on the respective positions of the obstacles relative to the robot; According to the shortest path, the movement direction of the robot is adjusted.

7. A robot control device, characterized in that: The device comprises: A control mode acquisition module is used to acquire the current control mode of the robot; the electronic skin on the robot's exterior is integrated with multiple sensors; A register determination module, used to determine a current register corresponding to the current control mode from a plurality of candidate registers deployed by the robot; the current register is used to store state information of each of the sensors under the current control mode; A trigger state determination module, used for determining the trigger state corresponding to each of the sensors based on the state information of each of the sensors; The motion control module is used to control the motion of the robot according to the current control mode when at least one of the sensors is in a triggered state.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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