Method and system for generating control parameters of unmanned yard robot, terminal and medium

Abstract

The application discloses a method and system for generating control parameters of an unmanned yard robot, a terminal and a medium, and relates to the technical field of intelligent control.The technical scheme is as follows: the position transformation of an execution terminal caused by the control parameters of each control node in an execution robot arm is represented by corresponding relative vectors, and the relative vectors corresponding to the control nodes closer to the execution terminal in the control parameter equation are subtracted first to drive the execution terminal to move from a first spatial coordinate to a second spatial coordinate to the greatest extent, so that the simultaneous solving of multiple unknown parameters is converted into the one-by-one solving of a single parameter, the efficiency of generating control parameters is improved, the number of control parameters solved is reduced and ordered, and the energy consumption and loss of the execution robot arm are effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and more specifically, to a method, system, terminal, and medium for generating control parameters for unmanned yard robots. Background Technology

[0002] An unmanned container yard refers to a container yard system that uses advanced automation technology and intelligent equipment to automate the loading, unloading, stacking, and management of containers or other goods without human intervention. Unmanned container yards generally rely on unmanned container yard robots, which are typically equipped with computer vision systems and mechanical systems. The mechanical system's execution robotic arm usually consists of multiple sub-robotic arms, and the computer vision system can identify the next working position, providing data for the control operations of the multiple sub-robotic arms.

[0003] Existing unmanned yard robots can acquire spatial location information of the target position using image recognition technology. Given the current spatial location information, by setting certain constraints, the control parameters of multiple sub-robotic arms can be planned and generated to ensure the execution terminal moves from the current position to the target position, such as minimizing rotation, extension / retraction, and control time. However, in the process of planning and generating the control parameters of these multiple sub-robotic arms, the control parameters of multiple sub-robotic arms are simultaneously solved as unknown parameters. With each unknown parameter having a certain value range, the difficulty of planning and generating the control parameters increases, resulting in lower execution efficiency of the execution arm. Furthermore, the simultaneous operation of multiple sub-robotic arms in an unordered manner also increases the energy consumption and wear of the execution arm to some extent.

[0004] Therefore, how to research and design a method, system, terminal, and medium for generating control parameters of unmanned yard robots that can overcome the above-mentioned defects is an urgent problem that we need to solve. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a method, system, terminal, and medium for generating control parameters for unmanned yard robots. This method not only transforms the simultaneous solution of multiple unknown parameters into the solution of single parameters one by one, thus improving the efficiency of control parameter generation, but also reduces the number of control parameters to be solved and makes them more orderly, thereby effectively reducing the energy consumption and wear of the robotic arm.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0007] Firstly, a method for generating control parameters for unmanned yard robots is provided, including the following steps:

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

[0009] Obtain the first spatial coordinates of the execution terminal in the robotic arm configured for the target robot at the current moment and the second spatial coordinates at the next moment;

[0010] The transformation model converts the first spatial coordinates into a first relative vector sequence and the second spatial coordinates into a second relative vector sequence.

[0011] The control parameter equation is established based on the fact that the difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second spatial coordinates and the first spatial coordinates.

[0012] By prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first spatial coordinate to the second spatial coordinate to the greatest extent, and the second control parameter sequence corresponding to the second relative vector sequence is obtained.

[0013] The parameter variables that need to be adjusted for each control node in the robotic arm are calculated by 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-arm in the execution robotic arm is simplified to a control node.

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

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

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

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

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

[0020] Furthermore, the expression for the relative vector is specifically 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 Let a represent the relative vector of the i-th control node, with the node numbers arranged in ascending order from the mounting base in the robotic arm to the execution terminal; i L represents the unit vector of the i-th control node; i δ represents the length of the sub-manipulator corresponding to the i-th control node; i θ represents the scaling ratio of the i-th control node; i θ i-2 θ i-m θ represents the total relative deflection angle of the i-th, i-2-th, and im-th control nodes, respectively; i-1 θ i-3 θ i-n θ represents the total relative deflection angle of the (i-1), (i-3), and (in)th control nodes, respectively; i,c θ represents the initial deflection angle of the i-th control node; 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; a0 represents the unit vector of the initial node; k represents the exponent value, which is 1 when i is even and -1 when i is odd.

[0025] Furthermore, if the control node is not a scaling node, the scaling ratio is 1.

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

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

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

[0029] With the objective of minimizing the magnitude of the vector difference between the relative vector difference term in the control parameter equation and the vector difference between the second spatial coordinate and the first spatial coordinate, the control parameters of the control node i at the next time step are calculated.

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

[0031] Based on the control parameters of control node i at the next time step, the control parameters of control node i-1 at the next time step are calculated with the goal of minimizing the magnitude of the vector difference, until the minimum magnitude of the vector difference is 0.

[0032] Secondly, a control parameter generation system for an unmanned yard robot is provided. This system is used to implement the control parameter generation method for the unmanned yard robot as described in any one of the first aspects, including:

[0033] 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 as a corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, thus obtaining the transformation model;

[0034] The position acquisition module is used to acquire the first spatial coordinates of the execution terminal in the execution arm configured for the target robot at the current moment and the second spatial coordinates at the next moment.

[0035] The coordinate transformation module is used to transform the first spatial coordinates into a first relative vector sequence and the second spatial coordinates into a second relative vector sequence through a transformation model.

[0036] The equation construction module is used to establish the control parameter equation based on the fact that the difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second spatial coordinates and the first spatial coordinates.

[0037] The parameter solving module is used to solve for the second control parameter sequence corresponding to the second relative vector sequence by prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation to drive the execution terminal from the first spatial coordinate to the second spatial coordinate to the greatest extent.

[0038] The adjustment solution module is used to calculate the parameter variables that need to be adjusted for each control node in the robotic 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] Thirdly, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for generating control parameters of an unmanned yard robot as described in any one of the first aspects.

[0040] Fourthly, a computer-readable medium is provided having a computer program stored thereon, the computer program being executed by a processor to implement the method for generating control parameters for an 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 method for generating control parameters for an unmanned yard robot provided by this invention represents the position change of the execution terminal caused by the control parameters of each control node in the execution robot arm as a corresponding relative vector. Then, by prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first spatial coordinate to the second spatial coordinate to the greatest extent. This not only transforms the simultaneous solution of multiple unknown parameters into the solution of single parameters one by one, improving the efficiency of control parameter generation, but also makes the number of control parameters solved smaller and more orderly, which can effectively reduce the energy consumption and wear of the execution robot arm.

[0043] 2. This invention is applicable not only to work scenarios where operations are performed by rotating robotic arms, but also to work scenarios where operations are performed by telescopic robotic arms, and also to work scenarios where operations are performed by both rotating and telescopic robotic arms, thus having a wide range of applications.

[0044] 3. In the process of solving a single control parameter, this invention optimizes the solution by minimizing the magnitude of the vector difference between the relative vector difference term in the control parameter equation and the vector difference between the second spatial coordinate and the first spatial coordinate. This allows for the simultaneous optimization of the rotation angle and scaling ratio of a single control node, further reducing the number of control nodes involved in the control operation. Attached Figure Description

[0045] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0046] Figure 1 This is a flowchart from Embodiment 1 of the present invention;

[0047] Figure 2 This is a system block diagram in Embodiment 2 of the present invention. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0049] Example 1: A method for generating control parameters for an unmanned yard robot, such as... Figure 1 As shown, it includes the following steps:

[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, thus obtaining the transformation model;

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

[0052] S3: Transform the first spatial coordinates into a first relative vector sequence and the second spatial coordinates into a second relative vector sequence using a transformation model;

[0053] S4: Establish the control parameter equation based on the fact that the difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second spatial coordinates and the first spatial coordinates;

[0054] S5: By prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first spatial coordinate to the second spatial coordinate to the greatest extent, and the second control parameter sequence corresponding to the second relative vector sequence is obtained.

[0055] S6: Calculate the parameter variables that need to be adjusted for each control node in the robotic 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-arm in the execution robotic arm is simplified to a control node.

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

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

[0059] As an optional implementation, to be applicable to work scenarios where operations are performed jointly by rotating and telescopic robotic arms, the expression for the relative vector is specifically as follows:

[0060] A i =a i L i δ i ;

[0061]

[0062] θ i =θ i,c +θ i,s

[0063] Among them, A i Let a represent the relative vector of the i-th control node, with the node numbers arranged in ascending order from the mounting base in the robotic arm to the execution terminal; i L represents the unit vector of the i-th control node; i δ represents the length of the sub-manipulator corresponding to the i-th control node; i θ represents the scaling ratio of the i-th control node; i θ i-2 θ i-m θ represents the total relative deflection angle of the i-th, i-2-th, and im-th control nodes, respectively; i-1 θ i-3 θ i-n θ represents the total relative deflection angle of the (i-1), (i-3), and (in)th control nodes, respectively; i,c θ represents the initial deflection angle of the i-th control node; 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; a0 represents the unit vector of the initial node; k represents the exponent value, which is 1 when i is even and -1 when i is odd.

[0064] As an alternative implementation, to make it applicable to work scenarios where only a rotating robotic arm performs the operation, the scaling ratio can be removed from the expression of the relative vector above. Similarly, to make it applicable to work scenarios where only a telescopic robotic arm performs the operation, the rotation angle can also be removed from the expression of the relative vector above.

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

[0066] To enable simultaneous optimization of the rotation angle and scaling ratio of a single control node, the specific solution process for the second control parameter sequence corresponding to the second relative vector sequence in this invention is as follows:

[0067] (1) Select the control node i closest to the execution terminal as the first control object. The control parameters from control node 1 to control node i-1 remain unchanged. The relative vector difference term in the control parameter equation only includes the relative vector difference term corresponding to control node i.

[0068] (2) Taking the minimization of the magnitude of the vector difference between the relative vector difference term in the control parameter equation and the vector difference between the second spatial coordinate and the first spatial coordinate as the objective, the control parameters of the control node i at the next time step are calculated.

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

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

[0071] Furthermore, if the control node is both a rotation node and a scaling node, the rotation node has a higher priority in control when solving for the control parameters than the scaling node. For example, if rotation control can meet the requirements for the same control node, scaling control is unnecessary.

[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 in sequence.

[0073] The unit vectors of the four control nodes are then represented as:

[0074]

[0075] Where a1, a2, a3, and a4 are the unit vectors of control nodes 1, 2, 3, and 4, respectively, and θ1, θ2, θ3, and θ4 represent the total relative deflection angles of control nodes 1, 2, 3, and 4, respectively.

[0076] If the first spatial coordinate of the executing terminal at the current moment is (x t ,y t ,z t ), and the second spatial coordinates at the next moment are (x t+1 ,y t+1 ,z t+1 ), let D t =(x t ,yt ,z t ) and D t+1 =(x t+1 ,y t+1 ,z t+1 Given that the first spatial coordinates and control parameters are known, the relative vectors of the four control nodes at the current time t can be derived. This yields the first relative vector sequence, composed of the relative vectors of the four control nodes at the current time t.

[0077] Furthermore, given that the second spatial coordinates are known and the control parameters are unknown, the relative vectors of the four control nodes at the next time t+1 can be deduced as follows: This relative vector is merely an expression containing the desired control parameters, thus yielding a second relative vector sequence composed of the relative vectors of the four control nodes at the next time t+1.

[0078]

[0079] The control parameter equation is obtained by taking the difference between the second relative vector sequence and the first relative vector sequence as equal to the difference between the second spatial coordinates and the first spatial coordinates:

[0080]

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

[0082] The control parameters of control node i at the next time step are calculated with the objective of minimizing the magnitude 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 spatial coordinate and the first spatial coordinate. The expression for minimizing the magnitude of the vector difference is:

[0083]

[0084] Expanding the above expression, we get:

[0085]

[0086] Where L4 represents the length of the sub-robotic arm corresponding to control node 4. This length is the initial length, so it does not change over time. This represents the unit vector of control node 4 at the next time step t+1; This indicates the scaling ratio of control node 4 at the next time step t+1; This represents the unit vector of control node 4 at the current time t; This represents 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 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 a variable to be solved.

[0088] The above expression allows us to first determine the control parameters of control node 4. If the minimum magnitude of the vector difference is not 0, it indicates that the execution terminal has not yet reached the second spatial coordinates. We can then select control node 3 as the control target for the second time. The control parameters of control nodes 1 to 2 remain unchanged. The relative vector difference term in the control parameter equation includes the relative vector difference terms corresponding to control nodes 4 and 3.

[0089] Given that the control parameters of control node 4 are determined in the next time step, the control parameters of control node 3 in the next time step are calculated with the goal of minimizing the magnitude of the vector difference, until the minimum magnitude of the vector difference is 0.

[0090] Example 2: A control parameter generation system for an unmanned yard robot. This system is used to implement the control parameter generation method for the unmanned yard robot described in Example 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] The system comprises the following modules: a parameter transformation module, which represents the positional changes of the execution terminal caused by the control parameters of each control node in the robotic arm as corresponding relative vectors, and the sum of all relative vectors equals the spatial coordinates of the execution terminal, thus obtaining a transformation model; a position acquisition module, which acquires the first spatial coordinates of the execution terminal in the robotic arm configured for the target robot at the current moment and the second spatial coordinates at the next moment; a coordinate transformation module, which converts the first spatial coordinates into a first relative vector sequence and the second spatial coordinates into a second relative vector sequence through the transformation model; an equation construction module, which establishes a control parameter equation based on the difference between the second relative vector sequence and the first relative vector sequence being equal to the difference between the second spatial coordinates and the first spatial coordinates; a parameter solution module, which prioritizes driving the execution terminal from the first spatial coordinates to the second spatial coordinates by taking the difference term of the relative vectors corresponding to the control nodes closest to the execution terminal in the control parameter equation, thus obtaining the second control parameter sequence corresponding to the second relative vector sequence; and an adjustment solution module, which calculates the parameter variables that need to be adjusted for each control node in the robotic arm based on 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, it implements the method for generating control parameters of the unmanned yard robot as described in Example 1.

[0093] The present invention also describes a computer-readable medium having a computer program stored thereon, which, when executed by a processor, can implement the method for generating control parameters for an unmanned yard robot as described in Example 1.

[0094] Working principle: This invention represents the position change of the execution terminal caused by the control parameters of each control node in the robotic arm as a corresponding relative vector. Then, by prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first spatial coordinate to the second spatial coordinate to the greatest extent. This not only transforms the simultaneous solution of multiple unknown parameters into the solution of single parameters one by one, improving the efficiency of control parameter generation, but also makes the number of control parameters solved smaller and more orderly, which can effectively reduce the energy consumption and wear of the robotic arm.

[0095] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0097] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0099] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment 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 within the scope of protection of the present invention.

Claims

1. A method for generating control parameters for an unmanned yard robot, characterized in that, Includes the following steps: The position transformation of the execution terminal caused by the control parameters of each control node in the robotic arm is represented by the corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, thus obtaining the transformation model; Obtain the first spatial coordinates of the execution terminal in the robotic arm configured for the target robot at the current moment and the second spatial coordinates at the next moment; The transformation model converts the first spatial coordinates into a first relative vector sequence and the second spatial coordinates into a second relative vector sequence. The control parameter equation is established based on the fact that the difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second spatial coordinates and the first spatial coordinates. By prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation, the execution terminal is driven to move from the first spatial coordinate to the second spatial coordinate to the greatest extent, and the second control parameter sequence corresponding to the second relative vector sequence is obtained. The parameter variables that need to be adjusted for each control node in the robotic arm are calculated by the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence. Each sub-arm in the execution robotic arm is simplified to a control node; The expression for the relative vector is as follows: ； in, Indicates the first The relative vectors of the control nodes, with the node numbers arranged in ascending order from the mounting base in the robotic arm to the execution terminal; Indicates the first Unit vector of each control node; Indicates the first The length of the sub-robotic arm corresponding to each control node; Indicates the first The scaling ratio of each control node; They represent the first , , The total relative deflection angle of each control node; They represent the first , , The total relative deflection angle of each control node; Indicates the first The initial deflection angle of each control node; Indicates the first The rotation angle of each control node; Indicates less than The largest even number; Indicates less than The largest odd number; The unit vector representing the initial node; Indicates the exponent value. The value is 1 when it is even. When the number is odd, the value is -1.

2. The method for generating control parameters for an unmanned yard robot according to claim 1, characterized in that, The control nodes are classified into rotation nodes and telescopic nodes according to their control attributes; If the control node is a rotation node, then the control parameter is the rotation angle; If the control node is a scaling node, then the control parameter is the scaling ratio; If the control node is both a rotation node and a scaling node, then the control parameters include the rotation angle and the scaling ratio.

3. The method for generating control parameters for an unmanned yard robot according to claim 2, characterized in that, If the control node is both a rotation node and a scaling node, then when solving for the control parameters, the rotation node has a higher priority in participating in the control than the scaling node.

4. The method for generating control parameters for an unmanned yard robot according to claim 1, characterized in that, If the control node is not a scaling node, the scaling ratio is 1. Furthermore, if the control node is not a rotation node, the rotation angle is 0.

5. The method for generating control parameters for an unmanned yard robot according to claim 1, characterized in that, The specific process for solving the second control parameter sequence corresponding to the second relative vector sequence is as follows: Select the control node closest to the execution terminal As the first target of regulation, regulation node 1 to regulation node The control parameters remain unchanged, and the difference term of the relative vector in the control parameter equation only includes the control node. Find the difference between the corresponding relative vectors; The objective is to minimize the magnitude 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 and first spatial coordinates. The control node is then calculated. The control parameters at the next moment; If the minimum magnitude of the vector difference is not 0, then a control node is selected. As the second set of control targets, control node 1 to control node The control parameters remain unchanged, and the difference term of the relative vector in the control parameter equation includes the control node. and control nodes Find the difference between the corresponding relative vectors; To regulate nodes Based on the control parameters at the next time step, the control node is calculated with the objective of minimizing the magnitude of the vector difference. The adjustment parameters at the next moment are adjusted until the magnitude of the vector difference is at its minimum of 0.

6. A control parameter generation system for an unmanned yard robot, characterized in that, This system is used to implement the method for generating control parameters for the unmanned yard robot as described in any one of claims 1-5, comprising: 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 as a corresponding relative vector, and the sum of all relative vectors is equal to the spatial coordinates of the execution terminal, thus obtaining the transformation model; The position acquisition module is used to acquire the first spatial coordinates of the execution terminal in the execution arm configured for the target robot at the current moment and the second spatial coordinates at the next moment. The coordinate transformation module is used to transform the first spatial coordinates into a first relative vector sequence and the second spatial coordinates into a second relative vector sequence through a transformation model. The equation construction module is used to establish the control parameter equation based on the fact that the difference between the second relative vector sequence and the first relative vector sequence is equal to the difference between the second spatial coordinates and the first spatial coordinates. The parameter solving module is used to solve for the second control parameter sequence corresponding to the second relative vector sequence by prioritizing the difference term of the relative vector corresponding to the control node that is closer to the execution terminal in the control parameter equation to drive the execution terminal from the first spatial coordinate to the second spatial coordinate to the greatest extent. The adjustment solution module is used to calculate the parameter variables that need to be adjusted for each control node in the robotic arm by using the difference between the second control parameter sequence and the first control parameter sequence corresponding to the first relative vector sequence.

7. A computer terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method for generating control parameters for the unmanned yard robot as described in any one of claims 1-5.

8. A computer-readable medium having a computer program stored thereon, characterized in that, The computer program, when executed by a processor, can implement the method for generating control parameters for an unmanned yard robot as described in any one of claims 1-5.

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