Robot control method and mobile robot

Abstract

The embodiment of the invention provides a robot control method and a mobile robot. According to the embodiment of the invention, the drive of the mechanical arms of different manufacturers, the drive of the tail end mechanism and the drive of the sensor are packaged on the mobile robot; teaching can be carried out at a unified teaching path point based on a unified demonstrator so as to finally form a set of universal mobile robot atomic action arrangement scheme which is separated from different manufacturers such as different mechanical arm manufacturers, different tail end mechanism manufacturers and different sensor manufacturers. Therefore, differences among different mechanical arm manufacturers, different end organization manufacturers and different sensor manufacturers are decoupled, and finally the problems of high learning cost, poor universality and the like caused by large differences of programming schemes of different mechanical arm manufacturers are solved. The learning cost of on-site implementation is reduced, and the probability that on-site business trip support needs to be researched and developed is reduced.

Description

Technical Field

[0001] The present application relates to the field of mobile robots, and in particular to a robot control method and a mobile robot. Background Art

[0002] Mobile robots, such as composite robots (mobile robots with robotic arms as actuators that integrate the functions of mobile robots and industrial robots), often use engineering script control solutions to implement related functions.

[0003] However, the engineering script control solution corresponding to the mobile robot's mechanical arm requires self-development and learning to program the internal actions of the mechanical arm. The programming solutions of different mechanical arm manufacturers vary greatly, the learning cost is high, and the requirements for on-site implementation are even higher. Summary of the invention

[0004] The embodiments of the present application provide a robot control method and a mobile robot to solve the problems caused by the large differences in programming solutions among different robot arm manufacturers, such as high learning cost and poor versatility.

[0005] The embodiment of the present application provides a robot control method, which is applied to a mobile robot, wherein a chassis of the mobile robot encapsulates driver programs of mechanical arms of different manufacturers through a first interface, encapsulates driver programs of end mechanisms of different manufacturers through a second interface, and encapsulates driver programs of sensors of different manufacturers through a third interface; the first interface, the second interface, and the third interface are set in a hardware layer in a service control architecture supported by the chassis, and the service control architecture also includes a service layer and a sub-service layer; the method comprises:

[0006] Obtaining, through the business layer, a teaching instruction when the teaching pendant teaches the mobile robot at a teaching waypoint based on a target task;

[0007] The teaching instruction is provided to the sub-service layer, so that the sub-service layer performs the following operations based on the teaching instruction:

[0008] Calling the first interface in the hardware layer to call the target robotic arm driver corresponding to the target robotic arm on the mobile robot to drive the target robotic arm to perform the atomic action corresponding to the teaching instruction; and / or calling the second interface in the hardware layer to call the target end mechanism driver corresponding to the target end mechanism on the mobile robot to drive the target end mechanism to perform the atomic action corresponding to the teaching instruction; and / or calling the third interface in the hardware layer to call the target sensor driver corresponding to the target sensor on the mobile robot to drive the target sensor to perform the atomic action corresponding to the teaching instruction;

[0009] Based on the atomic actions performed by the target robotic arm corresponding to the teaching instructions, and / or the atomic actions performed by the target end mechanism corresponding to the teaching instructions, and / or the atomic actions performed by the target sensor mechanism corresponding to the teaching instructions, an atomic action scheduling scheme corresponding to the target task under the teaching waypoint is obtained; the atomic action scheduling scheme is used to control the mobile robot to perform the target task.

[0010] A mobile robot, comprising a target mechanical arm, a target end mechanism, a target sensor, and a chassis;

[0011] The chassis encapsulates the driver programs of the robot arms of different manufacturers through the first interface, the driver programs of the end mechanisms of different manufacturers through the second interface, and the driver programs of the sensors of different manufacturers through the third interface; the first interface, the second interface, and the third interface are arranged in the hardware layer of the service control architecture supported by the chassis, and the service control architecture further includes a service layer and a sub-service layer;

[0012] The chassis includes a processor;

[0013] The processor is used to obtain, through the business layer, a teaching instruction when the teaching pendant teaches the mobile robot at a teaching waypoint based on a target task;

[0014] And, based on the teaching instruction, performing the following operations at the sub-service layer:

[0015] Calling the first interface in the hardware layer to call the target robotic arm driver corresponding to the target robotic arm on the mobile robot to drive the target robotic arm to perform the atomic action corresponding to the teaching instruction; and / or calling the second interface in the hardware layer to call the target end mechanism driver corresponding to the target end mechanism on the mobile robot to drive the target end mechanism to perform the atomic action corresponding to the teaching instruction; and / or calling the third interface in the hardware layer to call the target sensor driver corresponding to the target sensor on the mobile robot to drive the target sensor to perform the atomic action corresponding to the teaching instruction;

[0016] Based on the atomic actions performed by the target robotic arm corresponding to the teaching instructions, and / or the atomic actions performed by the target end mechanism corresponding to the teaching instructions, and / or the atomic actions performed by the target sensor mechanism corresponding to the teaching instructions, an atomic action scheduling scheme corresponding to the target task under the teaching waypoint is obtained; the atomic action scheduling scheme is used to control the mobile robot to perform the target task.

[0017] It can be seen from the above technical solutions that the embodiments of the present application can realize teaching based on a unified teaching pendant at a unified teaching waypoint by encapsulating the drive of the manipulator arms, the drive of the end mechanism, and the drive of the sensors from different manufacturers in the mobile robot, so as to finally form a set of universal mobile robot atomic motion orchestration solutions that are independent of different manufacturers, such as different manipulator arm manufacturers, different end mechanism manufacturers, and different sensor manufacturers. This decouples the differences between different manipulator arm manufacturers, different end mechanism manufacturers, and different sensor manufacturers, and ultimately solves the problems caused by the large differences in programming solutions of different manipulator arm manufacturers, such as high learning cost and poor versatility, and also reduces the learning cost of on-site implementation and the probability of requiring on-site business trips for R&D support.

[0018] Furthermore, the teaching of this embodiment is integrated on the vehicle side of the mobile robot, and abnormal situations can be intuitively displayed on the display screen of the mobile robot to facilitate viewing of abnormal steps and causes of abnormalities, without having to rely heavily on a teaching pendant for teaching.

[0019] Furthermore, by means of encapsulating the drive of robotic arms, end mechanisms, and sensors of different manufacturers through this embodiment, it is possible to realize parallel collaborative control of task actions when multiple objects, such as multiple robotic arms, multiple end mechanisms, and multiple sensors are integrated. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in the specification and constitute a part of this application, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application.

[0021] Figure 1 A flow chart of the method provided in an embodiment of the present application.

[0022] Figure 2 A schematic diagram of robot control provided in an embodiment of the present application.

[0023] Figure 3 Another robot control schematic diagram provided for an embodiment of the present application.

[0024] Figure 4 A schematic diagram of another robot control implementation provided in an embodiment of the present application.

[0025] Figure 5 A schematic diagram of the structure of a mobile robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions provided by the embodiments of the present application and to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and understandable, the technical solutions in the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings.

[0027] See also Figure 1 , Figure 1 The method flow chart provided in the embodiment of the present application is applied to a mobile robot such as the aforementioned composite robot.

[0028] In this embodiment, the chassis of the mobile robot encapsulates the driver programs of the mechanical arms of different manufacturers through the first interface, the driver programs of the end mechanisms such as the grippers of different manufacturers through the second interface, and the driver programs of the sensors of different manufacturers through the third interface. The first interface, the second interface, and the third interface here can be unified interfaces defined by software abstraction, and are all software interfaces provided by the chassis.

[0029] As an example, the chassis supports Figure 2 The service control architecture shown in the figure is divided into: service layer, sub-service layer, and hardware layer. Among them, the first interface, the second interface, and the third interface are set in the hardware layer of the above service control architecture. Figure 2 shown.

[0030] In this embodiment, if Figure 2 As shown, the business layer is mainly used to run business or interact with the client. The sub-business layer is mainly used for teaching waypoint management and atomic action orchestration. As described above, the first interface encapsulates the driver programs of the manipulators of different manufacturers, the second interface encapsulates the driver programs of the end mechanisms of different manufacturers, and the third interface encapsulates the driver programs of the sensors of different manufacturers. In this embodiment, the manipulators, end mechanisms, and sensors of all manufacturers can be taught through a unified universal teaching waypoint and a unified universal teaching pendant. This decouples the differences between different manipulator manufacturers, different end mechanism manufacturers, and different sensor manufacturers, reduces the learning cost of on-site implementation, and also reduces the probability of on-site business trip support for R&D.

[0031] Based on the above description, the following Figure 1 The process shown is described as follows:

[0032] like Figure 1 As shown, the process may include the following steps:

[0033] Step 101, obtaining, through the business layer, teaching instructions of a teaching pendant when teaching a mobile robot at a teaching waypoint based on a target task.

[0034] As described above, in this embodiment, the teaching pendant can be a unified teaching pendant, which is oriented to different robot arm manufacturers, different end mechanism manufacturers, etc., and no longer relies on the teaching objects of fixed manufacturers. For example, the robot arm requires a teaching pendant from a fixed manufacturer.

[0035] Teaching is performed at teaching waypoints through the teach pendant (also known as the action choreography client). In this way, the mobile robot will obtain the teaching instructions of the teach pendant when teaching the mobile robot based on the target task at each teaching waypoint. The teaching instructions here can carry drive instruction information and teaching action information. The drive instruction information indicates the corresponding target drive. The teaching action information includes abstract atomic action instructions (point-to-point linear movement, relative deviation linear movement, point-to-point joint angle movement, etc.).

[0036] Step 102 , providing the teaching instruction to the sub-service layer, so that the sub-service layer executes step 103 based on the teaching instruction.

[0037] Step 103, calling the first interface in the hardware layer to call the target robot arm driver corresponding to the target robot arm on the mobile robot to drive the target robot arm to perform atomic actions corresponding to the teaching instructions; and / or, calling the second interface in the hardware layer to call the target terminal mechanism driver corresponding to the target terminal mechanism on the mobile robot to drive the target terminal mechanism to perform atomic actions corresponding to the teaching instructions; and / or, calling the third interface in the hardware layer to call the target sensor driver corresponding to the target sensor on the mobile robot to drive the target sensor to perform atomic actions corresponding to the teaching instructions; based on the atomic actions corresponding to the teaching instructions performed by the target robot arm, and / or the atomic actions corresponding to the teaching instructions performed by the target terminal mechanism, and / or the atomic actions corresponding to the teaching instructions performed by the target sensor mechanism, an atomic action scheduling scheme corresponding to the target task under the teaching waypoint is obtained.

[0038] In this embodiment, the teaching instruction may involve an atomic action of at least one object, such as a target manipulator, a target end mechanism, and a target sensor. Here, the target manipulator, the target end mechanism, and the target sensor are the manipulator, the end mechanism, and the sensor that need to be taught on the robot currently being taught.

[0039] By teaching at the teaching waypoints and choreographing atomic actions based on the teaching instructions, a universal composite robot atomic action choreography solution can be finally formed that is independent of different manufacturers, such as different robot arm manufacturers, different end mechanism manufacturers, and different sensor manufacturers. Taking robot arms from different manufacturers as an example, robot arms from different manufacturers only need to develop related interface encapsulation and power-on initialization process settings according to the atomic action choreography solution. This solves the problems caused by the large differences in programming solutions of different robot arm manufacturers, such as high learning costs and poor versatility.

[0040] In this embodiment, if the mobile robot integrates N1 target manipulators, N1 is greater than 1, and at least two of the N1 target manipulators belong to different manufacturers. If the mobile robot integrates N2 target end mechanisms, N2 is greater than 1, and at least two of the N2 target end mechanisms belong to different manufacturers; if the mobile robot integrates N3 target sensors, N3 is greater than 1, and at least two of the N3 target sensors belong to different manufacturers.

[0041] So far, completed Figure 1 The process shown.

[0042] pass Figure 1 It can be seen from the shown process that this embodiment encapsulates the drive of the robot arm, the drive of the end mechanism, and the drive of the sensor from different manufacturers, and can realize teaching based on a unified teaching pendant at a unified teaching waypoint to ultimately form a set of universal mobile robot atomic motion orchestration solutions that are independent of different manufacturers, such as different robot arm manufacturers, different end mechanism manufacturers, and different sensor manufacturers. This decouples the differences between different robot arm manufacturers, different end mechanism manufacturers, and different sensor manufacturers, which solves the problems of high learning cost and poor versatility caused by the large differences in programming solutions of different robot arm manufacturers, and also reduces the learning cost of on-site implementation and the probability of on-site business trips for R&D support.

[0043] Furthermore, the teaching of this embodiment is integrated on the vehicle side of the mobile robot, and abnormal situations can be intuitively displayed on the display screen of the mobile robot to facilitate viewing of abnormal steps and causes of abnormalities, without having to rely heavily on a teaching pendant for teaching.

[0044] Furthermore, by means of encapsulating the drive of robotic arms, end mechanisms, and sensors of different manufacturers through this embodiment, it is possible to realize parallel collaborative control of task actions when multiple objects, such as multiple robotic arms, multiple end mechanisms, and multiple sensors are integrated.

[0045] As an embodiment, the mobile robot is compatible with supporting environment simulation. Figure 3 As shown, the chassis of the mobile robot also encapsulates the robot arm simulation drive through the first interface, the end mechanism simulation drive through the second interface, and the sensor simulation drive through the third interface.

[0046] Specifically, Figure 3As shown, based on the simulation trigger of the simulation client, the robot arm simulation drive, the end mechanism simulation drive and / or the sensor simulation drive can be called to perform simulation according to the atomic action scheduling scheme corresponding to the target task at each teaching waypoint, and the simulation data of the target robot arm when performing atomic actions based on the atomic action scheduling scheme, the simulation data of the target end mechanism when performing atomic actions based on the atomic action scheduling scheme, and / or the simulation data of the target sensor when performing atomic actions based on the atomic action scheduling scheme are output to the simulation client.

[0047] Taking the simulation of the target robotic arm as an example, initially, the normal reference posture of the robotic arm can be set. When the target robotic arm receives the atomic action instruction during simulation based on the atomic action scheduling scheme, there is no need to pay attention to the path trajectory of the target robotic arm. It is only necessary to change the posture between two points at a uniform speed according to the set speed of the target robotic arm. During the change process, the real-time posture of the tool center point (TCP) is continuously updated to the 3D simulation client, so that the simulation client can continuously update the sensor recognition information of the "eye on the hand" and the posture information of the end mechanism, so as to perform image recognition and end mechanism action simulation after reaching the target point.

[0048] This embodiment greatly improves the business development and debugging efficiency of the mobile robot by supporting environmental simulation through mobile robot compatibility, and also greatly reduces project costs.

[0049] It should be noted that in this embodiment, when the mobile robot is executing the target task, if an abnormality occurs when the target manipulator is executing an atomic action, or an abnormality occurs when the target end mechanism is executing an atomic action, or an abnormality occurs when the target sensor is executing an atomic action, the task will be suspended; after the abnormality is recovered, the target task will continue to be executed, or the target task will be re-executed to improve on-site maintainability.

[0050] In a specific application, if the scene includes multiple mobile robots, the above Figure 1 The mobile robot used in the process shown can be a designated reference robot on site.

[0051] The reference robot synchronizes the atomic action scheduling scheme corresponding to the target task at each teaching waypoint to other mobile robots (referred to as non-reference robots) on site, so that each non-reference robot executes the above atomic action scheduling scheme based on the deviation between it and the reference robot to complete the above target task.

[0052] Optionally, in this embodiment, if Figure 4As shown, the reference robot can export the atomic action arrangement scheme corresponding to the target task under each teaching waypoint in the format of a configuration file, and import it into the platform, so as to synchronize the configuration file to the non-reference robot on site through the platform, so that all robots on site can share the configuration file. This embodiment can reduce the inconvenience of manually importing projects one by one by enabling global sharing and synchronization through the platform, avoid the possibility of abnormalities caused by omissions of individual non-reference robots, and greatly improve the maintainability on site.

[0053] It should be noted that for any non-reference robot, there may be deviations between it and the reference robot, such as the height deviation of the non-reference robot's mechanical arm installation height relative to the reference robot's mechanical arm installation height, the TCP installation information deviation of the tool center point TCP installation information of the non-reference robot relative to the TCP installation information of the reference robot, the machine deviation between the machine where the reference robot is currently located (referred to as the reference machine) and the machine where the non-reference robot is currently working (referred to as the non-reference machine), such as the Mark plate height deviation from the ground, the Mark plate position deviation, etc. Here, the Mark plate height deviation from the ground refers to the deviation of the Mark plate's height from the ground on the non-reference machine relative to the Mark plate's height from the ground on the reference machine; the Mark plate position deviation refers to the deviation between the position of the Mark plate on the non-reference machine in the two-dimensional plane and the position of the Mark plate on the reference machine in the two-dimensional plane.

[0054] Based on this, when any non-baseline robot executes the above configuration file, that is, the atomic action scheduling scheme corresponding to the target task, it is necessary to consider the deviation between the non-baseline robot and the baseline robot.

[0055] As for the deviation between the non-reference robot and the reference robot, it can be obtained through a 2D vision correction method. For example, taking the height deviation of the non-reference robot's mechanical arm installation height relative to the reference robot's mechanical arm installation height as an example, after the non-reference robot's mechanical arm moves to the specified position, the camera of the non-reference robot is triggered to take a picture of the calibration object to obtain an image; the calibration object in the image is compared with the calibration object in the obtained reference image to determine the height deviation of the non-reference robot's mechanical arm installation height relative to the reference robot's mechanical arm installation height; the reference image refers to the image obtained by the reference robot's camera taking a picture of the calibration object at the above-mentioned specified position.

[0056] At this point, the description of the method provided in the embodiments of the present application is completed.

[0057] The mobile robot provided in the embodiment of the present application is described below:

[0058] See also Figure 5 , Figure 5 This is a structural diagram of a mobile robot provided in an embodiment of the present application. Figure 5 As shown, the mobile robot includes a target manipulator, a target end mechanism, a target sensor, and a chassis;

[0059] The chassis encapsulates the driver programs of the robot arms of different manufacturers through the first interface, the driver programs of the end mechanisms of different manufacturers through the second interface, and the driver programs of the sensors of different manufacturers through the third interface; the first interface, the second interface, and the third interface are arranged in the hardware layer of the service control architecture supported by the chassis, and the service control architecture further includes a service layer and a sub-service layer;

[0060] The chassis includes a processor;

[0061] The processor is used to obtain, through the business layer, a teaching instruction when the teaching pendant teaches the mobile robot at a teaching waypoint based on a target task;

[0062] And, based on the teaching instruction, performing the following operations at the sub-service layer:

[0063] Calling the first interface in the hardware layer to call the target robotic arm driver corresponding to the target robotic arm on the mobile robot to drive the target robotic arm to perform the atomic action corresponding to the teaching instruction; and / or calling the second interface in the hardware layer to call the target end mechanism driver corresponding to the target end mechanism on the mobile robot to drive the target end mechanism to perform the atomic action corresponding to the teaching instruction; and / or calling the third interface in the hardware layer to call the target sensor driver corresponding to the target sensor on the mobile robot to drive the target sensor to perform the atomic action corresponding to the teaching instruction;

[0064] Based on the atomic actions performed by the target robotic arm corresponding to the teaching instructions, and / or the atomic actions performed by the target end mechanism corresponding to the teaching instructions, and / or the atomic actions performed by the target sensor mechanism corresponding to the teaching instructions, an atomic action scheduling scheme corresponding to the target task under the teaching waypoint is obtained; the atomic action scheduling scheme is used to control the mobile robot to perform the target task.

[0065] Optionally, the chassis of the mobile robot further encapsulates a mechanical arm simulation drive through a first interface, an end mechanism simulation drive through a second interface, and a sensor simulation drive through a third interface;

[0066] The processor is further configured to:

[0067] Based on the simulation trigger of the simulation client, the robot simulation driver, the terminal mechanism simulation driver and / or the sensor simulation driver are called to perform simulation according to the atomic action scheduling scheme corresponding to the target task under each teaching waypoint, and the simulation data of the target robot arm when performing atomic actions based on the atomic action scheduling scheme, the simulation data of the target terminal mechanism when performing atomic actions based on the atomic action scheduling scheme, and / or the simulation data of the target sensor when performing atomic actions based on the atomic action scheduling scheme are output to the simulation client.

[0068] Optionally, the mobile robot is a designated reference robot in the scene;

[0069] The processor is also used to: synchronize the atomic action scheduling scheme corresponding to the target task at each teaching waypoint to other mobile robots in the scene, so that other mobile robots execute the atomic action scheduling scheme based on the deviation between them and the benchmark robot to complete the target task.

[0070] Optionally, the processor, when the mobile robot performs the target task, if an abnormality occurs when the target manipulator performs an atomic action, or an abnormality occurs when the target end mechanism performs an atomic action, or an abnormality occurs when the target sensor performs an atomic action, then suspends the task;

[0071] After the abnormality is recovered, continue to execute the target task, or re-execute the target task

[0072] Optionally, when the mobile robot integrates N1 target robotic arms, N1 is greater than 1, and at least two of the N1 target robotic arms belong to different manufacturers;

[0073] When the mobile robot integrates N2 target end mechanisms, N2 is greater than 1, and at least two of the N2 target end mechanisms belong to different manufacturers;

[0074] When the mobile robot integrates N3 target sensors, N3 is greater than 1, and at least two of the N3 target sensors belong to different manufacturers.

[0075] So far, completed Figure 5 Structural description of the mobile robot shown.

[0076] The implementation process of each embodiment in the above mobile robot is specifically described in the implementation process of the corresponding steps in the above method, which will not be repeated here.

[0077] Correspondingly, an embodiment of the present application further provides a computer-readable storage medium, on which a number of computer program instructions are stored. When the computer program instructions are executed by a processor, the method disclosed in the above example of the present application can be implemented.

[0078] Exemplarily, the computer-readable storage medium may be any electronic, magnetic, optical or other physical storage device that may contain or store information, such as executable instructions, data, etc. For example, the computer-readable storage medium may be: RAM (Radom Access Memory), volatile memory, non-volatile memory, flash memory, storage drive (such as hard disk drive), solid state drive, any type of storage disk (such as optical disk, DVD, etc.), or similar storage medium, or a combination thereof. The processor and memory may be supplemented by or incorporated into a dedicated logic circuit.

[0079] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robot control method, characterized in that: The method is applied to a mobile robot, wherein the chassis of the mobile robot encapsulates the driver programs of mechanical arms of different manufacturers through a first interface, encapsulates the driver programs of end mechanisms of different manufacturers through a second interface, and encapsulates the driver programs of sensors of different manufacturers through a third interface; the first interface, the second interface, and the third interface are arranged in a hardware layer in a service control architecture supported by the chassis, and the service control architecture further includes a service layer and a sub-service layer; the method comprises: Obtaining, through the business layer, a teaching instruction when the teaching pendant teaches the mobile robot at a teaching waypoint based on a target task; The teaching instruction is provided to the sub-service layer, so that the sub-service layer performs the following operations based on the teaching instruction: Calling the first interface in the hardware layer to call the target robotic arm driver corresponding to the target robotic arm on the mobile robot to drive the target robotic arm to perform the atomic action corresponding to the teaching instruction; and / or calling the second interface in the hardware layer to call the target end mechanism driver corresponding to the target end mechanism on the mobile robot to drive the target end mechanism to perform the atomic action corresponding to the teaching instruction; and / or calling the third interface in the hardware layer to call the target sensor driver corresponding to the target sensor on the mobile robot to drive the target sensor to perform the atomic action corresponding to the teaching instruction; Based on the atomic actions performed by the target robotic arm corresponding to the teaching instructions, and / or the atomic actions performed by the target end mechanism corresponding to the teaching instructions, and / or the atomic actions performed by the target sensor mechanism corresponding to the teaching instructions, an atomic action scheduling scheme corresponding to the target task under the teaching waypoint is obtained; the atomic action scheduling scheme is used to control the mobile robot to perform the target task.

2. The method according to claim 1, characterized in that The chassis of the mobile robot also encapsulates the mechanical arm simulation drive through the first interface, the end mechanism simulation drive through the second interface, and the sensor simulation drive through the third interface; The method further includes: Based on the simulation trigger of the simulation client, the robot simulation driver, the terminal mechanism simulation driver and / or the sensor simulation driver are called to perform simulation according to the atomic action scheduling scheme corresponding to the target task under each teaching waypoint, and the simulation data of the target robot arm when performing atomic actions based on the atomic action scheduling scheme, the simulation data of the target terminal mechanism when performing atomic actions based on the atomic action scheduling scheme, and / or the simulation data of the target sensor when performing atomic actions based on the atomic action scheduling scheme are output to the simulation client.

3. The method according to claim 1, characterized in that The mobile robot is a designated reference robot on site; The method further comprises: The atomic action choreography scheme corresponding to the target task at each teaching waypoint is synchronized to other mobile robots in the scene, so that other mobile robots execute the atomic action choreography scheme based on the deviation between them and the reference robot to complete the target task.

4. The method according to claim 3, characterized in that: The step of synchronizing the atomic action arrangement scheme corresponding to the target task at each teaching waypoint to other mobile robots in the scene includes: The atomic action choreography scheme corresponding to the target task at each teaching waypoint is synchronized to the platform, so that all other mobile robots in the scene can share the atomic action choreography scheme corresponding to the target task at each teaching waypoint through the platform.

5. The method according to claim 1, characterized in that The method further comprises: When the mobile robot is executing the target task, if an abnormality occurs when the target manipulator arm executes an atomic action, or an abnormality occurs when the target end mechanism executes an atomic action, or an abnormality occurs when the target sensor executes an atomic action, then the task is suspended; After the abnormality is recovered, the target task continues to be executed, or the target task is re-executed.

6. The method according to claim 1, characterized in that When the mobile robot integrates N1 target robotic arms, N1 is greater than 1, and at least two of the N1 target robotic arms belong to different manufacturers; When the mobile robot integrates N2 target end mechanisms, N2 is greater than 1, and at least two of the N2 target end mechanisms belong to different manufacturers; When the mobile robot integrates N3 target sensors, N3 is greater than 1, and at least two of the N3 target sensors belong to different manufacturers.

7. A mobile robot, characterized in that: The mobile robot comprises a target mechanical arm, a target end mechanism, a target sensor, and a chassis; The chassis encapsulates the driver programs of the robot arms of different manufacturers through the first interface, the driver programs of the end mechanisms of different manufacturers through the second interface, and the driver programs of the sensors of different manufacturers through the third interface; the first interface, the second interface, and the third interface are arranged in the hardware layer of the service control architecture supported by the chassis, and the service control architecture further includes a service layer and a sub-service layer; The chassis includes a processor; The processor is used to obtain, through the business layer, a teaching instruction when the teaching pendant teaches the mobile robot at a teaching waypoint based on a target task; And, based on the teaching instruction, performing the following operations at the sub-service layer: Calling the first interface in the hardware layer to call the target robotic arm driver corresponding to the target robotic arm on the mobile robot to drive the target robotic arm to perform the atomic action corresponding to the teaching instruction; and / or calling the second interface in the hardware layer to call the target end mechanism driver corresponding to the target end mechanism on the mobile robot to drive the target end mechanism to perform the atomic action corresponding to the teaching instruction; and / or calling the third interface in the hardware layer to call the target sensor driver corresponding to the target sensor on the mobile robot to drive the target sensor to perform the atomic action corresponding to the teaching instruction; Based on the atomic actions performed by the target robotic arm corresponding to the teaching instructions, and / or the atomic actions performed by the target end mechanism corresponding to the teaching instructions, and / or the atomic actions performed by the target sensor mechanism corresponding to the teaching instructions, an atomic action scheduling scheme corresponding to the target task under the teaching waypoint is obtained; the atomic action scheduling scheme is used to control the mobile robot to perform the target task.

8. The mobile robot according to claim 7, characterized in that: The chassis of the mobile robot also encapsulates the mechanical arm simulation drive through the first interface, the end mechanism simulation drive through the second interface, and the sensor simulation drive through the third interface; The processor is further configured to: Based on the simulation trigger of the simulation client, the robot simulation driver, the terminal mechanism simulation driver and / or the sensor simulation driver are called to perform simulation according to the atomic action scheduling scheme corresponding to the target task under each teaching waypoint, and the simulation data of the target robot arm when performing atomic actions based on the atomic action scheduling scheme, the simulation data of the target terminal mechanism when performing atomic actions based on the atomic action scheduling scheme, and / or the simulation data of the target sensor when performing atomic actions based on the atomic action scheduling scheme are output to the simulation client.

9. The mobile robot according to claim 7, characterized in that: The mobile robot is a designated reference robot on site; The processor is also used to: synchronize the atomic action scheduling scheme corresponding to the target task at each teaching waypoint to other mobile robots in the scene, so that other mobile robots execute the atomic action scheduling scheme based on the deviation between them and the benchmark robot to complete the target task.

10. The mobile robot according to claim 9, characterized in that: The processor, when the mobile robot is executing the target task, if an abnormality occurs when the target manipulator arm is executing an atomic action, or an abnormality occurs when the target end mechanism is executing an atomic action, or an abnormality occurs when the target sensor is executing an atomic action, then suspends the task; After the abnormality is recovered, the target task is continued to be executed, or the target task is re-executed.

Images