Regulation and control parameter generation method and system of unmanned storage yard robot, terminal and medium

Abstract

The invention discloses a method and a system for generating regulation and control parameters of an unmanned storage yard robot, a terminal and a medium, and relates to the technical field of intelligent control, and the key points of the technical scheme are as follows: position transformation of an execution terminal caused by regulation and control parameters of each regulation and control node in an execution mechanical arm is represented by a corresponding relative vector; then the execution terminal is preferentially driven to move from the first space coordinate to the second space coordinate to the maximum extent through a relative vector differencing term corresponding to a regulation and control node closer to the execution terminal in the regulation and control parameter equation, simultaneous solving of multiple unknown parameters is converted into one-by-one solving of single parameters, and the efficiency of generation of the regulation and control parameters is improved; and meanwhile, the solved regulation and control parameters are small in number and orderly, and the energy consumption and loss of the execution mechanical arm can be effectively reduced.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and more specifically, to a method, system, terminal and medium for generating control parameters of an unmanned yard robot. Background Art

[0002] An unmanned yard refers to a yard system that uses advanced automation technology and intelligent equipment to achieve automated loading, unloading, stacking and management of containers or other goods without human intervention. Unmanned yards are generally realized by unmanned yard robots, which are generally equipped with computer vision systems and mechanical systems. The execution robot arm in the mechanical system is generally composed of multiple sub-robotic arms. The computer vision system can identify the next working position and provide data for the control operation of multiple sub-robotic arms.

[0003] The existing unmanned yard robot can obtain the spatial position information of the target position through image recognition technology. When the spatial position information of the current position is known, it can plan and generate the control parameters of multiple sub-manipulators by setting certain constraints, so that the execution terminal moves from the current position to the target position, such as the minimum rotation amount, the minimum extension amount, the shortest control time and other constraints. However, in the above-mentioned control parameter planning and generation process of multiple sub-manipulators, the control parameters of multiple sub-manipulators are solved as unknown parameters at the same time. When each unknown parameter has a certain range of values, the difficulty of planning and generating the control parameters is increased, resulting in low execution efficiency of the execution robot; in addition, the disordered simultaneous operation of multiple sub-manipulators will also increase the energy consumption and loss of the execution robot to a certain extent.

[0004] Therefore, how to study and design a control parameter generation method, system, terminal and medium for an unmanned yard robot that can overcome the above-mentioned defects is a problem that we urgently need to solve. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the purpose of the present invention is to provide a method, system, terminal and medium for generating control parameters of an unmanned yard robot, which not only transforms the simultaneous solution of multiple unknown parameters into the solution of a single parameter one by one, thereby improving the efficiency of generating control parameters; but also makes the number of solved control parameters small and orderly, which can effectively reduce the energy consumption and loss of the executing robot arm.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] In a first aspect, a method for generating control parameters of an unmanned yard robot is provided, comprising the following steps:

[0008] The position transformation of the execution terminal caused by the control parameters of each control node in the execution robot is represented by a corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, thereby obtaining a transformation model;

[0009] Obtaining the first spatial coordinates of the execution terminal in the execution mechanical arm configured by the target robot at the current moment and the second spatial coordinates at the next moment;

[0010] The first spatial coordinates are converted into a first relative vector sequence and the second spatial coordinates are converted into a second relative vector sequence by a transformation model;

[0011] The difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second space coordinate and the first space coordinate, and a control parameter equation is established;

[0012] By finding the difference term of the relative vector corresponding to the control node closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first space coordinate to the second space coordinate to the maximum extent, and the second control parameter sequence corresponding to the second relative vector sequence is obtained by solving;

[0013] The parameter variables that need to be adjusted for the control parameters of each control node in the execution robot arm are calculated based on the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

[0014] Furthermore, each sub-manipulator in the execution robot is simplified into a control node.

[0015] Furthermore, the control nodes are divided into rotation nodes and telescopic nodes according to the control attributes;

[0016] If the control node is a rotation node, the control parameter is the rotation angle;

[0017] If the control node is a telescopic node, the control parameter is the telescopic ratio;

[0018] If the control node is both a rotation node and a telescopic node, the control parameters include a rotation angle and a telescopic ratio.

[0019] Furthermore, if the control node is both a rotation node and a telescopic node, then when solving the control parameters, the priority of the rotation node participating in the control is higher than the priority of the telescopic node participating in the control.

[0020] Furthermore, the relative vector is expressed as follows:

[0021] A i =a i L i δ i ;

[0022]

[0023] θ i =θ i,c +θ i,s

[0024] Among them, A i represents the relative vector of the i-th control node, and the serial numbers of the control nodes are arranged in ascending order from the mounting base in the execution robot to the execution terminal; a i represents the unit vector of the i-th control node; L i represents the length of the sub-manipulator corresponding to the i-th control node; δ i represents the scaling ratio of the i-th control node; θ i ,θ i-2 ,θ i-m Respectively represent the total relative deflection angles of the i-th, i-2-th, and im-th control nodes; θ i-1 ,θ i-3 ,θ i-n Respectively represent the total relative deflection angles of the i-1th, i-3th, and inth control nodes; θ i,c represents the initial deflection angle of the i-th control node; θ i,s represents the rotation angle of the i-th control node; m represents the largest even number less than i; n represents the largest odd number less than i; a 0 Represents the unit vector of the initial node; k represents the index value, which is 1 when i is an even number and -1 when i is an odd number.

[0025] Furthermore, if the control node is not a telescopic node, the telescopic ratio is 1;

[0026] And, if the control node is not a rotation node, the rotation angle is 0.

[0027] Furthermore, the process of solving the second control parameter sequence corresponding to the second relative vector sequence is specifically as follows:

[0028] The control node i closest to the execution terminal is selected as the first control object, the control parameters of the control node 1 to the control node i-1 remain unchanged, and the relative vector difference term in the control parameter equation only includes the relative vector difference term corresponding to the control node i;

[0029] The control parameter of the control node i at the next moment is calculated by taking the difference term of the relative vector in the control parameter equation and the vector difference between the coordinate difference vector corresponding to the difference between the second space coordinate and the first space coordinate as the minimum modulus of the vector difference;

[0030] If the minimum value of the modulus of the vector difference is not 0, the control node i-1 is selected as the second control object, the control parameters of the control nodes 1 to i-2 remain unchanged, and the relative vector difference term in the control parameter equation includes the relative vector difference term corresponding to the control node i and the control node i-1;

[0031] Based on the control parameters of the control node i at the next moment, the control parameters of the control node i-1 at the next moment are calculated with the minimum modulus of the vector difference as the goal, until the minimum modulus of the vector difference is 0.

[0032] In a second aspect, a control parameter generation system of an unmanned yard robot is provided, and the system is used to implement the control parameter generation method of the unmanned yard robot as described in any one of the first aspects, including:

[0033] A parameter transformation module is used to represent the position transformation of the execution terminal caused by the control parameters of each control node in the execution robot arm with a corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, so as to obtain a transformation model;

[0034] A position acquisition module, used to obtain the first spatial coordinates of the execution terminal in the execution mechanical arm configured by the target robot at the current moment and the second spatial coordinates at the next moment;

[0035] A coordinate transformation module, used for transforming the first space coordinate into a first relative vector sequence and the second space coordinate into a second relative vector sequence through a transformation model;

[0036] An equation building module, used for establishing a control parameter equation by taking the difference between the second relative vector sequence and the first relative vector sequence as the difference between the second space coordinate and the first space coordinate;

[0037] A parameter solving module, used to solve a second control parameter sequence corresponding to a second relative vector sequence by solving a difference term corresponding to a control node closer to the execution terminal in the control parameter equation so as to drive the execution terminal to move from the first space coordinate to the second space coordinate to the maximum extent;

[0038] The adjustment solving module is used to calculate the parameter variables that need to be adjusted for the control parameters of each control node in the execution robot arm by using the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

[0039] In a third aspect, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for generating control parameters of the unmanned yard robot as described in any one of the first aspects is implemented.

[0040] In a fourth aspect, a computer-readable medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the control parameter generation method of the unmanned yard robot as described in any one of the first aspects.

[0041] Compared with the prior art, the present invention has the following beneficial effects:

[0042] 1. The control parameter generation method of the unmanned yard robot provided by the present invention represents the position transformation of the execution terminal caused by the control parameters of each control node in the execution robot arm with a corresponding relative vector, and then prioritizes the difference term corresponding to the relative vector of the control node closer to the execution terminal in the control parameter equation to drive the execution terminal to move from the first space coordinate to the second space coordinate to the greatest extent. This not only transforms the simultaneous solution of multiple unknown parameters into the solution of a single parameter one by one, thereby improving the efficiency of control parameter generation; it also makes the number of solved control parameters small and orderly, which can effectively reduce the energy consumption and loss of the execution robot arm;

[0043] 2. The present invention is applicable not only to working scenarios where the operation is completed by a rotating mechanical arm, but also to working scenarios where the operation is completed by a telescopic mechanical arm, and also to working scenarios where the operation is completed by both a rotating and a telescopic mechanical arm, and has a wide range of applications;

[0044] 3. In the process of solving a single control parameter, the present invention optimizes and solves the problem by taking the relative vector difference term in the control parameter equation and the vector difference between the coordinate difference vector corresponding to the difference between the second space coordinate and the first space coordinate as the minimum as the goal. The rotation angle and the scaling ratio of a single control node can be optimized and solved at the same time, further reducing the number of control nodes involved in the control operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0046] Figure 1 is a flow chart of Embodiment 1 of the present invention;

[0047] Figure 2 It is a system block diagram in Example 2 of the present invention. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0049] Embodiment 1: A method for generating control parameters of an unmanned yard robot, such as Figure 1 As shown, the following steps are included:

[0050] S1: The position transformation of the execution terminal caused by the control parameters of each control node in the execution robot is represented by the corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, so as to obtain the transformation model;

[0051] S2: Obtain the first spatial coordinates of the execution terminal in the execution robot arm configured by the target robot at the current moment and the second spatial coordinates at the next moment;

[0052] S3: transforming the first spatial coordinate into a first relative vector sequence and the second spatial coordinate into a second relative vector sequence through a transformation model;

[0053] S4: Establishing a control parameter equation by taking the difference between the second relative vector sequence and the first relative vector sequence as the difference between the second space coordinate and the first space coordinate;

[0054] S5: by finding the difference term of the relative vector corresponding to the control node closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first space coordinate to the second space coordinate to the maximum extent, and a second control parameter sequence corresponding to the second relative vector sequence is obtained by solving;

[0055] S6: Calculate the parameter variables that need to be adjusted for the control parameters of each control node in the execution robot arm by using the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

[0056] In this embodiment, each sub-manipulator in the execution robot is simplified to a control node.

[0057] In addition, the control nodes are divided into rotation nodes and telescopic nodes according to the control properties; if the control node is a rotation node, the control parameter is the rotation angle; if the control node is a telescopic node, the control parameter is the telescopic ratio; if the control node is both a rotation node and a telescopic node, the control parameters include the rotation angle and the telescopic ratio.

[0058] For example, the sub-mechanical arm 4 is installed at the end of the sub-mechanical arm 3, and the connection method is shaft connection, and the sub-mechanical arm 4 has a telescopic function. Then, the control parameters of the sub-mechanical arm 4 include a rotation angle and a telescopic ratio. The rotation angle is determined by the shaft connection component that controls its rotation, and the telescopic ratio is determined by the component with the telescopic function.

[0059] As an optional implementation, in order to be applicable to a working scenario where the operation is performed by a rotating and telescopic robotic arm, the expression of the relative vector is specifically:

[0060] A i =a i L i δ i ;

[0061]

[0062] θ i =θ i,c +θ i,s

[0063] Among them, A i represents the relative vector of the i-th control node, and the serial numbers of the control nodes are arranged in ascending order from the mounting base in the execution robot to the execution terminal; a i represents the unit vector of the i-th control node; L i represents the length of the sub-manipulator corresponding to the i-th control node; δ i represents the scaling ratio of the i-th control node; θ i ,θ i-2 ,θ i-m Respectively represent the total relative deflection angles of the i-th, i-2-th, and im-th control nodes; θ i-1 ,θ i-3 ,θ i-n Respectively represent the total relative deflection angles of the i-1th, i-3th, and inth control nodes; θ i,c represents the initial deflection angle of the i-th control node; θ i,s represents the rotation angle of the i-th control node; m represents the largest even number less than i; n represents the largest odd number less than i; a 0 Represents the unit vector of the initial node; k represents the index value, which is 1 when i is an even number and -1 when i is an odd number.

[0064] As another optional implementation, in order to be applicable to a working scenario where the operation is completed only by a rotating robotic arm, the scaling ratio in the above relative vector expression can be deleted. Similarly, in order to be applicable to a working scenario where the operation is completed only by a telescopic robotic arm, the rotation angle in the above relative vector expression can also be deleted.

[0065] It should be noted that if the control node is not a telescopic node, the telescopic ratio is 1; if the control node is not a rotation node, the rotation angle is 0.

[0066] In order to optimize and solve the rotation angle and the scaling ratio of a single control node at the same time, the solution process of the second control parameter sequence corresponding to the second relative vector sequence in the present invention is specifically as follows:

[0067] (1) The control node i closest to the execution terminal is selected as the first control object, the control parameters of the control nodes 1 to the control node i-1 remain unchanged, and the relative vector difference term in the control parameter equation only includes the relative vector difference term corresponding to the control node i;

[0068] (2) taking the relative vector difference term in the control parameter equation and the vector difference between the coordinate difference vector corresponding to the difference between the second space coordinate and the first space coordinate as the minimum, the control parameter of the control node i at the next moment is calculated;

[0069] (3) If the minimum value of the modulus of the vector difference is not 0, the control node i-1 is selected as the second control object, the control parameters of the control nodes 1 to i-2 remain unchanged, and the relative vector difference term in the control parameter equation includes the relative vector difference term corresponding to the control node i and the control node i-1;

[0070] (4) Based on the control parameters of the control node i at the next moment, the control parameters of the control node i-1 at the next moment are calculated with the minimum modulus of the vector difference as the goal, until the minimum modulus of the vector difference is 0.

[0071] In addition, if the control node is both a rotation node and a telescopic node, the priority of the rotation node participating in the control is higher than the priority of the telescopic node participating in the control when solving the control parameters. For example, for the same control node, if the rotation control can meet the requirements, there is no need to perform telescopic control.

[0072] Taking four sub-robotic arms as an example, in order to achieve a unified reference standard, the mounting base can be defined as an initial node, and the control nodes from the mounting base to the execution terminal are numbered 1, 2, 3, and 4 respectively.

[0073] Then the unit vectors of the four control nodes are expressed as:

[0074]

[0075] Among them, a 1 、a 2 、a 3 、a 4 are the unit vectors of control nodes 1, 2, 3, and 4 respectively, θ 1 ,θ 2 ,θ 3 ,θ 4 Represent the total relative deflection angles of control nodes 1, 2, 3, and 4 respectively.

[0076] If the first spatial coordinate of the execution terminal at the current moment is (x t ,y t ,z t), and the second spatial coordinate at the next moment is (x t+1 ,y t+1 ,z t+1 ), let D t =(x t ,y t ,z t ) and D t+1 =(x t+1 ,y t+1 ,z t+1 ). When the first space coordinates and control parameters are known, the relative vectors of the four control nodes at the current time t can be deduced as follows: Thus, the first relative vector sequence consisting of the relative vectors of the four control nodes at the current time t is obtained

[0077] In addition, when the coordinates of the second space are known and the control parameters are unknown, it can be deduced that the relative vectors of the four control nodes at the next time t+1 are This relative vector is only an expression, which contains the desired control parameter, thereby obtaining a second relative vector sequence consisting of the relative vectors of the four control nodes at the next time t+1

[0078]

[0079] The difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second space coordinate and the first space coordinate. The obtained control parameter equation is as follows:

[0080]

[0081] First, select the control node 4 closest to the execution terminal as the first control object. The control parameters of control nodes 1 to 3 remain unchanged, so the first three items in the control parameter equation are all 0, and the relative vector difference term in the control parameter equation only contains the relative vector difference term corresponding to control node 4, that is,

[0082] The control parameter of the control node i at the next moment is calculated by taking the minimum modulus of the vector difference between the relative vector difference term in the control parameter equation and the coordinate difference vector corresponding to the difference between the second space coordinate and the first space coordinate as the goal. The expression for minimizing the modulus of the vector difference is:

[0083]

[0084] Expanding the above expression yields:

[0085]

[0086] Among them, L4 Indicates the length of the sub-manipulator corresponding to the control node 4. This length is the length of the initial state, so it does not change with time; represents the unit vector of control node 4 at the next time t+1; Indicates the scaling ratio of control node 4 at the next time t+1; represents the unit vector of control node 4 at the current time t; Indicates the scaling ratio of control node 4 at the current time t.

[0087] Since control nodes 1, 2 and 3 have not yet participated in the control, the control parameters at the next moment are equal to the control parameters at the current moment, which are known parameters. Therefore, in the above expression, only the control parameter of control node 4 is the quantity to be solved.

[0088] Through the above expression, the control parameters of control node 4 can be determined first. If the minimum value of the modulus of the vector difference is not 0, it means that the execution terminal has not reached the second spatial coordinate. Control node 3 can be selected as the second control object, and the control parameters of control node 1 to control node 2 remain unchanged. The relative vector difference term in the control parameter equation includes the relative vector difference term corresponding to control node 4 and control node 3.

[0089] When the control parameters of the control node 4 at the next moment are determined, the control parameters of the control node 3 at the next moment are calculated with the minimum modulus of the vector difference as the goal, until the minimum modulus of the vector difference is 0.

[0090] Embodiment 2: A control parameter generation system for an unmanned storage yard robot, the system is used to implement the control parameter generation method for the unmanned storage yard robot described in Embodiment 1, such as Figure 2 As shown, it includes a parameter transformation module, a position acquisition module, a coordinate transformation module, an equation construction module, a parameter solving module and an adjustment solving module.

[0091] Among them, the parameter transformation module is used to represent the position transformation of the execution terminal caused by the control parameters of each control node in the execution robot arm with the corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, so as to obtain the transformation model; the position acquisition module is used to obtain the first spatial coordinates of the execution terminal in the execution robot arm configured by the target robot at the current moment and the second spatial coordinates at the next moment; the coordinate transformation module is used to convert the first spatial coordinates into the first relative vector sequence and the second spatial coordinates into the second relative vector sequence through the transformation model; the equation construction module is used to establish the control parameter equation by taking the difference between the second relative vector sequence and the first relative vector sequence as the difference between the second spatial coordinate and the first spatial coordinate; the parameter solving module is used to solve the second control parameter sequence corresponding to the second relative vector sequence by taking the difference term corresponding to the relative vector corresponding to the control node closer to the execution terminal in the control parameter equation, so as to drive the execution terminal from the first spatial coordinate to the second spatial coordinate to the maximum extent; the adjustment solving module is used to calculate the parameter variables that need to be adjusted for the control parameters of each control node in the execution robot arm by taking the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

[0092] The present invention also describes a computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the control parameter generation method for the unmanned yard robot as described in Example 1 is implemented.

[0093] The present invention also describes a computer-readable medium on which a computer program is stored. The computer program is executed by a processor to implement the control parameter generation method of the unmanned yard robot as described in Example 1.

[0094] Working principle: The present invention represents the position transformation of the execution terminal caused by the control parameters of each control node in the execution robot arm with the corresponding relative vector, and then takes the difference term of the relative vector corresponding to the control node closer to the execution terminal in the control parameter equation to drive the execution terminal from the first space coordinate to the second space coordinate to the greatest extent. It not only transforms the simultaneous solution of multiple unknown parameters into the solution of single parameters one by one, thereby improving the efficiency of control parameter generation; it also makes the number of solved control parameters small and orderly, which can effectively reduce the energy consumption and loss of the execution robot arm.

[0095] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0096] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0097] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0098] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0099] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for generating control parameters of an unmanned yard robot, characterized in that: The following steps are involved: The position transformation of the execution terminal caused by the control parameters of each control node in the execution robot is represented by a corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, thereby obtaining a transformation model; Obtaining the first spatial coordinates of the execution terminal in the execution mechanical arm configured by the target robot at the current moment and the second spatial coordinates at the next moment; The first spatial coordinates are converted into a first relative vector sequence and the second spatial coordinates are converted into a second relative vector sequence by a transformation model; The difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second space coordinate and the first space coordinate, and a control parameter equation is established; By finding the difference term of the relative vector corresponding to the control node closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first space coordinate to the second space coordinate to the maximum extent, and the second control parameter sequence corresponding to the second relative vector sequence is obtained by solving; The parameter variables that need to be adjusted for the control parameters of each control node in the execution robot arm are calculated based on the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

2. The control parameter generation method of the unmanned yard robot according to claim 1 is characterized in that: Each sub-manipulator in the execution robot is simplified to a control node.

3. The control parameter generation method of the unmanned yard robot according to claim 1 is characterized in that: The control nodes are divided into rotation nodes and telescopic nodes according to the control attributes; If the control node is a rotation node, the control parameter is the rotation angle; If the control node is a telescopic node, the control parameter is the telescopic ratio; If the control node is both a rotation node and a telescopic node, the control parameters include a rotation angle and a telescopic ratio.

4. The control parameter generation method of the unmanned yard robot according to claim 3 is characterized in that: If the control node is both a rotation node and a telescopic node, then when solving the control parameters, the priority of the rotation node participating in the control is higher than the priority of the telescopic node participating in the control.

5. The control parameter generation method of the unmanned yard robot according to claim 1, characterized in that: The relative vector expression is as follows: Among them, A i represents the relative vector of the ith control node, and the serial numbers of the control nodes are arranged in ascending order from the mounting base in the execution robot to the execution terminal; a i represents the unit vector of the i-th control node; L i represents the length of the sub-manipulator corresponding to the i-th control node; δ i represents the scaling ratio of the i-th control node; θ i ,θ i-2 ,θ i-m Respectively represent the total relative deflection angles of the i-th, i-2-th, and im-th control nodes; θ i-1 ,θ i-3 ,θ i-n Respectively represent the total relative deflection angles of the i-1th, i-3th, and inth control nodes; θ i,c represents the initial deflection angle of the i-th control node; θ i,s represents the rotation angle of the i-th control node; m represents the maximum even number less than i; n represents the maximum odd number less than i; a0 represents the unit vector of the initial node; k represents the exponent value, which takes the value of 1 when i is an even number and takes the value of -1 when i is an odd number.

6. The control parameter generation method of the unmanned yard robot according to claim 5 is characterized in that: If the control node is not a telescopic node, the telescopic ratio is 1; And, if the control node is not a rotation node, the rotation angle is 0.

7. The control parameter generation method of the unmanned yard robot according to claim 1 is characterized in that: The specific process of solving the second control parameter sequence corresponding to the second relative vector sequence is as follows: The control node i closest to the execution terminal is selected as the first control object, the control parameters of the control node 1 to the control node i-1 remain unchanged, and the relative vector difference term in the control parameter equation only includes the relative vector difference term corresponding to the control node i; The control parameter of the control node i at the next moment is calculated by taking the difference term of the relative vector in the control parameter equation and the vector difference between the coordinate difference vector corresponding to the difference between the second space coordinate and the first space coordinate as the minimum modulus of the vector difference; If the minimum value of the modulus of the vector difference is not 0, the control node i-1 is selected as the second control object, the control parameters of the control nodes 1 to i-2 remain unchanged, and the relative vector difference term in the control parameter equation includes the relative vector difference term corresponding to the control node i and the control node i-1; Based on the control parameters of the control node i at the next moment, the control parameters of the control node i-1 at the next moment are calculated with the minimum modulus of the vector difference as the goal, until the minimum modulus of the vector difference is 0.

8. The control parameter generation system of the unmanned yard robot is characterized by: The system is used to implement the control parameter generation method of the unmanned yard robot according to any one of claims 1 to 7, comprising: A parameter transformation module is used to represent the position transformation of the execution terminal caused by the control parameters of each control node in the execution robot arm with a corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, so as to obtain a transformation model; A position acquisition module, used to obtain the first spatial coordinates of the execution terminal in the execution mechanical arm configured by the target robot at the current moment and the second spatial coordinates at the next moment; A coordinate transformation module, used for transforming the first space coordinate into a first relative vector sequence and the second space coordinate into a second relative vector sequence through a transformation model; An equation building module, used for establishing a control parameter equation by taking the difference between the second relative vector sequence and the first relative vector sequence as the difference between the second space coordinate and the first space coordinate; A parameter solving module, used to solve a second control parameter sequence corresponding to a second relative vector sequence by solving a difference term corresponding to a control node closer to the execution terminal in the control parameter equation so as to drive the execution terminal to move from the first space coordinate to the second space coordinate to the maximum extent; The adjustment solving module is used to calculate the parameter variables that need to be adjusted for the control parameters of each control node in the execution robot arm by using the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the control parameter generation method of the unmanned yard robot according to any one of claims 1 to 7 is implemented.

10. A computer readable medium having a computer program stored thereon, characterized in that: The computer program is executed by a processor to implement the control parameter generation method of the unmanned yard robot as described in any one of claims 1 to 7.

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