Robot control method and device and electronic equipment

Abstract

The embodiment of the invention provides a robot control method and device and electronic equipment, and relates to the technical field of robots, and the method applied to the robot control equipment comprises the steps that in response to the fact that a first page is activated, a first parameter currently set by a first part of the robot is requested from the robot, the first page is a page which is exclusive at a first part in the interactive interface and is used for displaying a parameter setting component; receiving a first parameter fed back by the robot, and displaying the first parameter in the first page; in response to a parameter setting operation which is generated on the first page and completed based on the first parameter, acquiring a second parameter set for the first part; and sending control information carrying the second parameter to the robot, so that the robot controls the first part to execute an action based on the second parameter carried in the control information. By applying the scheme provided by the embodiment of the invention, the control difficulty of the robot can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot control method, device and electronic device. Background Art

[0002] With the development of intelligent robot technology, robots have been widely used in fields such as manufacturing, logistics, and sales. In the above fields, robots can execute set action processes to complete various tasks and improve production efficiency and service efficiency.

[0003] In order to ensure that the robot can successfully complete tasks, it is necessary to debug and teach the robot. Currently, mainly staff write debugging or teaching codes, input the above codes into the robot, and then the robot executes the above codes to control relevant parts to execute actions, thereby realizing debugging or teaching.

[0004] However, this requires staff to master professional knowledge such as programming languages, the operation threshold is relatively high, and the code writing process is relatively complex, resulting in a relatively high difficulty in controlling the robot. Summary of the Invention

[0005] The purpose of the embodiments of the present invention is to provide a robot control method, device and electronic device to reduce the control difficulty of the robot. The specific technical solutions are as follows:

[0006] In a first aspect, the embodiments of the present invention provide a robot control method applied to a robot control device. The method includes:

[0007] In response to the activation of a first page, request the robot for the first parameter currently set for its first part, where the first page is: a page exclusive to the first part in the interaction interface for displaying parameter setting components;

[0008] Receive the first parameter fed back by the robot and display the first parameter on the first page;

[0009] In response to a parameter setting operation completed based on the first parameter generated on the first page, obtain a second parameter set for the first part;

[0010] Send control information carrying the second parameter to the robot, so that the robot controls the first part to execute an action based on the second parameter carried in the control information.

[0011] In a second aspect, the embodiments of the present invention provide a robot control method applied to a robot. The method includes:

[0012] In response to a request from a robot control device for a first parameter currently set for a first part of the robot, feed back the first parameter to the robot control device so that the robot control device can display the first parameter;

[0013] Receive control information for the first part sent by the robot control device;

[0014] Based on a second parameter carried in the control information, control the first part to perform an action, where the second parameter is: a parameter set by a parameter setting operation triggered on an interaction interface of the robot control device.

[0015] In a third aspect, an embodiment of the present invention provides a robot control device applied to a robot control device. The device includes:

[0016] A parameter request module, configured to, in response to a first page being activated, request a first parameter currently set for a first part of the robot from the robot, where the first page is: a page in the interaction interface that is exclusive to the first part and used to display parameter setting components;

[0017] A parameter display module, configured to receive the first parameter fed back by the robot and display the first parameter on the first page;

[0018] A parameter setting module, configured to, in response to a parameter setting operation completed based on the first parameter generated on the first page, obtain a second parameter set for the first part;

[0019] A control information sending module, configured to send control information carrying the second parameter to the robot so that the robot controls the first part to perform an action based on the second parameter carried in the control information.

[0020] In a fourth aspect, an embodiment of the present invention provides a robot control device applied to a robot. The device includes:

[0021] A parameter feedback module, configured to, in response to a request from a robot control device for a first parameter currently set for a first part of the robot, feed back the first parameter to the robot control device so that the robot control device can display the first parameter;

[0022] A control information receiving module, configured to receive control information for the first part sent by the robot control device;

[0023] An action control module, configured to, based on a second parameter carried in the control information, control the first part to perform an action, where the second parameter is: a parameter set by a parameter setting operation triggered on an interaction interface of the robot control device.

[0024] In a fifth aspect, an embodiment of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0025] Memory for storing computer programs;

[0026] The processor is configured to implement the method steps described in the first aspect or the second aspect when executing the program stored in the memory.

[0027] It should be noted that when the processor is used to implement the method steps described in the first aspect, the electronic device may be a robot control device; when the processor is used to implement the method steps described in the second aspect, the electronic device may be a robot.

[0028] In a sixth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps described in the first aspect or the second aspect are implemented.

[0029] In a seventh aspect, an embodiment of the present invention provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method steps described in the first aspect or the second aspect.

[0030] As can be seen from the above, in the solution provided by the embodiment of the present invention, the user can directly trigger the parameter setting operation on the page to conveniently debug or teach the robot, without having to write the control code of the robot, and without having to master programming knowledge and other professional knowledge. It can be seen that the solution provided by the embodiment of the present invention can lower the operating threshold for users when debugging or teaching the robot, and reduce the difficulty of controlling the robot. In addition, in the solution provided by the embodiment of the present invention, the user can intuitively and quickly set the parameters of the part by triggering the parameter setting operation on the interactive interface, without having to write complex code, which significantly improves the efficiency of parameter setting, realizes rapid debugging and rapid teaching of the robot, and improves the debugging efficiency and teaching efficiency.

[0031] Furthermore, in the related art, since it takes a long time to write code, there is a long time interval between writing the code and inputting the code into the robot, that is, the delay from writing the code to the actual effectiveness of the parameters is high, so the real-time performance of robot debugging and teaching is poor; while the solution provided by the embodiment of the present invention is more efficient in setting parameters through the interface, and can quickly transmit the data required for debugging and teaching to the robot, so that settings can be taken effect at any time, thereby improving the real-time performance of robot debugging and teaching.

[0032] Of course, when implementing any product or method of the present invention, it is not necessary to achieve all the above-mentioned advantages simultaneously. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other embodiments based on these drawings.

[0034] Figure 1 Schematic diagram of the first interactive interface provided by an embodiment of the present invention;

[0035] Figure 2 Schematic diagram of the second interactive interface provided by an embodiment of the present invention;

[0036] Figure 3 Schematic diagram of the third interactive interface provided by an embodiment of the present invention;

[0037] Figure 4 Schematic flow chart of the first robot control method provided by an embodiment of the present invention;

[0038] Figure 5 Schematic flow chart of the second robot control method provided by an embodiment of the present invention;

[0039] Figure 6 Schematic structural diagram of the first robot control device provided by an embodiment of the present invention;

[0040] Figure 7 Schematic structural diagram of the second robot control device provided by an embodiment of the present invention;

[0041] Figure 8 Schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art based on the present invention belong to the scope of protection of the present invention.

[0043] First, the application scenarios of the solutions provided by the embodiments of the present invention will be introduced.

[0044] The application scenarios of the solutions provided by the embodiments of the present invention are: robot debugging and robot teaching scenarios. ?

[0045] Among them, debugging refers to checking whether each part of the robot can work properly.

[0046] For example, in the retail store scenario, before the store opens, the staff often need to debug the robot's moving ability, action execution ability, etc., to ensure the normal operation of the robot's various abilities, so as to ensure that the robot can complete the set tasks subsequently.

[0047] Teaching refers to guiding the robot to complete each action according to the actual task requirements, so that the robot records the action process for realizing the task.

[0048] For example, in scenarios such as pharmacies and grocery stores, the staff can control the robot to perform a series of actions of carrying items. Then, the robot can record information such as the movement trajectories and speeds of each part, so that it can perform the carrying actions according to the recorded information subsequently.

[0049] In the related art, mainly the staff write the code for debugging or teaching, input the above code into the robot, and then the robot executes the above code to control the relevant parts to perform actions, thereby realizing debugging or teaching. However, this requires the staff to master professional knowledge such as programming languages, the operation threshold is relatively high, and the code writing process is relatively complex, resulting in a relatively high difficulty in controlling the robot.

[0050] In view of the above situation, the embodiments of the present invention provide a robot control method to improve the robot control efficiency.

[0051] To facilitate the understanding of the solution provided by the embodiments of the present invention, some concepts to be involved in the solution provided by the embodiments of the present invention will be introduced below.

[0052] 1. First part

[0053] The first part can be any single part among the controllable parts of the robot. The embodiments of the present invention do not limit its specific granularity and type.

[0054] For example, the first part can be any joint included in the robot's head, arm, or leg, can be any end effector of the robot, can be the moving mechanism of the robot, or can also be cameras, speakers, etc. deployed on the robot. Among them, the above end effector can include grippers, suction cups, etc.; the moving mechanism can include legged moving mechanisms, wheeled moving mechanisms, mobile chassis, etc.

[0055] 2. First page

[0056] The above first page is: the page in the interaction interface that is exclusively used by the first part to display the parameter setting components. In other words, the first page is a page dedicated to setting the parameters of the first part.

[0057] Specifically, the robot control device displays an interactive interface, which is a graphical operation interface. Exclusive parameter setting pages for each controllable part of the robot can be integrated therein, and the first page is one of the parameter setting pages.

[0058] It should be noted that due to the limited size of the interactive interface, not all parameter setting pages need to be displayed in the interactive interface. Instead, some of the parameter setting pages can be displayed. In one case, only the currently selected parameter setting page can be displayed in the interactive interface.

[0059] 3. Parameter setting component

[0060] The parameter setting component is a component displayed on the first page for setting specific parameters of the first part.

[0061] The above parameter setting component can include visual setting components such as sliders and buttons, and can also include input boxes for inputting parameters.

[0062] For the sake of easier understanding, the first page and the parameter setting components displayed on the first page will be introduced more intuitively with reference to the accompanying drawings below. The following drawings are all examples for easier understanding and do not constitute a limitation to the solution of the present invention.

[0063] First, in combination with Figure 1 , the first page and the parameter setting component for setting parameters of the joint will be introduced.

[0064] Refer to Figure 1 . In the navigation bar on the left side of the interactive interface 10, controllable parts of the robot such as the head, arm, end effector, leg, and chassis are displayed. When the user selects robot arm control in the navigation bar on the left side of the interactive interface 10, at this time, joints 1 - 7 included in the left arm and joints 1 - 7 included in the right arm are displayed on the right side of the interactive interface 10. Then, when the user selects joint 6 in the right arm of the robot in the joint selection component displayed on the interactive interface 10, the first page 101 as shown in the figure can be displayed on the interactive interface. It can be seen that various parameter setting components for joint 6 are displayed on the first page 101, including a speed setting component 1011, a radian setting component 1012, an angle setting component 1013, and a parameter input box 1014.

[0065] The above speed setting component 1011, radian setting component 1012, and angle setting component 1013 are of the type of visual adjustment components, specifically slider components. The position of the slider in the slider component represents the parameter size, and the user can set specific parameters such as speed, angle, and radian by dragging the positions of the respective sliders.

[0066] Moreover, the parameters currently set for Joint 6 can be displayed on the right side of the speed setting component 1011, the radian setting component 1012, and the angle setting component 1013. As shown in the figure, the current speed, radian, and angle of Joint 6 displayed on the right side of the above three components are: 0.3 meters per second (m / s), 0.1107 radians (rad), and 6.34 degrees respectively. When the user adjusts the speed, radian, and angle of Joint 6 using the above three components, the adjusted values of the speed, radian, and angle will be displayed on the right side of the above three components respectively.

[0067] It should be noted that in the exemplary drawings here, both the radian setting component 1012 and the angle setting component 1013 are slider components for setting the rotation amplitude of the joint. The values of the speed and radian displayed on their right sides represent the same movement amplitude, and the only difference is the unit of the rotation amplitude represented by the slider. When adjusting the position of the slider in one slider component, the position of the slider in the other slider component will also move accordingly. For example, after adjusting the slider in the radian setting component 1012, the slider in the angle setting component 1013 will also move, but the values of the speed and radian displayed on the right sides of the two slider components still represent the same movement amplitude.

[0068] The above parameter input box 1014 is a parameter input component. The parameter input component can display a guiding message "Please enter the parameters of Joint 6". The user can set the specific parameters for Joint 6, including speed, angle, etc., by entering them in the parameter input box 1014. Among them, the user can flexibly select to use the visual adjustment component or the parameter input component to set parameters for the robot part according to actual needs.

[0069] The first page and parameter setting components of the remaining joints included in the robot can be Figure 1 similar, which will not be elaborated here.

[0070] Second, combined with Figure 2 an example will be given to introduce the first page and parameter setting components for setting the parameters of the end effector.

[0071] Refer to Figure 2 . The user selects the end effector in the navigation bar on the left side of the interaction interface 20. Then, the end effector selection component is displayed in the interaction interface 20. The end effector selection component can display the left and right buttons for selecting a specific actuator and the actuator type button. The user clicks the left button and the gripper button in the end effector selection component in sequence, indicating that the first part to be controlled is the left gripper. At this time, the first page 201 as shown in the figure can be displayed on the interaction interface 20. It can be seen that the parameter setting component for the left gripper, specifically the action setting component 2011, is displayed on the first page.

[0072] The type of the above-mentioned motion setting component 2011 is a visual adjustment component, in which there are 2 buttons bound with specific parameters, namely a first button displaying "on" and a second button displaying "off". The parameters bound by the first button and the second button are the parameters for controlling the expansion of the gripper and the parameters for controlling the closing of the gripper respectively, that is, the first button and the second button are respectively used to control the expansion and closing of the gripper. The user can click the first button or the second button in the motion setting component 2011 to set the parameters bound by the button for the left gripper. For example, if the user clicks the first button in the motion setting component 2011 that is bound with the parameter for controlling the expansion of the left gripper, the robot control device can determine that the parameter set for the left gripper is the parameter for controlling the expansion of the left gripper.

[0073] The first page and the parameter setting component of the remaining end effectors included in the robot can be the same as Figure 2 which will not be elaborated here.

[0074] III. Finally, in combination with Figure 3 an example will be given to introduce the first page and the parameter setting component for setting the parameters of the moving mechanism.

[0075] Refer to Figure 3 Taking the moving mechanism of the robot as the chassis as an example, when the user selects chassis control in the navigation bar on the left side of the interaction interface 30, the first page 301 as shown in the figure can be displayed in the interaction interface 30. It can be seen that the parameter setting component of the chassis is displayed in the first page 301, specifically the motion control component 3011.

[0076] The type of the above-mentioned motion control component 3011 is a visual adjustment component, in which there are 6 buttons bound with specific parameters, namely the buttons displaying "W", "A", "S", "D", "Q", "E". The parameters bound by the above 6 buttons are the parameters for controlling the forward movement, backward movement, leftward movement, rightward movement, left turn, and right turn of the chassis respectively. The user can click each button in the motion control component 3011 to set the parameters bound by the button for the chassis. For example, if the user clicks the button in the motion control component 3011 that is bound with the parameter for controlling the forward movement of the chassis, the robot control device can determine that the parameter set for the chassis is the parameter for controlling the forward movement of the chassis. In an embodiment of the present invention, when the user releases the button in the motion control component 3011, the robot control device can determine that the parameter set for the chassis is the preset parameter, so that the robot controls the chassis to stop moving after receiving the preset parameter.

[0077] The first page of the remaining types of moving mechanisms can be the same as Figure 3 which will not be elaborated here.

[0078] It can be seen that the robot control device can provide an intuitive graphical operation interface, so that users do not need to write complex codes, but can easily set the parameters of the robot parts through simple operations such as clicking and pressing buttons.

[0079] In one embodiment of the present invention, the parameter setting component includes not only the above-mentioned visualization adjustment component and parameter input component, but also a template selection component. The above-mentioned template selection component includes various generated parameter setting templates, which are described in detail below.

[0080] Specifically, the robot control device may store the first parameter currently set for the first part in response to the action save operation triggered on the first page, and then generate and store a parameter setting template bound to the stored first parameter.

[0081] In this way, when the user subsequently sets the parameters of the first part, he can click on the template selection component and select a parameter setting template from the multiple parameter setting templates included in the template selection component. At this time, the robot control device can directly use the parameters bound to the selected parameter setting template as the set parameters.

[0082] As can be seen, based on actual needs, users can trigger an action save operation for the currently set parameters of the first part in a specific scenario. The robot control device can then store the first parameters and bind them to a parameter setting template. In other words, the part action in the specific scenario is copied and entered as a template, so that the user can directly apply it when setting the parameters of the first part later. This improves the efficiency of parameter setting for the first part, thereby improving the control efficiency of the robot.

[0083] The robot control solution provided by the embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0084] See also Figure 4 , which is a flow chart of the first robot control method provided in an embodiment of the present invention. The above method is applied to an electronic device for setting robot part parameters. The above electronic device can be called a robot control device, and includes the following steps S401-S404.

[0085] Step S401: In response to the first page being activated, requesting the robot for the first parameter currently set for the first part of the robot.

[0086] It should be noted that in the solution provided by the embodiment of the present invention, a communication connection is established between the robot control device and the robot. The above communication connection can be a full-duplex mode communication connection such as a WebSocket connection, a User Datagram Protocol Sockets connection (UDP Sockets), etc., allowing real-time, two-way data transmission between the robot control device and the robot.

[0087] When the first page is activated due to operations such as selection and focusing, it means that the user wants to set the parameters of the first part of the robot. At this time, the robot control device can request the robot to set the first parameters currently set for the first part, so that the user can perform parameter setting operations based on the first parameters currently being applied to the first part.

[0088] The first parameter may be a speed, a rotation angle, a moving direction, etc. of the first part, which is not limited in the embodiment of the present invention.

[0089] The following introduces the first parameter with examples according to different types of the first part.

[0090] Case 1: If the first part includes a joint of the robot, the first parameter may include: a rotation angle and / or a rotation speed of the joint.

[0091] Case 2: If the first part includes a moving mechanism of the robot, the first parameter may include: a moving direction and / or a rotation angle of the moving mechanism.

[0092] Case 3: If the first part includes an end effector of a robot, the first parameter may include: the type of action performed by the end effector.

[0093] For example, for a gripper, its action types include expanding and closing; for a spray gun, its action types include opening and closing, etc.

[0094] It can be seen that for various types of robot parts, different types of multiple parameters can be set for them through the solution provided by the embodiment of the present invention, so that the robot parts can perform various actions based on the set parameters, thereby improving the flexibility of the solution.

[0095] Step S402: receiving a first parameter fed back by the robot, and displaying the first parameter on a first page.

[0096] The first parameter is the first parameter currently set for the first part. The user can understand the current action status of the first part based on the first parameter displayed on the first page, so as to set the parameters of the first part in a targeted manner. For example, the user can adjust the currently displayed first parameter to obtain a suitable parameter.

[0097] Step S403: In response to a parameter setting operation completed based on a first parameter generated on a first page, obtain a second parameter set for a first part.

[0098] For the meaning of the above second parameter, reference can be made to the foregoing introduction to the first parameter, which will not be elaborated here.

[0099] According to the foregoing concept introduction, there can be various parameter setting components, and parameter setting operations are also divided into various types.

[0100] Specifically, the parameter setting operation can be a touch operation on a visualization adjustment component, an operation of inputting a parameter in a parameter input component, or an operation of selecting a parameter setting template in a template selection component.

[0101] It can be seen that in the solution provided by the embodiment of the present invention, the robot control device provides various parameter setting components for setting robot part parameters. The user can select a suitable parameter setting component from them according to actual needs to set the robot part parameters, improving the flexibility when setting parameters.

[0102] Among them, according to different parameter setting operations, the manner of obtaining the second parameter is also different. For details, refer to the subsequent introduction, which will not be elaborated here for the time being.

[0103] Step S404: Send control information carrying the second parameter to the robot, so that the robot controls the first part to execute an action based on the second parameter carried in the control information.

[0104] Among them, the robot control device can encapsulate information such as the second parameter and the part identifier of the first part into control information of a set data structure, and send the above control information to the robot.

[0105] In this way, after sending control information carrying the second parameter to the robot, the robot can control the first part to execute an action based on the second parameter.

[0106] As can be seen from the above, in the solution provided by the embodiment of the present invention, a page for setting parameters of various parts of the robot is displayed in the interactive interface of the robot control device, and a parameter setting component is displayed on the page. The user can trigger the parameter setting operation on the page to set parameters for the robot parts. Thus, the robot control device can send control information carrying the parameters set by the user to the robot, so that the robot controls the robot parts to perform actions based on the parameters carried in the control information, thereby realizing debugging or teaching the robot. In other words, the user can directly trigger the parameter setting operation on the page to conveniently debug or teach the robot, without having to write the robot's control code or master programming knowledge and other professional knowledge. It can be seen that the solution provided by the embodiment of the present invention can lower the operational threshold for users when debugging or teaching the robot, and reduce the difficulty of controlling the robot.

[0107] In addition, in the solution provided by the embodiment of the present invention, users can intuitively and quickly set the parameters of the parts by triggering the parameter setting operation on the interactive interface without writing complex code, which significantly improves the parameter setting efficiency, realizes rapid debugging and rapid teaching of the robot, and improves the debugging efficiency and teaching efficiency.

[0108] Furthermore, in the related art, since it takes a long time to write code, there is a long time interval between writing the code and inputting the code into the robot, that is, the delay from writing the code to the actual effectiveness of the parameters is high, so the real-time performance of robot debugging and teaching is poor; while the solution provided by the embodiment of the present invention is more efficient in setting parameters through the interface, and can quickly transmit the data required for debugging and teaching to the robot, so that settings can be taken effect at any time, thereby improving the real-time performance of robot debugging and teaching.

[0109] The following specifically introduces the method for obtaining the second parameter of the first part mentioned in the aforementioned step S403.

[0110] The following introduces the different parameter setting operations.

[0111] 1. Parameter setting operations are touch operations for visual adjustment components.

[0112] Specifically, determining the second parameter of the first part according to the touch operation can be divided into the following two cases:

[0113] Case 1: In response to the touch operation being a drag operation, a second parameter set for the first part is obtained based on the position of the visual adjustment component after being dragged.

[0114] In this case, the second parameters represented by the parameter setting components at different locations are different.

[0115] Taking the parameter setting component as a slider component as an example, the position of the slider after dragging can be determined on the sliding axis, and then, according to the pre-set correspondence between the position and the parameter, the parameter corresponding to the above position is determined as the second parameter of the first part.

[0116] Case 2: In response to the touch operation being a click operation, the parameter bound by the parameter setting component is determined as the second parameter.

[0117] In this case, the parameter setting component is pre-bound with a parameter, so the parameter bound by the clicked parameter setting component can be directly determined as the second parameter.

[0118] Taking the parameter setting component as a button as an example, the parameter bound by the clicked button can be directly used as the second parameter of the first part.

[0119] In this embodiment, the parameter setting component includes a visual adjustment component, and the user can directly set the parameters of the robot part conveniently by touch operations such as dragging and clicking the visual adjustment component, that is, the parameter setting can be realized through graphical interaction without any parameter input or code writing operations, further reducing the difficulty of parameter setting and improving the parameter setting efficiency.

[0120] 2. The parameter setting operation is an operation of inputting parameters in the parameter input component.

[0121] Specifically, when determining the second parameter according to the input parameter, it can be further divided into the following two cases:

[0122] Case 1: In response to the input parameter being within the adjustable parameter range of the first part, the input parameter is directly used as the second parameter.

[0123] The above adjustable parameter range can be understood as the parameter range within which the first part can move normally. When the parameter exceeds the above adjustable parameter range, a fault may occur when the first part moves, and the above faults include colliding with other parts and being damaged due to exceeding the maximum movement range.

[0124] The adjustable parameter range can specifically be a pre-set parameter range, or a reasonable range determined by the robot control device according to the parameters set for each part of the current robot in combination with a pre-configured strategy. The embodiments of the present invention do not limit this.

[0125] Case 2: In response to the input parameter being outside the adjustable parameter range, the parameter closest to the input parameter is determined from within the adjustable parameter range as the second parameter, and a first prompt message indicating that the parameter of the first part exceeds the adjustable range is displayed.

[0126] That is, when the parameter input by the user is outside the adjustable parameter range, the second parameter closest to the parameter input by the user is selected from the adjustable parameter range, and a prompt message is displayed.

[0127] In this way, when the input parameter is outside the adjustable parameter range, the second parameter closest to the parameter input by the user can be selected from the adjustable parameter range, so that the second parameter is as close as possible to the parameter input by the user while ensuring that it does not exceed the adjustable range, reducing the probability of component failure caused by the second parameter exceeding the adjustable range and improving the reliability of the robot operation.

[0128] 3. The parameter setting operation is an operation of selecting a parameter setting template in the template selection component.

[0129] In this case, the robot control device can directly determine the parameter bound to the selected parameter setting template as the second parameter of the first part.

[0130] In an embodiment of the present invention, if the parameter setting operation is a set reset operation, the second parameter set for the first part is determined as the parameter for controlling the first part to return to the default position, and a second prompt message indicating that the first part is about to return to the default position is displayed.

[0131] The above parameter for controlling the first part to return to the default position can be a parameter flexibly set by the staff according to experience and / or actual needs, and the embodiments of the present invention do not limit this.

[0132] The above set reset operation can be a click operation on the reset button.

[0133] The reset button can be displayed on the first page. As Figure 1 shown, the zeroing button therein is the reset button. In this case, after the user clicks the reset button, the robot control device can determine that the first part needs to return to the default position, and thus determine the second parameter of the first part as the parameter for controlling the first part to return to the default position.

[0134] The above set reset operation can also be an operation of inputting a set parameter in the parameter input component.

[0135] In this case, after the user inputs the above set parameter, the robot control device can determine that the first part needs to return to the default position, and thus determine the second parameter of the first part as the parameter for controlling the first part to return to the default position. The above set parameter can be pre-set by the staff, such as 0, etc.

[0136] In this way, when the first part of the robot needs to reset the part state due to a failure or the like, the user can trigger a reset operation on the first page to conveniently control the first part to return to the default position, improving the robustness of the solution.

[0137] In an actual teaching or debugging scenario, the staff can also judge the fault condition of the robot part and perform corresponding processing according to the reset condition of the robot part after triggering the reset operation.

[0138] Specifically, when there is a signal transmission delay or interruption between the robot control device and the robot, or the robot has a hardware freeze, etc., it is difficult for the robot to control the robot part to return to the default position based on the control information sent by the robot control device.

[0139] Therefore, if the staff finds that the robot part does not return to its position as expected after triggering the reset operation for the robot part, it can be determined that the robot may have the above-mentioned faults. In this case, the staff can manually assist the robot part to return to the default position.

[0140] In an embodiment of the present invention, the robot control device can also respond to a test operation triggered on the interaction interface, request test data of the first part from the robot, receive the test data fed back by the robot, and display the test data in the interaction interface.

[0141] Among them, the test data characterizes whether the first part is in a normal working state after being set with a second parameter.

[0142] The present invention embodiment does not limit the specific type and content of the test data, which will be introduced by way of example below.

[0143] For example, if the first part is a camera, the test data can include the image currently captured by the camera, or can also include the internal and external parameters of the camera. In this way, the user can determine whether the camera is in a normal working state based on the displayed image or the internal and external parameters. Another example is that if the first part is a speaker, the test data can be a set audio segment, and the user can determine whether the speaker is in a normal working state by playing the set audio. In some cases, the user can also modify the displayed test data, such as correcting the internal and external parameters of the displayed camera.

[0144] Among them, the robot control device can display a prompt message when the test data is abnormal. The above-mentioned test data abnormality can include: not receiving the test data, the test data format or content not being the preset format or content, being unable to parse or recognize the test data, etc.

[0145] In this embodiment, the robot control device provides a test data display function. When the user triggers a test operation for the first part, the test data of the first part can be displayed on the interaction interface, so that the user can quickly grasp whether the first part is in a normal working state according to the test data, so as to debug in time when the first part fails, realizing the quick positioning and testing of the robot part failure and improving the debugging efficiency of the robot part.

[0146] Corresponding to the above robot control method applied to the robot control device, an embodiment of the present invention further provides a robot control method applied to a robot. Among them, most of the concepts and implementation methods involved below have been introduced in the foregoing embodiments applied to the robot control device, and only a brief description will be given below.

[0147] See Figure 5 , which is a schematic flowchart of the first robot control method provided by the embodiment of the present invention. The above method is applied to the robot control device and includes the following steps S501-S503.

[0148] Step S501: In response to the robot control device requesting the first parameter currently set for the first part of the robot, feedback the first parameter to the robot control device so that the robot control device can display the first parameter.

[0149] Step S502: Receive the control information of the first part sent by the robot control device.

[0150] Step S503: Based on the second parameter carried in the control information, control the first part to perform an action.

[0151] For example, if the first part is joint A included in the robot's left arm, and the second parameter of joint A carried in the control information includes the rotation angle and rotation speed, after the robot receives the second parameter of joint A, it can control joint A to rotate to the above rotation speed at the above rotation speed.

[0152] As can be seen from the above, in the solution provided by the embodiment of the present invention, the robot can respond to the request of the robot control device for the first parameter currently set for the first part, and feedback the first parameter to the robot control device so that the robot control device can display the first parameter. In this way, for the user, he can trigger a parameter setting operation on the interaction interface of the robot control device according to the first parameter displayed by the robot control device, and set a second parameter for the first part. Thus, after the robot control device feeds back the control information carrying the second parameter to the robot, the robot can control the first part to perform actions according to the second parameter, realizing the debugging or teaching of the robot. It can be seen that the user can directly trigger a parameter setting operation on the interaction interface of the robot control device to conveniently debug or teach the robot, without writing the control code of the robot and without mastering professional knowledge such as programming languages, reducing the operation threshold for the user to debug or teach the robot, thereby reducing the control difficulty of the robot and improving the debugging efficiency and teaching efficiency.

[0153] In an embodiment of the present invention, the robot can respond to the request of the robot control device for the test data of the first part, and feedback the test data to the robot control device so that the robot control device can display the test data.

[0154] In this embodiment, the robot can feedback the test data of the first part to the robot control device so that the robot control device can display the test data, so that the user can quickly master whether the first part is in a normal working state according to the test data, so as to perform debugging in time when the first part fails, improving the debugging efficiency of the robot part.

[0155] It should be noted that in the solution provided by the embodiment of the present invention, the collection, storage, use, processing, transmission, provision and disclosure of the user's personal information are all executed on the premise of the user's knowledge and authorization, and comply with the provisions of relevant laws and regulations, and do not violate public order and good customs.

[0156] Corresponding to the above robot control method, an embodiment of the present invention provides a robot control device.

[0157] See Figure 6 , which is a schematic structural diagram of the first robot control device provided by the embodiment of the present invention. The above device is applied to a robot control device and includes the following modules:

[0158] A parameter request module 601, configured to respond to the activation of the first page, and request the robot for the first parameter currently set for its first part, where the first page is: a page in the interaction interface that is exclusively used for the first part to display parameter setting components;

[0159] A parameter display module 602 is configured to receive a first parameter fed back by the robot and display the first parameter on the first page;

[0160] A parameter setting module 603 is configured to obtain a second parameter set for the first part in response to a parameter setting operation based on the first parameter generated on the first page;

[0161] The control information sending module 604 is configured to send control information carrying the second parameter to the robot, so that the robot controls the first part to perform an action based on the second parameter carried in the control information.

[0162] As can be seen from the above, in the solution provided by the embodiment of the present invention, a page for setting parameters of various parts of the robot is displayed in the interactive interface of the robot control device, and a parameter setting component is displayed on the page. The user can trigger the parameter setting operation on the page to set parameters for the robot parts. Thus, the robot control device can send control information carrying the parameters set by the user to the robot, so that the robot controls the robot parts to perform actions based on the parameters carried in the control information, thereby realizing debugging or teaching the robot. In other words, the user can directly trigger the parameter setting operation on the page to conveniently debug or teach the robot, without having to write the robot's control code or master programming knowledge and other professional knowledge. It can be seen that the solution provided by the embodiment of the present invention can lower the operational threshold for users when debugging or teaching the robot, and reduce the difficulty of controlling the robot.

[0163] In addition, in the solution provided by the embodiment of the present invention, users can intuitively and quickly set the parameters of the parts by triggering the parameter setting operation on the interactive interface without writing complex code, which significantly improves the parameter setting efficiency, realizes rapid debugging and rapid teaching of the robot, and improves the debugging efficiency and teaching efficiency.

[0164] Furthermore, in the related art, since it takes a long time to write code, there is a long time interval between writing the code and inputting the code into the robot, that is, the delay from writing the code to the actual effectiveness of the parameters is high, so the real-time performance of robot debugging and teaching is poor; while the solution provided by the embodiment of the present invention is more efficient in setting parameters through the interface, and can quickly transmit the data required for debugging and teaching to the robot, so that settings can be taken effect at any time, thereby improving the real-time performance of robot debugging and teaching.

[0165] In one embodiment of the present invention, the device further comprises:

[0166] A template generation module, configured to store the first parameter currently set for the first part in response to an action save operation triggered on the first page; generate and store a parameter setting template bound to the stored first parameter.

[0167] It can be seen that the user can trigger an action save operation for the parameter currently set for the first part in a specific scenario based on actual needs, so that the robot control device can store the first parameter and bind the first parameter to the parameter setting template, that is, copy the part action in the specific scenario and record it as a template, so that when the user subsequently sets the parameter of the first part, it can be directly applied. In this way, the parameter setting efficiency of the first part is improved, and thus the control efficiency of the robot is improved.

[0168] In an embodiment of the present invention, the parameter setting component includes at least one of the following components: a visualization adjustment component, a parameter input component, and a template selection component; the parameter setting operation is one of the following operations: a touch operation on the visualization adjustment component, an operation of inputting a parameter in the parameter input component, and an operation of selecting a parameter setting template in the template selection component.

[0169] It can be seen that in the solution provided by the embodiment of the present invention, the robot control device provides a variety of parameter setting components for setting the parameters of the robot part, and the user can select a suitable parameter setting component according to actual needs to set the parameters of the robot part, improving the flexibility when setting parameters.

[0170] In an embodiment of the present invention, the parameter setting module 603 is specifically configured to, in response to a parameter setting operation completed based on the first parameter generated on the first page, in the case where the parameter setting operation includes the touch operation, in response to the touch operation being a drag operation, obtain a second parameter set for the first part based on the position of the visualization adjustment component after dragging, or, in response to the touch operation being a click operation, determine the parameter bound to the parameter setting component as the second parameter; in the case where the parameter setting operation includes the operation of inputting a parameter, in response to the input parameter being within the adjustable parameter range of the first part, use the input parameter as the second parameter, or, in response to the input parameter being outside the adjustable parameter range, determine the parameter closest to the input parameter within the adjustable parameter range as the second parameter, and display a first prompt message indicating that the parameter of the first part exceeds the adjustable range.

[0171] In this embodiment, the parameter setting component includes a visualization adjustment component. The user can conveniently set the parameters of the robot part by directly using touch operations such as dragging and clicking on the visualization adjustment component, that is, the parameter setting can be achieved through graphical interaction without any parameter input or code writing operations, further reducing the difficulty of parameter setting and improving the parameter setting efficiency. Moreover, the parameter setting component includes a parameter input component. When the input parameter is outside the adjustable parameter range, the second parameter closest to the user input parameter is selected from the adjustable parameter range, so that while the second parameter is as close as possible to the user input parameter, it is ensured that it does not exceed the adjustable range, reducing the probability of part failure caused by the second parameter exceeding the adjustable range and improving the reliability of the robot operation.

[0172] In one embodiment of the present invention, the parameter setting module 603 is specifically configured to, in response to a parameter setting operation completed based on the first parameter generated on the first page, if the parameter setting operation is a set reset operation, determine the second parameter set for the first part as the parameter for controlling the first part to return to the default position, and display a second prompt message indicating that the first part is about to return to the default position.

[0173] In this way, when the first part of the robot needs to reset the part state due to a failure or the like, the user can conveniently control the first part to return to the default position by triggering a reset operation on the first page, improving the robustness of the solution.

[0174] In one embodiment of the present invention, the device further includes:

[0175] A test request sending module, configured to, in response to a test operation triggered on the interaction interface, request the test data of the first part from the robot, where the test data characterizes whether the first part is in a normal working state after being set with the second parameter;

[0176] A test data receiving module, configured to receive the test data fed back by the robot and display the test data in the interaction interface.

[0177] In this embodiment, the robot control device provides a test data display function. When the user triggers a test operation for the first part, the test data of the first part can be displayed on the interaction interface, so that the user can quickly master whether the first part is in a normal working state according to the test data, so as to perform debugging in time when the first part fails, realizing quick positioning and testing of the robot part failure and improving the debugging efficiency of the robot part.

[0178] In one embodiment of the present invention, if the first part includes a joint of the robot, the target parameters include: the rotation angle and / or rotation speed of the joint;

[0179] If the first part includes a moving mechanism of the robot, the target parameters include: the moving direction and / or rotation angle of the moving mechanism;

[0180] If the first part includes an end effector of the robot, the target parameters include: the type of action performed by the end effector;

[0181] Wherein, the target parameter is: the first parameter and / or the second parameter.

[0182] It can be seen that for various types of robot parts, different types of multiple parameters can be set for them through the solution provided by the embodiment of the present invention, so that the robot parts can perform various actions based on the set parameters, improving the flexibility of the solution.

[0183] See Figure 7 , which is a schematic structural diagram of a second robot control device provided by an embodiment of the present invention. The above device is applied to a robot and includes the following modules:

[0184] A parameter feedback module 701, configured to respond to a request from a robot control device for the first parameter currently set for the first part of the robot, and feedback the first parameter to the robot control device, so that the robot control device displays the first parameter;

[0185] A control information receiving module 702, configured to receive the control information of the first part sent by the robot control device;

[0186] An action control module 703, configured to control the first part to perform an action based on the second parameter carried in the control information, where the second parameter is: a parameter set by a parameter setting operation triggered on the interaction interface of the robot control device.

[0187] As can be seen from the above, in the solution provided by the embodiment of the present invention, the robot can respond to the request of the robot control device for the first parameter currently set for the first part, and feedback the first parameter to the robot control device, so that the robot control device can display the first parameter. In this way, for the user, he can trigger a parameter setting operation on the interaction interface of the robot control device according to the first parameter displayed by the robot control device, and set a second parameter for the first part. Thus, after the robot control device feeds back the control information carrying the second parameter to the robot, the robot can control the first part to perform an action according to the second parameter, realizing the debugging or teaching of the robot. It can be seen that the user can directly trigger a parameter setting operation on the interaction interface of the robot control device to conveniently debug or teach the robot, without writing the control code of the robot and without mastering professional knowledge such as programming languages, reducing the operation threshold for the user to debug or teach the robot, thereby reducing the control difficulty of the robot and improving the debugging efficiency and teaching efficiency.

[0188] In one embodiment of the present invention, the device further includes:

[0189] A test data feedback module, configured to respond to a request from the robot control device for test data of the first part, and feedback the test data to the robot control device, so that the robot control device can display the test data.

[0190] In this embodiment, the robot can feedback the test data of the first part to the robot control device, so that the robot control device can display the test data, so that the user can quickly grasp whether the first part is in a normal working state according to the test data, so as to perform debugging in time when the first part fails, improving the debugging efficiency of the robot part.

[0191] The embodiment of the present invention also provides an electronic device. The above electronic device can be the robot control device in the foregoing text, or the robot in the foregoing text. For example Figure 8 As shown, it includes a processor 801, a communication interface 802, a memory 803, and a communication bus 804. Among them, the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804.

[0192] The memory 803 is used to store a computer program;

[0193] The processor 801 is configured to implement the foregoing robot control method applied to the robot control device or the robot control method applied to the robot when executing the program stored in the memory 803.

[0194] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, only a thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0195] The communication interface is used for communication between the above-mentioned electronic device or robot and other devices.

[0196] The memory can include a Random Access Memory (RAM), and can also include a Non-Volatile Memory (NVM), such as at least one disk memory. Optionally, the memory can also be at least one storage device located far from the aforementioned processor.

[0197] The above-mentioned processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0198] In another embodiment provided by the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the robot control method applied to the robot control device or the robot is implemented.

[0199] In another embodiment provided by the present invention, there is also provided a computer program product containing instructions, which when running on a computer, causes the computer to execute the robot control method applied to the robot control device or the robot.

[0200] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)).

[0201] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method, article, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article, or device that includes the element.

[0202] Each embodiment in this specification is described in a related manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the device, robot, storage medium, and program product, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiments.

[0203] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A robot control method, characterized in that, Applied to a robot control device, the method includes: In response to the activation of a first page, request the robot for a first parameter currently set for its first part, where the first page is a page exclusive to the first part in the interaction interface for displaying a parameter setting component; Receive the first parameter fed back by the robot and display the first parameter on the first page; In response to a parameter setting operation completed based on the first parameter generated on the first page, obtain a second parameter set for the first part; Send control information carrying the second parameter to the robot, so that the robot controls the first part to perform an action based on the second parameter carried in the control information.

2. The method according to claim 1, wherein: The method further includes: in response to an action saving operation triggered on the first page, storing the first parameter currently set for the first part; generating and storing a parameter setting template bound to the stored first parameter; And / or, The parameter setting component includes at least one of the following components: a visualization adjustment component, a parameter input component, a template selection component; the parameter setting operation is one of the following operations: a touch operation on the visualization adjustment component, an operation of inputting a parameter in the parameter input component, an operation of selecting a parameter setting template in the template selection component.

3. The method according to claim 2, characterized in that, The obtaining of the second parameter set for the first part includes at least one of the following: When the parameter setting operation includes the touch operation, in response to the touch operation being a drag operation, obtain the second parameter set for the first part based on the position of the visualization adjustment component after dragging, or, in response to the touch operation being a click operation, determine the parameter bound to the parameter setting component as the second parameter; When the parameter setting operation includes the operation of inputting a parameter, in response to the input parameter being within the adjustable parameter range of the first part, use the input parameter as the second parameter, or, in response to the input parameter being outside the adjustable parameter range, determine the parameter closest to the input parameter within the adjustable parameter range as the second parameter, and display a first prompt message indicating that the parameter of the first part exceeds the adjustable range.

4. The method according to any one of claims 1 to 3, characterized in that The obtaining of the second parameter set for the first part includes: If the parameter setting operation is a set reset operation, determine the second parameter set for the first part as a parameter for controlling the first part to return to the default position, and display a second prompt message indicating that the first part is about to return to the default position.

5. The method according to any one of claims 1 to 4, characterized in that The method further includes: In response to a test operation triggered on the interaction interface, request the robot for test data of the first part, where the test data characterizes whether the first part is in a normal working state after being set with the second parameter; Receive the test data fed back by the robot and display the test data in the interaction interface.

6. The method according to any one of claims 1 to 4, wherein: If the first part includes a joint of the robot, the target parameter includes: the rotation angle and / or rotation speed of the joint; If the first part includes a moving mechanism of the robot, the target parameter includes: the moving direction and / or rotation angle of the moving mechanism; If the first part includes an end effector of the robot, the target parameter includes: the type of action performed by the end effector; Wherein, the target parameter is: the first parameter and / or the second parameter.

7. A robot control method, characterized in that Applied to a robot, the method includes: In response to a request from a robot control device for the first parameter currently set for the first part of the robot, feedback the first parameter to the robot control device so that the robot control device can display the first parameter; Receive the control information of the first part sent by the robot control device; Based on the second parameter carried in the control information, control the first part to perform an action, where the second parameter is: the parameter set by a parameter setting operation triggered on the interaction interface of the robot control device.

8. A robot control device, characterized in that, Applied to a robot control device, the device includes: A parameter request module, configured to, in response to the activation of a first page, request the robot for the first parameter currently set for its first part, where the first page is: a page in the interaction interface dedicated to the first part for displaying parameter setting components; A parameter display module, configured to receive the first parameter fed back by the robot and display the first parameter in the first page; A parameter setting module, configured to, in response to a parameter setting operation completed based on the first parameter generated on the first page, obtain the second parameter set for the first part; A control information sending module, configured to send control information carrying the second parameter to the robot so that the robot controls the first part to perform an action based on the second parameter carried in the control information.

9. A robot control device, characterized in that, Applied to a robot, the device includes: A parameter feedback module, configured to, in response to a request from a robot control device for the first parameter currently set for the first part of the robot, feedback the first parameter to the robot control device so that the robot control device can display the first parameter; A control information receiving module, configured to receive the control information of the first part sent by the robot control device; An action control module, configured to, based on the second parameter carried in the control information, control the first part to perform an action, where the second parameter is: the parameter set by a parameter setting operation triggered on the interaction interface of the robot control device.

10. An electronic device, characterized in that, Comprising a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; The memory is used for storing a computer program; The processor, when executing the program stored on the memory, implements the method steps of any one of claims 1 to 6 or 7.

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