Pick-and-place sub-control method, device and system, electronic equipment and storage medium

Abstract

The invention provides a piece taking and placing control method, device and system, electronic equipment and a storage medium, and the method comprises the steps: carrying out the inclination detection according to the piece taking and placing stroke data of a plurality of chess playing points on a chessboard and a preset robot state model, and obtaining the inclination parameter of a chess playing robot; and updating a corresponding state model based on the inclination parameter, determining a target height value corresponding to the chess playing point position of the current to-be-taken and placed chess pieces based on the updated state model, and controlling the chess playing robot to take and place the chess pieces at the chess playing point position of the current to-be-taken and placed chess pieces according to the target height value. By updating and optimizing the chess piece taking and placing stroke data obtained in the daily chess playing process, accurate chess piece taking and placing can be achieved under the condition that daily use of a user is not affected, the operation precision and the operation efficiency of the chess playing robot are improved, damage to instruments is avoided, the stability and the durability of the chess playing robot are improved, and the chess playing robot is suitable for popularization and application. And a support is provided for higher-level intelligentization and precision of the chess playing robot.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a pick-and-place control method, device, system, electronic equipment and storage medium. Background Art

[0002] In the field of chess game automation, chess-playing robots are important carriers of intelligent entertainment and competition. Their performance and accuracy directly affect user experience and competition fairness. However, in the process of achieving high-precision and high-stability chess-playing actions, chess-playing robots still face a series of technical challenges, especially in the control of chess piece placement.

[0003] At present, when chess-playing robots are performing chess-piece grabbing and placement, the precise positioning and verticality of their mechanical arms are the key to ensuring successful operations. However, since deviations are inevitable during the production and assembly stages of chess-playing robots, these deviations can cause the pick-and-place structure at the end of the mechanical arm of the chess-playing robot to sag. In addition, errors may also occur in the body of the chess-playing robot during production and long-term use, causing the body to be unable to maintain an ideal vertical state, exacerbating the sagging problem at the end, and this sagging will affect the accuracy of the operation, making it very easy for the robot to hit the chessboard when picking up and placing pieces, and unable to accurately grab or place pieces. Summary of the invention

[0004] The present invention provides a method, device, system, electronic device and storage medium for controlling the taking and placing of chess pieces, so as to solve the problem in the prior art that the end droops due to deviation, thereby making it difficult to accurately control the process of taking and placing chess pieces, and easily causing the chess piece to hit the chessboard and fail to take the chess piece.

[0005] The present invention provides a method for controlling the placement of chess pieces, which is applied to a chess-playing robot and comprises: Acquire the picking and placing stroke data of multiple chess playing positions on the chessboard, wherein the picking and placing stroke data includes the height value of the chess playing robot when picking and placing the chess pieces at the corresponding chess playing positions; the picking and placing stroke data is collected from the historical chess playing process of the chess playing robot; Based on the travel data of picking and placing pieces at each chess-playing point and a preset robot state model, tilt detection is performed to obtain the tilt parameter of the chess-playing robot; the robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking and placing pieces under the corresponding type of problem; The corresponding state model is updated based on the tilt parameter, and based on the updated state model, the target height value corresponding to the chess-playing point where the piece is currently to be taken or placed is determined, and the chess-playing robot is controlled to take or place the piece at the chess-playing point where the piece is currently to be taken or placed according to the target height value.

[0006] According to a chess-picking and placing control method provided by the present invention, the chess-picking and placing stroke data of each chess-playing point and a preset robot state model are used to perform tilt detection to obtain the tilt parameters of the chess-playing robot, including: Based on the data of the picking and placing strokes of each chess point, a body tilt detection is performed to obtain a tilt detection result; Based on the tilt detection result and the preset robot state model, tilt detection is performed to obtain the tilt parameter of the chess-playing robot.

[0007] According to a method for controlling chess pieces to be picked up and placed provided by the present invention, the preset robot state model includes a state model under the problem of the body and the robot arm tilting, and the tilt detection is performed based on the tilt detection result and the preset robot state model to obtain the tilt parameter of the chess-playing robot, including: When the tilt detection result indicates that the body of the chess-playing robot is tilted, grouping the pick-and-place stroke data of each chess-playing point to obtain a plurality of first data groups; Determine the robot parameters corresponding to each first data group based on the pick-and-place sub-stroke data in each first data group and the state model under the problem of the body and the robot arm tilting; Based on the robot parameters corresponding to the first data groups, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the problem of the tilt of the fuselage and the mechanical arm.

[0008] According to a chess picking and placing control method provided by the present invention, the preset robot state model includes a state model under the problem of mechanical arm tilt, and the tilt detection is performed based on the tilt detection result and the preset robot state model to obtain the tilt parameter of the chess playing robot, including: When the tilt detection result indicates that the body of the chess-playing robot is not tilted, grouping the data of the picking and placing strokes of the chess-playing points to obtain a plurality of second data groups; Determine the robot parameters corresponding to each second data group based on the pick-and-place sub-stroke data in each second data group and the state model under the robot arm tilt problem; Based on the robot parameters corresponding to each of the second data groups, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the robotic arm tilt problem.

[0009] According to a method for controlling the placement of chess pieces provided by the present invention, the body tilt detection is performed based on the placement and placement stroke data of each chess position to obtain the tilt detection result, including: Determine a theoretical height value, wherein the theoretical height value is a height value when the chess-playing robot takes and places pieces at each chess-playing position when there is no problem; Based on the theoretical height value and the travel data of placing and taking pieces at each chess-playing point, the height difference value corresponding to each chess-playing point is determined, and the fuselage tilt detection is performed based on the height difference value corresponding to each chess-playing point to obtain the tilt detection result.

[0010] According to a method for controlling the placement of chess pieces provided by the present invention, the step of obtaining the placement and placement stroke data of multiple chess positions on a chessboard includes: Acquire initial travel data of a plurality of chess playing positions, wherein the initial travel data includes encoder angle values ​​and height values ​​when the chess playing robot takes and places pieces at the corresponding chess playing positions; Based on the encoder angle value in the initial stroke data and the theoretical encoder angle value of the corresponding chess-playing point, the effective stroke data is screened from the initial stroke data; the theoretical encoder angle value is determined based on the coordinates of the corresponding chess-playing point on the chessboard; The effective travel data of each chess-playing point among multiple chess-playing points are averaged to obtain the travel data of taking and placing pieces of the multiple chess-playing points.

[0011] The present invention also provides a chess-piece taking and placing control device, which is applied to a chess-playing robot, comprising: An acquisition unit is used to acquire the piece-pick-and-place stroke data of a plurality of chess-playing positions on a chessboard, wherein the piece-pick-and-place stroke data includes the height value of the chess-playing robot when picking up and placing pieces at the corresponding chess-playing positions; the piece-pick-and-place stroke data is collected from the historical chess-playing process of the chess-playing robot; A detection unit is used to perform tilt detection based on the pick-up and placement stroke data of each chess-playing point and a preset robot state model to obtain a tilt parameter of the chess-playing robot; the robot state model includes a state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking up and placing the chess pieces under the corresponding type of problem; The control unit is used to update the corresponding state model based on the tilt parameter, and based on the updated state model, determine the target height value corresponding to the chess-playing point where the piece is currently to be taken and placed, and control the chess-playing robot to take and place the piece at the chess-playing point where the piece is currently to be taken and placed according to the target height value.

[0012] The present invention also provides a chess-playing robot control system, which includes a processor, a lifting motor, a lifting encoder, a mechanical arm motor, a mechanical arm encoder, an air pump, and an air pressure sensor; the processor is used to obtain the stroke data of the chess-playing positions on a plurality of chess-playing positions on a chessboard, and based on the stroke data of the chess-playing positions and a preset robot state model, perform tilt detection to obtain the tilt parameters of the chess-playing robot; based on the tilt parameters, the corresponding state model is updated, and based on the updated state model, a target height value corresponding to the chess-playing position to be currently picked up and placed is determined, and the chess-playing robot is controlled to pick up and place the chess-playing position to be currently picked up and placed according to the target height value; The robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height values ​​when picking up and placing pieces under the corresponding types of problems; the picking up and placing piece stroke data includes the height values ​​when the chess-playing robot picks up and places pieces at the corresponding chess-playing points; the picking up and placing piece stroke data is collected from the historical chess-playing process of the chess-playing robot; The processor is also used to control the lifting motor, the mechanical arm motor and the air pump to achieve picking and placing pieces at corresponding chess-playing positions; the lifting motor is used to drive the picking and placing structure connected to the front end of the mechanical arm of the chess-playing robot to lift and lower, the lifting encoder is used to feed back the encoder angle value of the lifting motor to the processor, the mechanical arm motor is used to drive the mechanical arm to rotate, the mechanical arm encoder is used to feed back the encoder angle value of the mechanical arm to the processor, the air pump is used to provide air pressure when picking and placing pieces, the air pressure sensor is used to detect the air pressure value at the picking and placing structure, and feed back the air pressure value to the processor so that the processor can judge the success or failure of picking and placing pieces.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements any of the above-described methods for controlling the placement of sub-pieces when executing the computer program.

[0014] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the pick-and-place sub-control method as described above is implemented.

[0015] The method, device, system, electronic device and storage medium for controlling the picking and placing of chess pieces provided by the present invention perform tilt detection according to the picking and placing stroke data of multiple chess playing points on a chessboard and a preset robot state model to obtain the tilt parameters of the chess playing robot, and update the corresponding state model accordingly; based on the updated state model, determine the target height value corresponding to the chess playing point where the chess piece is currently to be picked up and placed, and control the chess playing robot to pick up and place the chess piece at the chess playing point where the chess piece is currently to be picked up and placed according to the target height value; the robot state model includes the state model of the chess playing robot under various types of problems, which is used to reflect the correlation between the robot parameters and the height values ​​when picking and placing the chess piece under the corresponding types of problems; by updating and optimizing the picking and placing stroke data obtained from the daily chess playing process, the chess pieces can be accurately picked up and placed without affecting the daily use of the user, which not only improves the operating accuracy and efficiency of the chess playing robot, but also avoids damage to the equipment, improves the stability and durability of the chess playing robot, and provides support for the higher level of intelligence and precision of the chess playing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a flow chart of the pick-and-place control method provided by the present invention; Figure 2 is a schematic diagram of a chess-playing robot provided by the present invention; Figure 3 is an example diagram of the tilting condition of the chess-playing robot provided by the present invention; Figure 4 It is a schematic diagram of a state model under an ideal situation provided by the present invention; Figure 5 It is a schematic diagram of the state model of the robot arm tilt problem provided by the present invention; Figure 6 is a schematic diagram of a state model under the fuselage tilt problem provided by the present invention; Figure 7 It is a schematic diagram of the state model of the fuselage and the mechanical arm tilt problem provided by the present invention; Figure 8 is an overall flow chart of the tilt detection result provided by the present invention; Fig. 9 It is one of the flow charts of the pick-and-place sub-control process provided by the present invention; Fig.10is a schematic diagram of a robot arm control loop provided by the present invention; Fig.11 This is the second flow chart of the pick-and-place control process provided by the present invention; Fig.12 This is the third flow chart of the pick-and-place control process provided by the present invention; Fig.13 It is a structural schematic diagram of the pick-and-place sub-control device provided by the present invention; Fig.14 It is a structural schematic diagram of the pick-and-place sub-control system provided by the present invention; Fig.15 It is a structural schematic diagram of the electronic device provided by the present invention.

[0018] Reference numerals: 1410: processor; 1420: lifting motor; 1430: lifting encoder; 1440: robotic arm motor; 1450: robotic arm encoder; 1460: air pump; 1470: air pressure sensor. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] At present, when a chess-playing robot is picking up and placing chess pieces, the precise positioning and verticality of its mechanical arm are the key to ensuring successful operation. However, due to the inevitable deviations in the production and assembly stages of the robot, such as the clearance of the bearings of the upper and lower arms, the flexural deformation of the upper and lower arms when subjected to force, these factors together cause the pick-and-place structure at the end of the chess-playing robot's mechanical arm to sag during actual work. In addition, the body of the chess-playing robot may also produce errors during production and long-term use, resulting in the body being unable to maintain an ideal vertical state, thereby exacerbating the droop at the end.

[0021] Furthermore, this drooping of the end will affect the operating accuracy of the chess-playing robot, especially in the process of picking up and placing chess pieces, which will make it difficult for the chess-playing robot to accurately judge and adjust to the optimal operating height, resulting in the robot hitting the chessboard and being unable to accurately grab or place chess pieces. In short, when the current chess-playing robot has the problem of drooping of the end, it is not only difficult to achieve accurate chess piece picking and placing, which reduces the efficiency and accuracy of the operation, but may also cause damage to the device and shorten the service life of the device.

[0022] In this regard, the present invention provides a method for controlling the picking and placing of chess pieces, which aims to collect the picking and placing stroke data of multiple chess playing points on a chessboard during daily chess playing, and on the basis of the picking and placing stroke data, combined with a state model that is pre-analyzed and established to reflect the correlation between robot parameters and height values ​​when picking and placing chess pieces under various problems, the chess robot is tilted to determine its tilt parameters, and the state model is updated based on this, so that the state model that fits the current status of the chess robot can be applied in the subsequent chess playing process to solve the optimal operating height, and pick and place chess pieces based on this, so as to achieve accurate picking and placing of chess pieces, and can solve the problems of difficult to accurately control the height when picking and placing chess pieces due to various deviations, difficulty in picking and placing chess pieces, and easy damage to the equipment without affecting the daily use of users, thereby improving the efficiency of picking and placing chess pieces.

[0023] Figure 1 FIG. 1 is a flow chart of the pick-and-place control method provided by the present invention, such as Figure 1 As shown, the method is applied to a chess-playing robot, and the method comprises: Step 110, obtaining the piece-pick-and-place stroke data of multiple chess-playing positions on the chessboard, wherein the piece-pick-and-place stroke data includes the height value of the chess-playing robot when it is picking up and placing pieces at the corresponding chess-playing positions; the piece-pick-and-place stroke data is collected from the historical chess-playing process of the chess-playing robot; Step 120, based on the pick-up and placement stroke data of each chess-playing point and a preset robot state model, a tilt detection is performed to obtain a tilt parameter of the chess-playing robot; the robot state model includes a state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking up and placing the chess pieces under the corresponding type of problem; Step 130, based on the tilt parameter, the corresponding state model is updated, and based on the updated state model, the target height value corresponding to the chess-playing point where the piece is currently to be taken or placed is determined, and the chess-playing robot is controlled to take or place the piece at the chess-playing point where the piece is currently to be taken or placed according to the target height value.

[0024] Specifically, considering that current chess-playing robots will produce deviations in the production, assembly, and use stages, the picking and placing structure at the end of the robotic arm will eventually show sagging. This sagging will cause the chess-playing robot to collide with the chessboard, fail to pick up the chess pieces, or place the chess pieces in the wrong place when picking up and placing the pieces. In other words, it is difficult to achieve accurate chess piece picking and placing, and the equipment is easily damaged.

[0025] In view of this, in an embodiment of the present invention, it is proposed that the height when taking and placing pieces can be optimized, and precise control of the height value when taking and placing pieces can be achieved, so that when the chess robot has the problem of terminal drooping due to various reasons, the chess pieces can be accurately taken and placed. This not only improves the operating accuracy and efficiency of the chess robot, but also avoids damage to the equipment, improves the stability and durability of the chess robot, and thus optimizes the user experience and chess playing perception.

[0026] It is understandable that during the update and optimization process of programs, devices, etc., it often affects the normal use of users. Even if the user is currently using it, if he wants to complete the update, he will be forced to exit the process, resulting in the interruption of normal use, which can easily lead to a poor user experience. In view of this, in an embodiment of the present invention, it is proposed that the data required for update optimization can be collected during daily use, and the optimization update process can be triggered when the data accumulates to a certain amount. In this way, the optimization update can be completed "silently" without affecting the normal use of users.

[0027] Specifically, here, it can be during the daily operation of the chess robot, that is, during the historical chess playing process of the chess robot, to collect the pick-up and placement stroke data of multiple chess playing points on the chessboard. The pick-up and placement stroke data here represent the height value of the chess robot when picking up and placing the chess pieces at the corresponding chess playing points. The height value can be the height value of the pick-up and placement structure at the end of the mechanical arm of the chess robot when picking up and placing the chess pieces, or it can be the descending height value, or it can be the height value relative to the ideal situation. The embodiment of the present invention does not make specific limitations on this.

[0028] It should be noted that the chess playing points corresponding to the collected data of the picking and placing strokes do not need to cover the entire chessboard, but only need to reach a certain amount, for example, 90%, 80%, 75% of the entire chessboard, etc. The specific value can be set according to the actual situation, and is not specifically limited here. In addition, the historical chess playing process can be the chess playing process before the current moment in the current chess playing process; it can also be the chess playing process in the past, and the embodiment of the present invention does not specifically limit this.

[0029] After obtaining the pick-up and placement stroke data of multiple chess playing positions that can trigger optimization and update, in the embodiment of the present invention, optimization and update can be performed to achieve accurate control of the height of the pick-up and placement. That is, according to the collected pick-up and placement stroke data of each chess playing position, tilt detection can be performed to detect whether the chess playing robot has deviations. Since the deviation presents tilt, therefore, the deviation detection can also be called tilt detection, and the result obtained is whether the chess playing robot is tilted, and the tilt parameters under the tilted condition. Considering that the components of the chess playing robot will inevitably have deviations in the links of production, assembly and use, and the long strip structure of the mechanical arm is prone to deformation, therefore, in the embodiment of the present invention, it is assumed that the chess playing robot has tilt, and what is required to be solved is the tilt parameters of the chess playing robot under the tilted condition.

[0030] Specifically, here, on the basis of the pick-and-place stroke data of each chess-playing position, combined with a pre-set robot state model that can reflect the correlation between the status of the chess-playing robot (robot parameters) under various tilt problems and the height value when picking up and placing pieces, the chess-playing robot is tilted, thereby obtaining the tilt parameters of the chess-playing robot. It is worth noting that here, the pick-and-place stroke data of each chess-playing position is not directly input into the model, and the robot parameters output by the model are used as the tilt parameters to be solved. Instead, the pick-and-place stroke data of multiple chess-playing positions are analyzed to determine the type and status of the tilt problem of the chess-playing robot. On this basis, further analysis and judgment are performed in combination with the robot state model. Through the analyzed tilt status and type, etc., combined with the corresponding relationship between the robot status and the height value under various problems reflected by the robot state model, a comprehensive analysis is performed to solve and obtain the tilt parameters.

[0031] Before performing tilt detection, it is considered that there may be many situations in which the chess-playing robot may be tilted due to deviations. Figure 2 is a schematic diagram of a chess-playing robot provided by the present invention, Figure 3 is an example diagram of the tilt of the chess-playing robot provided by the present invention, such as Figure 2 and Figure 3 As shown, ideally, the body and mechanical arm of the chess robot should be kept vertical, but in actual use, it is almost impossible for the chess robot to maintain the ideal state, and it will often tilt, including mechanical arm tilt (upper arm tilt and lower arm tilt), body and mechanical arm tilt, etc. In order to better measure the tilt condition, in the embodiment of the present invention, various tilt problems can be analyzed in advance to establish a whole machine state model of the chess robot when various tilt problems occur, that is, a robot state model. Here, specifically, it can be to analyze the factors that affect the height value when taking and placing pieces under various tilt problems, locate the robot parameters corresponding to these factors, and establish the corresponding relationship between these robot parameters and the height value, thereby obtaining the robot state model.

[0032] It should be noted that the robot state model in the embodiment of the present invention is not a whole model, but a general term for multiple state models, and the state model corresponding to each type of problem can be obtained by analyzing the factors that affect the height value when picking up and placing the child under this type of problem. In the embodiment of the present invention, the state models under three types of tilt problems and the state model under ideal conditions are pre-analyzed and set. Figure 4 is a schematic diagram of a state model under an ideal condition provided by the present invention, Figure 5 is a schematic diagram of the state model of the robot arm tilt problem provided by the present invention, Figure 6 is a schematic diagram of a state model for the fuselage tilt problem provided by the present invention, Figure 7 is a schematic diagram of the state model of the fuselage and the mechanical arm tilt problem provided by the present invention, such as Figure 4 As shown in the figure, in an ideal situation, that is, when the chess robot does not have a tilt problem, the height value when picking up and placing pieces (theoretical height value) Balanced, not disturbed by other influencing factors; Figure 5 , Figure 6 and Figure 7 As shown in the figure, when the chess robot has a tilt problem, the height value when it takes and places the chess pieces is , and It will be affected by the robot parameters (arm length, tilt angle, etc.), and different types of problems correspond to different robot parameters, which can ensure the accuracy of the model.

[0033] After that, the robot state model can be updated according to the solved tilt parameters of the chess-playing robot. Specifically, the obtained tilt parameters are used to update a type of state model in the robot state model that corresponds to the tilt problem of the chess-playing robot. Specifically, the robot parameters in the state model can be updated to the solved tilt parameters. In this way, the unknown parameters (robot parameters) can be moved toward the known parameters (tilt parameters). Then, in the subsequent chess-playing process, the optimal height value for picking up and placing pieces can be calculated based on the updated state model. That is, the optimal height value for the chess-playing robot to pick up and place pieces at the current chess-playing point to be picked up and placed can be determined through the updated state model, which is called the target height value. The chess-playing robot can be controlled to pick up and place pieces according to the target height value to control it to pick up and place pieces according to the target height value. In this way, accurate picking and placing of chess pieces can be achieved.

[0034] In an embodiment of the present invention, in order to address the problem that the chess-playing robot is tilted due to deviations during the process of picking up and placing pieces, making it difficult to accurately control the height of the chess-playing robot, and is prone to collisions with the board, failure to pick up chess pieces, and misplacing chess pieces, tilt detection is performed by using the picking up and placing stroke data of multiple chess-playing points on the chessboard collected during daily chess-playing processes, and a pre-established robot state model that can reflect the robot parameters and height values ​​when picking up and placing pieces under various problems, and the model is updated based on the tilt parameters of the chess-playing robot obtained by the detection. As a result, the updated model that matches the current status of the chess-playing robot can be applied in subsequent chess-playing processes to solve the optimal height value, and pick up and place pieces accordingly. The above-mentioned problem can be solved, and accurate picking up and placing of pieces under various problems can be achieved.

[0035] The chess piece picking and placing control method provided by the present invention performs tilt detection according to the chess piece picking and placing stroke data of multiple chess playing points on the chessboard and a preset robot state model to obtain the tilt parameter of the chess playing robot, and updates the corresponding state model accordingly, and determines the target height value corresponding to the chess playing point to be picked up and placed based on the updated state model, and controls the chess playing robot to pick up and place the chess piece at the chess playing point to be picked up and placed according to the target height value. By updating and optimizing the chess piece picking and placing stroke data obtained from the daily chess playing process, accurate picking and placing of chess pieces can be achieved without affecting the daily use of users, which not only improves the operating accuracy and efficiency of the chess playing robot, but also avoids damage to the equipment, improves the stability and durability of the chess playing robot, and provides support for a higher level of intelligence and precision of the chess playing robot.

[0036] Based on the above embodiments, the state model under the problem of robot arm tilting, the state model under the problem of fuselage tilting, and the state model under the problem of fuselage and robot arm tilting can be respectively expressed by the following formulas: Among them, the state model of the robot arm tilt problem can be expressed as: In the formula, It indicates the height value of the chess robot when picking up and placing pieces under the problem of mechanical arm tilt, that is, the height of the picking and placing structure at the end of the mechanical arm relative to the upper surface of the chessboard when picking up and placing pieces after the end of the mechanical arm (upper arm and lower arm) droops due to the tilt of the mechanical arm (upper arm and lower arm); Indicates the height value of the chess robot when picking up and placing pieces under ideal conditions, that is, the height value of the picking and placing structure at the end of the robot arm relative to the upper surface of the chessboard when picking up and placing pieces when the chess robot does not have a tilt problem; and Respectively represent the inclination angles of the upper and lower arms of the robot relative to the horizontal plane; and They represent the length of the upper and lower arms of the robot respectively.

[0037] Among them, the state model under the fuselage tilt problem can be expressed as: In the formula, It indicates the height value of the chess robot when picking up and placing pieces under the problem of body tilt, that is, the height of the picking and placing structure at the end of the robot arm relative to the upper surface of the chessboard when picking up and placing pieces after the end of the robot arm sags due to the body tilt; Indicates the tilt angle of the fuselage; Represents the equivalent rod length of the chess piece's coordinates on the board relative to the center of the fuselage.

[0038] Among them, the state model of the fuselage and robotic arm tilt problem can be expressed as: In the formula, It indicates the height value of the chess robot when picking up and placing pieces when the fuselage and the robotic arm are tilted, that is, after the end of the robot droops due to the tilt of the fuselage and the robotic arm, the height of the picking and placing structure at the end of the robotic arm relative to the upper surface of the chessboard when picking up and placing pieces.

[0039] Based on the above embodiment, step 120 includes: Based on the data of the picking and placing strokes of each chess point, the body tilt detection is performed to obtain the tilt detection result; Based on the tilt detection result and the preset robot state model, tilt detection is performed to obtain the tilt parameters of the chess-playing robot.

[0040] Specifically, the process of performing tilt detection based on the pick-and-place stroke data of each chess-playing point and the robot state model to obtain the tilt parameters of the chess-playing robot specifically includes: First, considering that the components of the chess-playing robot may deviate during production, assembly, and use, and that the long strip structure of the mechanical arm is prone to deformation, in the embodiment of the present invention, it is assumed that the mechanical arm of the chess-playing robot is tilted. In order to achieve more accurate control of picking and placing pieces, it is necessary to more accurately evaluate the tilt of the chess-playing robot, that is, the body tilt detection can be performed based on the picking and placing stroke data of each chess-playing point to detect whether the body of the chess-playing robot has deviations, thereby obtaining the body tilt detection result. This time, based on the picking and placing stroke data of each chess-playing point, data comparison is performed to determine whether the body of the chess-playing robot is tilted by comparing the height values ​​when picking and placing pieces.

[0041] Then, the tilt detection can be performed according to the tilt detection result of the fuselage and the preset robot state model to obtain the tilt parameters of the chess-playing robot. That is, based on the tilt detection result of the fuselage, according to the pick-up and placement stroke data of each chess-playing point, and the robot state model that can reflect the correlation between the robot parameters and the height value when picking up and placing the pieces under various tilt problems, the tilt detection of the chess-playing robot is performed to obtain the tilt parameters of the chess-playing robot. Here, specifically, the tilt detection result of the fuselage can be used as a guide to determine the state model corresponding to the tilt problem of the chess-playing robot from the robot state model, for example, the state model under the tilt problem of the mechanical arm, the state model under the tilt problem of the fuselage and the mechanical arm, etc., so that the tilt parameters of the chess-playing robot can be obtained by combining the corresponding state models based on the pick-up and placement stroke data of each chess-playing point.

[0042] Based on the above embodiment, the preset robot state model includes a state model under the problem of body and robot arm tilt; Based on the tilt detection result and the preset robot state model, tilt detection is performed to obtain the tilt parameters of the chess-playing robot, including: When the tilt detection result indicates that the body of the chess-playing robot is tilted, grouping the data of the picking and placing strokes of each chess-playing point to obtain a plurality of first data groups; Determine the robot parameters corresponding to each first data group based on the pick-and-place sub-stroke data in each first data group and the state model under the problem of the body and the robot arm tilting; Based on the robot parameters corresponding to each first data group, mean filtering is performed to obtain the tilt parameters of the chess-playing robot with the problem of body and mechanical arm tilt.

[0043] Specifically, the process of performing tilt detection according to the tilt detection result and the preset robot state model to obtain the tilt parameter of the chess-playing robot may specifically include: Figure 8 is an overall flow chart of the tilt detection result provided by the present invention, such as Figure 8 As shown, after the fuselage tilt detection is performed based on the pick-and-place stroke data of each chess-playing position and the fuselage tilt detection is obtained, if the tilt detection result indicates that the fuselage of the chess-playing robot has a tilt problem, that is, the fuselage is tilted, the tilt detection can be performed based on the pick-and-place stroke data of each chess-playing position and the state model corresponding to the tilt detection result, thereby obtaining the tilt parameters of the chess-playing robot.

[0044] However, considering that the chess-playing robot faces the problem of the fuselage and the mechanical arm tilting when the body is tilted, and the state model under the tilt problem contains three unknown parameters, namely the tilt angles of the upper arm and the lower arm of the mechanical arm and the tilt angle of the body. Therefore, in the embodiment of the present invention, when the pick-up and placement stroke data of each chess-playing point are used for calculation, the pick-up and placement stroke data can be grouped to obtain multiple first data groups, and each first data group contains a multiple of three (such as 3, 6, 9, etc.) pick-up and placement stroke data.

[0045] Furthermore, after a plurality of first data groups are obtained by grouping, in the embodiment of the present invention, calculation can be performed based on the pick-and-place sub-stroke data in each first data group and the state model under the problem of the fuselage and the robot arm tilt in the robot state model. Specifically, the three pick-and-place sub-stroke data in each first data group can be substituted into the state model for calculation, and the three same unknown parameters (robot parameters , and ) can be solved to obtain the values ​​of the three unknown parameters, thereby obtaining the robot parameters corresponding to each first data group. It should be noted that when the first data group contains only three pick-and-place sub-stroke data, it corresponds to only one set of robot parameters, and when it contains more than three (6, 9, etc.) pick-and-place sub-stroke data, it corresponds to multiple sets of robot parameters.

[0046] After obtaining the robot parameters corresponding to each first data group, in the embodiment of the present invention, the multiple sets of robot parameters can be fused to determine the final tilt parameters of the chess-playing robot. Specifically, each set of robot parameters can be mean filtered, that is, all the solved , and The average value is filtered to obtain the final tilt parameter, that is, the tilt parameter of the chess-playing robot under the tilt problem of the fuselage and the mechanical arm.

[0047] Furthermore, after obtaining the tilt parameters of the fuselage and the robotic arm under the tilt problem, in an embodiment of the present invention, the state model of the fuselage and the robotic arm under the tilt problem can be updated according to the tilt parameters, so that the optimal height value for picking up and placing the child can be solved based on the updated state model, and the child can be picked up and placed accordingly. Fig. 9 FIG. 1 is one of the flow charts of the pick-and-place control process provided by the present invention, such as Fig. 9As shown, after updating the corresponding state model according to the solved tilt parameter, when it is necessary to pick up and place a chess piece at a certain chess point on the chessboard, the optimal height value of the chess robot when picking up and placing the chess piece at the chess point (the chess point where the chess piece is currently to be picked up and placed) can be calculated through the updated state model according to the coordinates of the chess point (the chess point where the chess piece is currently to be picked up and placed), that is, the target height value corresponding to the chess point. Then, the chess robot can be controlled to pick up and place the chess piece according to this target height value. Here, when controlling the mechanical arm of the chess robot to pick up and place the chess piece, the main control loops of the control system of the mechanical arm are four: Fig.10 is a schematic diagram of the robot arm control loop provided by the present invention, such as Fig.10 As shown in the figure, the main control loops are air pressure closed-loop control, chess piece picking and placing closed-loop control, upper arm rotation closed-loop control and lower arm rotation closed-loop control. The combined effect of all devices (processor, air pump, air pressure sensor, lifting motor, lifting encoder, upper arm motor, upper arm encoder, etc.) and control loops enables the robot arm to accurately pick up and place chess pieces through the chess piece picking and placing structure at its end under the control of the control system.

[0048] Based on the above embodiment, the preset robot state model includes a state model under the problem of robot arm tilt; Based on the tilt detection result and the preset robot state model, tilt detection is performed to obtain the tilt parameters of the chess-playing robot, including: When the tilt detection result indicates that the body of the chess-playing robot is not tilted, grouping the data of the picking and placing strokes of each chess-playing point to obtain a plurality of second data groups; Determine the robot parameters corresponding to each second data group based on the pick-and-place sub-stroke data in each second data group and the state model under the robot arm tilt problem; Based on the robot parameters corresponding to each second data group, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the robot arm tilt problem.

[0049] Specifically, the process of performing tilt detection according to the tilt detection result and the preset robot state model to obtain the tilt parameter of the chess-playing robot may specifically include: See also Figure 8 It can be seen that when the tilt detection result shows that the body of the chess-playing robot is not tilted, tilt detection can be performed based on the pick-up and placement stroke data of each chess-playing point and the state model corresponding to the tilt detection result of the body, thereby obtaining the tilt parameters of the chess-playing robot.

[0050] Considering that when the body is not tilted, the chess-playing robot only faces the problem of the tilt of the robotic arm, and the state model under the problem of the tilt of the robotic arm only contains two unknown parameters, namely, the tilt angles of the upper arm and the lower arm of the robotic arm. Therefore, in an embodiment of the present invention, the picking and placing stroke data can be grouped to obtain multiple second data groups, and each second data group can contain a multiple of two (such as 2, 4, 6, etc.) of picking and placing stroke data.

[0051] After obtaining multiple second data sets, in the embodiment of the present invention, the pick-and-place stroke data in each second data set and the state model of the robot arm tilt problem in the robot state model can be used to calculate to obtain the tilt parameter of the chess-playing robot. Here, the two pick-and-place stroke data in each second data set can be substituted into the state model for calculation, and the same unknown parameters (robot parameters) can be jointly calculated. and ) can be solved to obtain the values ​​of the two unknown parameters, thereby obtaining the robot parameters corresponding to each second data group. It should be noted that when the second data group contains only two pick-and-place sub-stroke data, it corresponds to only one set of robot parameters, and when it contains more than two (4, 8, etc.) pick-and-place sub-stroke data, it corresponds to multiple sets of robot parameters.

[0052] Further, after obtaining the robot parameters corresponding to each second data group, in the embodiment of the present invention, the multiple sets of robot parameters can be fused, specifically, each set of robot parameters can be mean filtered, that is, all the solved and The average value filtering is performed to obtain the final tilt parameter, that is, the tilt parameter of the chess-playing robot under the problem of mechanical arm tilt.

[0053] After that, the state model of the robotic arm tilt problem can be updated according to the tilt parameters of the robotic arm tilt problem, so that the optimal height value for picking up and placing pieces can be solved based on the updated state model, that is, the target height value corresponding to the chess point where the piece is currently to be picked up and placed, and the chess robot can be controlled to pick up and place chess pieces according to this target height value.

[0054] Based on the above embodiment, the fuselage tilt detection is performed based on the pick-up and placement stroke data of each chess point, and the tilt detection result is obtained, including: Determine a theoretical height value, which is the height value when the chess-playing robot takes and places pieces at each chess-playing position without any problem; Based on the theoretical height value and the travel data of placing and taking pieces at each chess-playing point, the height difference value corresponding to each chess-playing point is determined, and the fuselage tilt detection is performed based on the height difference value corresponding to each chess-playing point to obtain the tilt detection result.

[0055] Specifically, in the above process, when the fuselage inclination detection is performed based on the travel data of picking up and placing chess pieces at each chess-playing position, the theoretical height value can be determined first. The height value refers to the height value when picking up and placing chess pieces at the chess-playing position on the chessboard under ideal conditions, that is, when the chess-playing robot does not have a tilt problem. This value is measured. Next, the height difference calculation can be performed based on the theoretical height value and the pick-up and placement stroke data of each chess-playing point to determine the difference between the height value (relative to the height value of the upper surface of the chessboard) at the end of the pick-up and placement structure of the chess-playing robot when picking up and placing pieces at each chess-playing point and the theoretical height value, and the difference is the height difference corresponding to each chess-playing point; thereafter, the fuselage tilt detection can be performed based on the height difference corresponding to each chess-playing point to obtain the tilt detection result, that is, the height difference corresponding to each chess-playing point can be compared to see whether the height difference values ​​of all chess-playing points are basically consistent. Here, specifically, a curve can be drawn, and whether it is basically consistent can be determined by the ratio of the points on the curve to the points outside the curve, or the height difference values ​​can be grouped in pairs, and each group is compared to determine whether it is consistent, and whether it is basically consistent is determined based on the comparison results of each group. If the consistency exceeds 90% or 95%, it is considered to be basically consistent, and if it is basically consistent, it can be determined that there is no tilt problem of the fuselage. On the contrary, if it is not basically consistent, it is determined that there is a tilt problem of the fuselage, that is, the fuselage is tilted.

[0056] Based on the above embodiment, step 110 includes: Acquire initial travel data of multiple chess playing points, the initial travel data including encoder angle values ​​and height values ​​when the chess playing robot takes and places pieces at corresponding chess playing points; Based on the encoder angle value in the initial stroke data and the theoretical encoder angle value of the corresponding chess-playing point, the effective stroke data is screened from the initial stroke data; the theoretical encoder angle value is determined based on the coordinates of the corresponding chess-playing point on the chessboard; The effective travel data of each chess-playing point among multiple chess-playing points are averaged to obtain the travel data of taking and placing pieces of the multiple chess-playing points.

[0057] Specifically, the process of obtaining the data of the picking and placing strokes of multiple chess positions on the chessboard may include the following steps: When the inclination parameters of the chess-playing robot are unknown, the lifting motor will be controlled to descend according to the maximum distance, so as to achieve the picking and placing of pieces. Fig.11 FIG. 2 is a flow chart of the pick-and-place control process provided by the present invention. Fig.11As shown, in the daily chess playing process, when picking up and placing pieces at a certain chess playing point, the lifting motor will be controlled to descend according to the maximum distance. In the process of picking up and placing pieces, the air pressure value at the picking and placing structure fed back by the air pressure sensor is used to judge whether the picking up and placing of pieces is successful. The air pressure required for picking up and placing pieces is provided by the air pump. When the air pressure value reaches the set command value, the height value of the picking and placing structure at this time can be recorded as the initial stroke data of the chess playing point, and it can be judged that the picking up and placing of pieces is successful; conversely, when the air pressure value does not reach the command value, and the lifting motor has descended the maximum distance, it can be judged that the picking up and placing of pieces has failed.

[0058] Fig.12 FIG. 3 is a flow chart of the pick-and-place control process provided by the present invention. Fig.12 As shown, when collecting the initial stroke data of multiple chess playing positions, since the same chess playing position may be used for multiple times in daily processes, in the embodiment of the present invention, the collected initial stroke data includes data when the same chess playing position is used for multiple times. In addition, in the process of taking and placing chess pieces, in addition to recording the height value, the encoder angle value fed back by the encoder can also be recorded, such as the upper arm encoder angle value fed back by the upper arm encoder, the forearm encoder angle value fed back by the forearm encoder, etc., and the data validity screening can be performed based on this encoder angle value, that is, the validity of the recorded initial stroke data can be determined based on the upper arm encoder angle value and the forearm encoder angle value, as well as the theoretical encoder angle value.

[0059] When the combination of the upper arm encoder angle value and the lower arm encoder angle value has a small error with the theoretical encoder angle value, for example, the difference is less than 0.5 degrees, the corresponding initial stroke data can be considered valid. Conversely, when the error is large, the corresponding initial stroke data is considered invalid. Based on this, valid stroke data can be screened from the initial stroke data of all recorded chess playing points. Among them, the theoretical encoder angle value can be calculated based on the coordinates of the corresponding chess playing points, and specifically can be obtained by performing kinematic inverse operations based on the coordinates of the corresponding chess playing points. The theoretical encoder angle value includes the encoder angle values ​​corresponding to the upper arm and the lower arm, respectively.

[0060] After filtering and obtaining the valid stroke data, in an embodiment of the present invention, the valid stroke data of each chess-playing position can be fused to obtain the final stroke data for picking up and placing pieces; that is, the valid stroke data of each chess-playing position can be averaged to take the average value of the height values ​​recorded for multiple times of picking up and placing pieces as the final height value, thereby obtaining the stroke data for picking up and placing pieces at each chess-playing position.

[0061] The pick-and-place sub-control device provided by the present invention is described below. The pick-and-place sub-control device described below and the pick-and-place sub-control method described above can be referred to each other.

[0062] Fig.13 Schematic diagram of the structure of the pick-and-place sub-control device provided by the present invention. Fig.13 As shown, the device is applied to a chess-playing robot, and the device comprises: The acquisition unit 1310 is used to acquire the piece-pick-and-place stroke data of multiple chess-playing positions on the chessboard, wherein the piece-pick-and-place stroke data includes the height value of the chess-playing robot when picking up and placing pieces at the corresponding chess-playing positions; the piece-pick-and-place stroke data is collected from the historical chess-playing process of the chess-playing robot; The detection unit 1320 is used to perform tilt detection based on the pick-up and placement stroke data of each chess-playing point and a preset robot state model to obtain a tilt parameter of the chess-playing robot; the robot state model includes a state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking up and placing the chess pieces under the corresponding type of problem; The control unit 1330 is used to update the corresponding state model based on the tilt parameter, and determine the target height value corresponding to the current chess-playing point where the piece is to be taken or placed based on the updated state model, and control the chess-playing robot to take or place the piece at the current chess-playing point where the piece is to be taken or placed according to the target height value.

[0063] The device for controlling the picking and placing of chess pieces provided by the present invention performs tilt detection according to the picking and placing stroke data of multiple chess playing positions on the chessboard and a preset robot state model, obtains the tilt parameters of the chess playing robot, and updates the corresponding state model accordingly, and determines the target height value corresponding to the chess playing position to be picked up and placed based on the updated state model, and controls the chess playing robot to pick up and place chess pieces at the chess playing position to be picked up and placed according to the target height value, and updates and optimizes the picking and placing stroke data obtained from the daily chess playing process, so that the chess pieces can be accurately picked up and placed without affecting the daily use of the user, which not only improves the operating accuracy and efficiency of the chess playing robot, but also avoids damage to the equipment, improves the stability and durability of the chess playing robot, and provides support for a higher level of intelligence and precision of the chess playing robot.

[0064] Based on the above embodiment, the detection unit 1320 is used for: Based on the data of the picking and placing strokes of each chess point, a body tilt detection is performed to obtain a tilt detection result; Based on the tilt detection result and the preset robot state model, tilt detection is performed to obtain the tilt parameter of the chess-playing robot.

[0065] Based on the above embodiment, the preset robot state model includes a state model under the problem of body and robot arm tilt, and the detection unit 1320 is used to: When the tilt detection result indicates that the body of the chess-playing robot is tilted, grouping the pick-and-place stroke data of each chess-playing point to obtain a plurality of first data groups; Determine the robot parameters corresponding to each first data group based on the pick-and-place sub-stroke data in each first data group and the state model under the problem of the body and the robot arm tilting; Based on the robot parameters corresponding to the first data groups, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the problem of the tilt of the fuselage and the mechanical arm.

[0066] Based on the above embodiment, the preset robot state model includes a state model under the problem of robot arm tilt, and the detection unit 1320 is used to: When the tilt detection result indicates that the body of the chess-playing robot is not tilted, grouping the data of the picking and placing strokes of the chess-playing points to obtain a plurality of second data groups; Determine the robot parameters corresponding to each second data group based on the pick-and-place sub-stroke data in each second data group and the state model under the robot arm tilt problem; Based on the robot parameters corresponding to each of the second data groups, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the robotic arm tilt problem.

[0067] Based on the above embodiment, the detection unit 1320 is used for: Determine a theoretical height value, wherein the theoretical height value is a height value when the chess-playing robot takes and places pieces at each chess-playing position when there is no problem; Based on the theoretical height value and the travel data of placing and taking pieces at each chess-playing point, the height difference value corresponding to each chess-playing point is determined, and the fuselage tilt detection is performed based on the height difference value corresponding to each chess-playing point to obtain the tilt detection result.

[0068] Based on the above embodiment, the acquiring unit 1310 is used for: Acquire initial travel data of a plurality of chess playing positions, wherein the initial travel data includes encoder angle values ​​and height values ​​when the chess playing robot takes and places pieces at the corresponding chess playing positions; Based on the encoder angle value in the initial stroke data and the theoretical encoder angle value of the corresponding chess-playing point, the effective stroke data is screened from the initial stroke data; the theoretical encoder angle value is determined based on the coordinates of the corresponding chess-playing point on the chessboard; The effective travel data of each chess-playing point among multiple chess-playing points are averaged to obtain the travel data of taking and placing pieces of the multiple chess-playing points.

[0069] Fig.14Schematic diagram of the structure of the pick-and-place sub-control system provided by the present invention. Fig.14 As shown, the system is applied to a chess-playing robot, and the system includes a processor 1410, a lifting motor 1420, a lifting encoder 1430, a mechanical arm motor 1440, a mechanical arm encoder 1450, an air pump 1460, and an air pressure sensor 1470; The processor 1410 is used to obtain the travel data of picking up and placing pieces at multiple chess playing points on the chessboard, perform tilt detection based on the travel data of picking up and placing pieces at each chess playing point and a preset robot state model, and obtain the tilt parameter of the chess playing robot; update the corresponding state model based on the tilt parameter, and determine the target height value corresponding to the chess playing point to be currently picked up and placed based on the updated state model, and control the chess playing robot to pick up and place pieces at the chess playing point to be currently picked up and placed according to the target height value; The robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height values ​​when picking up and placing pieces under the corresponding types of problems; the picking up and placing piece stroke data includes the height values ​​when the chess-playing robot picks up and places pieces at the corresponding chess-playing points; the picking up and placing piece stroke data is collected from the historical chess-playing process of the chess-playing robot; The processor 1410 is also used to control the lifting motor 1420, the mechanical arm motor 1440 and the air pump 1460 to achieve picking and placing pieces at corresponding chess-playing positions; the lifting motor 1420 is used to drive the picking and placing substructure connected to the front end of the mechanical arm of the chess-playing robot to lift and lower, the lifting encoder 1430 is used to feed back the encoder angle value of the lifting motor to the processor 1410, the mechanical arm motor 1440 is used to drive the mechanical arm to rotate, the mechanical arm encoder 1450 is used to feed back the encoder angle value of the mechanical arm to the processor 1410, the air pump 1460 is used to provide air pressure when picking and placing pieces, and the air pressure sensor 1470 is used to detect the air pressure value at the picking and placing substructure, and feed back the air pressure value to the processor 1410 so that the processor 1410 can judge the success or failure of picking and placing pieces.

[0070] The chess piece picking and placing control system provided by the present invention performs tilt detection based on the chess piece picking and placing stroke data of multiple chess playing points on the chessboard and a preset robot state model to obtain the tilt parameters of the chess playing robot, and updates the corresponding state model accordingly, and determines the target height value corresponding to the chess playing point where the chess piece is currently to be picked up and placed based on the updated state model, and controls the chess playing robot to pick up and place the chess piece at the chess playing point where the chess piece is currently to be picked up and placed according to the target height value, and updates and optimizes the chess piece picking and placing stroke data obtained from the daily chess playing process, so that the chess pieces can be accurately picked up and placed without affecting the daily use of the user, which not only improves the operating accuracy and efficiency of the chess playing robot, but also avoids damage to the equipment, improves the stability and durability of the chess playing robot, and provides support for a higher level of intelligence and precision of the chess playing robot.

[0071] Fig.15 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.15 As shown, the electronic device may include: a processor (processor) 1510 , a communication interface (Communications Interface) 1520 , a memory (memory) 1530 and a communication bus 1540 , wherein the processor 1510 , the communication interface 1520 , and the memory 1530 communicate with each other through the communication bus 1540 . The processor 1510 can call the logic instructions in the memory 1530 to execute the method for controlling the picking and placing of pieces, which is applied to a chess-playing robot, and the method includes: obtaining the picking and placing stroke data of multiple chess-playing points on the chessboard, the picking and placing stroke data including the height value of the chess-playing robot when picking and placing pieces at the corresponding chess-playing points; the picking and placing stroke data is collected from the historical chess-playing process of the chess-playing robot; based on the picking and placing stroke data of each chess-playing point and a preset robot state model, tilt detection is performed to obtain the tilt parameters of the chess-playing robot; the robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking and placing pieces under the corresponding type of problems; based on the tilt parameter, the corresponding state model is updated, and based on the updated state model, the target height value corresponding to the current chess-playing point to be picked up and placed is determined, and the chess-playing robot is controlled to pick up and place pieces at the current chess-playing point to be picked up and placed according to the target height value.

[0072] In addition, the logic instructions in the above-mentioned memory 1530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0073] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the pick-up and placement control methods provided by the above methods. The method is applied to a chess-playing robot, and the method includes: obtaining pick-up and placement stroke data of multiple chess-playing points on a chessboard, and the pick-up and placement stroke data includes the height value of the chess-playing robot when picking up and placing pieces at the corresponding chess-playing points; the pick-up and placement stroke data is collected from the historical chess-playing process of the chess-playing robot. To; based on the travel data of picking and placing pieces at each chess-playing position and a preset robot state model, perform inclination detection to obtain the inclination parameters of the chess-playing robot; the robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height values ​​when picking and placing pieces under the corresponding types of problems; based on the inclination parameters, the corresponding state model is updated, and based on the updated state model, the target height value corresponding to the current chess-playing position to be picked up and placed is determined, and the chess-playing robot is controlled to pick up and place pieces at the current chess-playing position to be picked up and placed according to the target height value.

[0074] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented by a processor to execute the control method for picking up and placing pieces provided by the above-mentioned methods when executed by the processor. The method is applied to a chess-playing robot, and the method includes: obtaining the picking up and placing piece travel data of multiple chess-playing points on a chessboard, the picking up and placing piece travel data including the height value of the chess-playing robot when picking up and placing pieces at the corresponding chess-playing points; the picking up and placing piece travel data is collected from the historical chess-playing process of the chess-playing robot; based on the picking up and placing piece travel data of each chess-playing point and a preset robot state model, tilt detection is performed to obtain the tilt parameters of the chess-playing robot; the robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking up and placing pieces under the corresponding type of problems; based on the tilt parameter, the corresponding state model is updated, and based on the updated state model, the target height value corresponding to the chess-playing point to be picked up and placed is determined, and the chess-playing robot is controlled to pick up and place pieces at the chess-playing point to be picked up and placed according to the target height value.

[0075] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0076] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the placement of a sub-assembly, characterized in that: Applied to chess-playing robots, including: Acquire the picking and placing stroke data of multiple chess playing positions on the chessboard, wherein the picking and placing stroke data includes the height value of the chess playing robot when picking and placing the chess pieces at the corresponding chess playing positions; the picking and placing stroke data is collected from the historical chess playing process of the chess playing robot; Based on the travel data of picking and placing pieces at each chess-playing point and a preset robot state model, tilt detection is performed to obtain the tilt parameter of the chess-playing robot; the robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking and placing pieces under the corresponding type of problem; The corresponding state model is updated based on the tilt parameter, and based on the updated state model, the target height value corresponding to the chess-playing point where the piece is currently to be taken or placed is determined, and the chess-playing robot is controlled to take or place the piece at the chess-playing point where the piece is currently to be taken or placed according to the target height value.

2. The method for controlling the placement of a sub-unit according to claim 1, characterized in that: The tilt detection is performed based on the pick-and-place stroke data of each chess-playing point and the preset robot state model to obtain the tilt parameters of the chess-playing robot, including: Based on the data of the picking and placing strokes of each chess point, a body tilt detection is performed to obtain a tilt detection result; Based on the tilt detection result and the preset robot state model, tilt detection is performed to obtain the tilt parameter of the chess-playing robot.

3. The method for controlling the placement of a sub-unit according to claim 2, characterized in that: The preset robot state model includes a state model under the problem of body and robot arm tilt. The tilt detection is performed based on the tilt detection result and the preset robot state model to obtain the tilt parameter of the chess-playing robot, including: When the tilt detection result indicates that the body of the chess-playing robot is tilted, grouping the pick-and-place stroke data of each chess-playing point to obtain a plurality of first data groups; Determine the robot parameters corresponding to each first data group based on the pick-and-place sub-stroke data in each first data group and the state model under the problem of the body and the robot arm tilting; Based on the robot parameters corresponding to the first data groups, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the problem of the tilt of the fuselage and the mechanical arm.

4. The method for controlling the placement of a sub-unit according to claim 2, characterized in that: The preset robot state model includes a state model under the problem of mechanical arm tilt. The tilt detection is performed based on the tilt detection result and the preset robot state model to obtain the tilt parameter of the chess-playing robot, including: When the tilt detection result indicates that the body of the chess-playing robot is not tilted, grouping the data of the picking and placing strokes of the chess-playing points to obtain a plurality of second data groups; Determine the robot parameters corresponding to each second data group based on the pick-and-place sub-stroke data in each second data group and the state model under the robot arm tilt problem; Based on the robot parameters corresponding to each of the second data groups, mean filtering is performed to obtain the tilt parameters of the chess-playing robot under the robotic arm tilt problem.

5. The method for controlling the placement of a pick-up device according to any one of claims 2 to 4, characterized in that: The body tilt detection is performed based on the pick-and-place stroke data of each chess position to obtain the tilt detection result, including: Determine a theoretical height value, wherein the theoretical height value is a height value when the chess-playing robot takes and places pieces at each chess-playing position when there is no problem; Based on the theoretical height value and the travel data of placing and taking pieces at each chess-playing point, the height difference value corresponding to each chess-playing point is determined, and the fuselage tilt detection is performed based on the height difference value corresponding to each chess-playing point to obtain the tilt detection result.

6. The method for controlling the placement of a pick-up device according to any one of claims 1 to 4, characterized in that: The step of obtaining the data of the picking and placing strokes of multiple chess positions on the chessboard includes: Acquire initial travel data of a plurality of chess playing positions, wherein the initial travel data includes encoder angle values ​​and height values ​​when the chess playing robot takes and places pieces at the corresponding chess playing positions; Based on the encoder angle value in the initial stroke data and the theoretical encoder angle value of the corresponding chess-playing point, the effective stroke data is screened from the initial stroke data; the theoretical encoder angle value is determined based on the coordinates of the corresponding chess-playing point on the chessboard; The effective travel data of each chess-playing point among multiple chess-playing points are averaged to obtain the travel data of taking and placing pieces of the multiple chess-playing points.

7. A pick-and-place control device, characterized in that: Applied to chess-playing robots, including: An acquisition unit is used to acquire the piece-pick-and-place stroke data of a plurality of chess-playing positions on a chessboard, wherein the piece-pick-and-place stroke data includes the height value of the chess-playing robot when picking up and placing pieces at the corresponding chess-playing positions; the piece-pick-and-place stroke data is collected from the historical chess-playing process of the chess-playing robot; A detection unit is used to perform tilt detection based on the pick-up and placement stroke data of each chess-playing point and a preset robot state model to obtain a tilt parameter of the chess-playing robot; the robot state model includes a state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height value when picking up and placing the chess pieces under the corresponding type of problem; The control unit is used to update the corresponding state model based on the tilt parameter, and based on the updated state model, determine the target height value corresponding to the chess-playing point where the piece is currently to be taken and placed, and control the chess-playing robot to take and place the piece at the chess-playing point where the piece is currently to be taken and placed according to the target height value.

8. A pick-and-place control system, characterized in that: The invention is applied to a chess-playing robot, comprising a processor, a lifting motor, a lifting encoder, a mechanical arm motor, a mechanical arm encoder, an air pump and an air pressure sensor; the processor is used to obtain the travel data of picking and placing pieces at multiple chess-playing positions on a chessboard, and based on the travel data of picking and placing pieces at each chess-playing position and a preset robot state model, perform tilt detection to obtain the tilt parameters of the chess-playing robot; based on the tilt parameters, the corresponding state model is updated, and based on the updated state model, a target height value corresponding to the chess-playing position to be currently picked up and placed is determined, and the chess-playing robot is controlled to pick up and place pieces at the chess-playing position to be currently picked up and placed according to the target height value; The robot state model includes the state model of the chess-playing robot under various types of problems, and the state model is used to reflect the correlation between the robot parameters and the height values ​​when picking up and placing pieces under the corresponding types of problems; the picking up and placing piece stroke data includes the height values ​​when the chess-playing robot picks up and places pieces at the corresponding chess-playing points; the picking up and placing piece stroke data is collected from the historical chess-playing process of the chess-playing robot; The processor is also used to control the lifting motor, the mechanical arm motor and the air pump to achieve picking and placing pieces at corresponding chess-playing positions; the lifting motor is used to drive the picking and placing structure connected to the front end of the mechanical arm of the chess-playing robot to lift and lower, the lifting encoder is used to feed back the encoder angle value of the lifting motor to the processor, the mechanical arm motor is used to drive the mechanical arm to rotate, the mechanical arm encoder is used to feed back the encoder angle value of the mechanical arm to the processor, the air pump is used to provide air pressure when picking and placing pieces, the air pressure sensor is used to detect the air pressure value at the picking and placing structure, and feed back the air pressure value to the processor so that the processor can judge the success or failure of picking and placing pieces.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the pick-and-place control method according to any one of claims 1 to 6 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the pick-and-place control method according to any one of claims 1 to 6 is implemented.

Images