Control method and system of intelligent robot with body

Abstract

The invention relates to a control method and system for an intelligent robot with a body, and relates to the technical field of robots. Responding to the driving parameter to generate an action track; when the actual track is inconsistent with the action track, obtaining an abnormal position and an auxiliary direction through the action track and the actual track; collecting image detection information and a historical track of the abnormal position; when the image detection information does not contain the preset rusting feature, responding to the historical track to generate auxiliary force; and an auxiliary device preset on the intelligent robot with the body is controlled to run in the abnormal position, the auxiliary force and the auxiliary direction. The method has the effect of improving the operation efficiency of the intelligent robot with the body.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a control method and system for embodied intelligent robots. Background Art

[0002] An embodied intelligent robot is an artificial intelligence robot that integrates artificial intelligence into physical entities, enabling it to have autonomous perception and learning.

[0003] When an embodied intelligent robot is in operation, it receives commands from humans, perceives and interprets information about its surroundings, and makes decisions based on it. It then uses its body movements to execute corresponding actions to fulfill the commands. While the embodied intelligent robot is in operation, regular checks on the status of its devices are necessary to facilitate its continued use.

[0004] When the embodied intelligent robot is running, due to negligence in human inspection of the embodied intelligent robot, the embodied intelligent robot may have abnormalities such as rust, which may cause the embodied intelligent robot to be unable to continue to perform its work, thereby reducing the operating efficiency of the embodied intelligent robot. Summary of the Invention

[0005] In order to improve the operating efficiency of an embodied intelligent robot, the present invention provides a control method and system for the embodied intelligent robot.

[0006] In a first aspect, the present invention provides a control method for an embodied intelligent robot, which adopts the following technical solution: A control method for an embodied intelligent robot, comprising: S1: Collect driving parameters and actual trajectory; S2: generating an action trajectory in response to the driving parameter; S3: when the actual trajectory is inconsistent with the action trajectory, obtaining an abnormal position and an auxiliary direction through the action trajectory and the actual trajectory; S4: Collecting image detection information and historical trajectory of the abnormal location; S5: When the image detection information does not include a preset rust feature, generating an auxiliary force in response to the historical trajectory; S6: Controlling the auxiliary device preset in the embodied intelligent robot to operate at the abnormal position, the auxiliary force and the auxiliary direction.

[0007] By adopting the above technical solution, the abnormal position and auxiliary direction can be known by comparing the actual trajectory with the action trajectory, and the auxiliary force can be obtained based on the historical trajectory, and the operation of the auxiliary device can be controlled, so that the stuck mechanical parts can be restored to facilitate the continued operation of the embodied intelligent robot. While improving the operating efficiency of the embodied intelligent robot, the time for manual repair of the embodied intelligent robot is reduced.

[0008] Optionally, the method before controlling the auxiliary device to operate includes: S60: Responding to the abnormal position to obtain a detection position; S61: When the auxiliary force is greater than the preset adsorption force, calculating the difference between the auxiliary force and the adsorption force as a supplementary force; S62: Retrieving a detection material in response to the detection position; S63: Obtaining a detection friction coefficient in response to the detection material and a preset thin wire material; S64: Obtaining the number of winding turns in response to the supplementary force and the detected friction coefficient; S65: Control the auxiliary device to operate according to the abnormal position, the detection position, the number of winding turns, and the adsorption force.

[0009] Optionally, the method for controlling the operation of the auxiliary device includes: S650: Obtaining a thin line emission position in response to the detected position and the auxiliary direction; S651: Collecting the real-time auxiliary position of the auxiliary device; S652: Obtaining a transmission path in response to the real-time auxiliary position and the thin line transmission position; S653: Control the auxiliary device to operate along the transmission path and update the real-time auxiliary position; S654: When the real-time auxiliary position coincides with the thin wire launching position, obtaining thin wire winding parameters in response to the auxiliary force and the abnormal position; S655: controlling the auxiliary device to operate according to the thin wire winding parameters and collecting detection image information of the detection position; S656: Obtaining the number of detection circles by using the detection image information and the preset thin line features; S657: When the number of detection turns is consistent with the number of winding turns, the auxiliary device is controlled to operate with the auxiliary force and the adsorption force.

[0010] By adopting the above technical solution, the auxiliary device is controlled to be located at the thin wire launching position to launch the thin wire to the detection position and wind it. When the thin wire is wound, the auxiliary device is controlled to tighten it with auxiliary force, so that the stuck mechanical parts can be restored and the operating efficiency of the embodied intelligent robot can be improved.

[0011] Optionally, the method for obtaining the thin line emission position includes: S6501: Responding to the detected position to obtain an abnormal direction; S6502: generating a detection throwing range in response to the abnormal direction and the auxiliary direction; S6503: Collect track position; S6504: When the detection throwing range includes the track position, generating a marked track position in response to the detection throwing range, the track position and the abnormal direction; S6505: Calculate the distance between the marker track position and the detection position as a marker detection distance; S6506: The mark track position of the shortest mark detection distance is used as the fine line emission position.

[0012] Optionally, the method for obtaining the thin line emission position further includes: S65041: When the detection throwing range does not include the track position, responding to the abnormal position and the track position to obtain a moving track position; S65042: Obtaining a moving angle in response to the moving track position and the detected ejection range; S65043: Using the moving track position with the minimum moving angle as the thin line emission position; S65044: Responding to the thin line emission position and the movement angle to obtain the target joint, and controlling the target joint to operate at the movement angle.

[0013] Optionally, the method for controlling the auxiliary device to operate with the fine wire winding parameters includes: S6550: Obtaining a thin line throwing distance and a deviation angle in response to the thin line launching position and the detection position; S6551: Obtaining a marking length in response to the line throwing distance and the number of winding turns; S6552: Obtaining a throwing angle and a throwing force in response to the mark length and the offset angle; S6553: In response to the number of winding turns to obtain a marker tightening force, the marker tightening force, the throwing angle, and the throwing force are defined as the thin line winding parameters; S6554: Control the auxiliary device to operate at the throwing angle and the throwing force to collect the end position; S6555: When the end position exceeds the detection position, control the auxiliary device to tighten with the marked tightening force.

[0014] Optionally, also include: S65500: When the auxiliary force is greater than a preset tightening threshold, calculating a difference between the auxiliary force and the tightening threshold as a force deviation value; S65501: Responding to the abnormal position and the thin line emission position to obtain an interval joint; S65502: Responding to the distance between the interval joint and the thin line to obtain the interval change distance; S65503: Use the interval joint with the largest interval change distance as an auxiliary joint; S65504: Respond to the auxiliary direction to obtain the marked moving direction, and control the auxiliary joint to operate in the marked moving direction and the force deviation value.

[0015] By adopting the above technical solution, auxiliary joints are selected to mark the movement direction and force deviation value to help the auxiliary device process abnormal positions, thereby further helping to restore stuck mechanical parts.

[0016] Optionally, also include: S40: generating a marking action trajectory in response to the auxiliary direction; S41: Controlling the embodied intelligent robot to output the abnormal position and the marked motion trajectory, and updating the actual trajectory; S42: when the actual trajectory is consistent with the marked motion trajectory, obtaining a display angle in response to the historical trajectory and the marked motion trajectory, and updating the image detection information in response to the display angle; S43: Obtaining a mark output position in response to the display angle and the track position; S44: Obtaining a mark output length in response to the mark output position and the display angle; S45: controlling the auxiliary device to operate at the mark output position and the mark length, and updating the detection image information; S46: Obtaining the detection tip position through the image detection information and the preset tip features; S47: Obtaining marking polishing parameters in response to the image detection information and preset rust characteristics; S48: When the detection end is located at the abnormal position, the auxiliary device is controlled to operate with the adsorption force and the mark polishing parameters.

[0017] Optionally, the method for determining the mark polishing parameters includes: S470: Obtaining a rust range in response to the image detection information and the rust characteristics; S471: Responding to the rust range and the auxiliary force to obtain a marked rust range; S472: Obtaining a marking polishing path in response to the marked rust range, the detection end position, and the track position; S473: Obtaining a mark grinding force in response to the auxiliary force and the mark grinding path; S474: Using the mark polishing force and the mark polishing path as the mark polishing parameters.

[0018] In a second aspect, the present application provides a control system for an embodied intelligent robot, which adopts the following technical solutions: A control system for an embodied intelligent robot, comprising: The acquisition module is used to obtain driving parameters, actual trajectory, image detection information and historical trajectory; a memory for storing a program for a control method of the embodied intelligent robot; The processor is configured to load and execute the program stored in the memory.

[0019] In summary, this application includes at least one of the following beneficial technical effects: 1. By controlling the auxiliary device to operate in an abnormal position, auxiliary direction, and auxiliary force, it is possible to restore stuck mechanical parts to facilitate the continued operation of the embodied intelligent robot, while improving the operating efficiency of the embodied intelligent robot and reducing the time required for manual repair of the embodied intelligent robot; 2. By controlling the auxiliary device to be located at the wire launching position to launch the wire towards the detection position and wind it, and controlling the auxiliary device to tighten the wire with auxiliary force when the wire is wound, the stuck mechanical parts can be restored, thereby improving the operating efficiency of the embodied intelligent robot; 3. By selecting auxiliary joints to mark the movement direction and force deviation value, the auxiliary device can be helped to handle abnormal positions, thereby further helping to recover stuck mechanical parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a method flow chart of a control method of an embodied intelligent robot according to an embodiment of the present invention; Figure 21 is a schematic diagram of the auxiliary device according to an embodiment of the present invention during operation.

[0021] The names of the parts indicated by the numerical labels in the above drawings are as follows: 1. Auxiliary device; 2. Wire drum; 3. Thin wire; 4. Adsorption device; 5. Track; 6. Auxiliary joint. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0023] Reference Figure 1 and Figure 2 , the embodiment of the present application discloses a control method for an embodied intelligent robot, comprising the following steps: S1: Collect driving parameters and actual trajectory.

[0024] Driving parameters are the parameters used to drive the embodied intelligent robot, which can be pre-entered by the operator. Driving parameters can be a program entered by the operator or voice-activated.

[0025] The actual trajectory refers to the trajectory of the embodied intelligent robot during actual operation. The actual trajectory is the trajectory generated by each position sensor on the embodied intelligent robot when the position changes.

[0026] S2: generating an action trajectory in response to the driving parameters.

[0027] The motion trajectory refers to the trajectory of the embodied intelligent robot driven by the user. The motion trajectory is obtained by analyzing the driving parameters. The analysis method of the motion trajectory is common knowledge to those skilled in the art and will not be described in detail here.

[0028] S3: When the actual trajectory is inconsistent with the action trajectory, the abnormal position and auxiliary direction are obtained through the action trajectory and the actual trajectory.

[0029] The abnormal position refers to the position where the driving abnormality occurs on the embodied intelligent robot. When the actual trajectory is inconsistent with the action trajectory, it indicates that there is an abnormality in the embodied intelligent robot. By comparing the positions of the actual trajectory and the action trajectory, the inconsistent position points are marked as abnormal positions, and the joint positions of the machinery driven by each marked abnormal position are regarded as abnormal positions.

[0030] The auxiliary direction refers to the direction in which the mechanical joint in the abnormal position needs to move. The position point on the motion trajectory is used as a reference, and the direction of the straight line between the abnormal position and the position point is used as the auxiliary direction.

[0031] The mechanical joint is a device that controls the angle and direction changes of the robotic arm. The mechanical joint can be a universal joint, etc.

[0032] S4: Collect image detection information and historical trajectory of abnormal locations.

[0033] Image detection information is the image of the mechanical joint in an abnormal position captured by the camera. The historical trajectory refers to the trajectory of the historical angle changes of the mechanical joint in S3, which can be retrieved from the system.

[0034] S5: When the image detection information does not include the preset rust feature, generate auxiliary force in response to the historical trajectory.

[0035] The rust feature is the color feature of rust that appears on the embodied intelligent robot set by the technicians.

[0036] Auxiliary force refers to the force required to assist the mechanical joint to recover from a stuck state. When the image detection information does not contain rust features, it means that rust has appeared inside the mechanical joint, causing the mechanical joint to be stuck. By analyzing various angles of the historical trajectory, the range that is not exposed to the air in the historical trajectory is used as the rust detection range. The preset rust comparison table is searched through the rust detection range to obtain the auxiliary force.

[0037] The analytical method for detecting rust range is well known to those skilled in the art and will not be elaborated upon here. A rust comparison table stores the corresponding auxiliary strengths for different rust ranges. For a constant rust level, the greater the rust range, the greater the auxiliary strength. The parameters in the rust comparison table are pre-determined by those skilled in the art based on actual experimental conditions and will not be elaborated upon here.

[0038] S6: Control the auxiliary device 1 preset in the embodied intelligent robot to operate in an abnormal position, auxiliary force and auxiliary direction.

[0039] The auxiliary device 1 is a small auxiliary vehicle installed outside the embodied intelligent robot. It contains a wire reel 2, a thin wire 3, a suction device 4 connected to the thin wire 3, and an air gun for firing the suction device 4. The suction device 4 is an electromagnetic plate. The thin wire 3 is wrapped with an electric wire used to control the opening and closing of the suction device 4. The thin wire 3 is made of carbon fiber.

[0040] The embodied intelligent robot is equipped with a C-shaped track 5 for the auxiliary vehicle to change its position. The track 5 is used to secure the auxiliary vehicle's tires, allowing the vehicle to move on the embodied intelligent robot without falling. Gaps are provided between the track 5 to facilitate the movement of the robotic arms. A telescopic rod is installed between the auxiliary vehicle's tires and the body of the vehicle to adjust the vehicle's launch line 3. The telescopic rod is controlled by an air pump pre-installed in the body of the vehicle.

[0041] The auxiliary device 1 can push the robot arm through the vehicle body according to the position of the track 5 or wrap the thin wire 3 around the robot arm and control the wire drum 2 to pull the robot arm to restore the stuck mechanical joint.

[0042] The method before controlling the auxiliary device 1 to operate includes: S60: Responding to the abnormal position to obtain a detection position.

[0043] The detection position refers to the position where the adsorption device 4 adsorbs or winds the thin wire 3, and the position on the robot arm corresponding to the abnormal position is used as the detection position.

[0044] S61: When the auxiliary force is greater than the preset adsorption force, the difference between the auxiliary force and the adsorption force is calculated as the supplementary force.

[0045] The adsorption force is the maximum adsorption force of the adsorption device 4, pre-set by the technician. There are two types of adsorption force: the magnetic force of the adsorption device 4 and the frictional force caused by the translation of the adsorption device 4 at the detection position. When the thin wire 3 is to be wound, the adsorption force is the translational frictional force.

[0046] The supplementary force refers to the additional force required to directly adsorb the robotic arm for pulling. When the auxiliary force is greater than the adsorption force, it means that it is not easy to reset the robotic arm by directly adsorbing the robotic arm for pulling. In this case, the difference between the auxiliary force and the adsorption force is calculated as the supplementary force.

[0047] S62: Retrieve a detection material in response to the detection position.

[0048] The detection material refers to the material outside the robot arm at the detection position. The detection material is retrieved by analyzing the detection position. The method of retrieving the detection material is common knowledge among those skilled in the art and will not be described in detail here.

[0049] S63: Obtaining a detection friction coefficient in response to the detection material and the preset thin line material.

[0050] The fine wire material is the material of fine wire 3 determined by the technician. The fine wire material is carbon fiber. The test friction coefficient refers to the friction coefficient between fine wire 3 and the test position. The test friction coefficient is obtained by analyzing the test material and the fine wire material. The analysis method for the test friction coefficient is common knowledge to those skilled in the art and will not be detailed here.

[0051] S64: Responding to the supplementary force and detecting the friction coefficient to obtain the number of winding turns.

[0052] The number of windings refers to the number of turns required by the auxiliary device 1 to pull the thin wire 3 to the detection position. The number of windings is determined by analyzing the supplementary force and the detection friction coefficient. The greater the supplementary force, the greater the number of windings. The method for analyzing the number of windings is common knowledge among those skilled in the art and will not be detailed here.

[0053] S65: The auxiliary device 1 is controlled to operate according to the abnormal position, the detection position, the number of winding turns and the adsorption force.

[0054] The operation of the auxiliary device 1 is controlled by analyzing the abnormal position, detection position, number of winding turns and adsorption strength, so that the thin wire 3 is wound to the detection position and tightened and pulled to restore the stuck mechanical joint.

[0055] The method for controlling the operation of the auxiliary device 1 includes: S650: Responding to the detected position and the auxiliary direction to obtain the thin line emission position.

[0056] The thin line emission position refers to the position where the auxiliary device 1 emits the thin line 3 to the detection position, and the thin line emission position is obtained by analyzing the detection position and the auxiliary direction.

[0057] S651: Collect the real-time auxiliary position of the auxiliary device 1.

[0058] The real-time auxiliary position refers to the real-time position of the auxiliary device 1 on the embodied intelligent robot, and the position parameters detected by the position sensor can be used as the real-time auxiliary position.

[0059] S652: Responding to the real-time auxiliary position and the thin line transmission position to obtain a transmission path.

[0060] The launch path refers to the position of the nearest track 5 from the real-time auxiliary position to the thin-line launch position. By analyzing the real-time auxiliary position, the thin-line launch position, and the track 5 set on the embodied intelligent robot, the track 5 path with the shortest distance between the real-time auxiliary position and the thin-line launch position is used as the launch path. The analysis method of the launch path is common knowledge among those skilled in the art and will not be elaborated here. In this embodiment, when the auxiliary trolley moves between the various robotic arms, it is necessary to control the robotic arms to move so that the track 5 is aligned to facilitate the passage of the auxiliary trolley.

[0061] S653: Control the auxiliary device 1 to run along the transmission path and update the real-time auxiliary position.

[0062] The auxiliary device 1 is controlled to run in the transmission path and reacquire the real-time auxiliary position.

[0063] S654: When the real-time auxiliary position coincides with the thin line launching position, the thin line winding parameters are obtained in response to the auxiliary force and the abnormal position.

[0064] The thin wire winding parameters refer to the control parameters used to control the auxiliary device 1 to launch the thin wire 3 to wind it to the detection position. When the real-time auxiliary position coincides with the thin wire launching position, it means that the auxiliary device 1 is able to launch the thin wire 3 to the detection position for winding. The thin wire winding parameters are obtained by analyzing the auxiliary force and the abnormal position.

[0065] S655: Control the auxiliary device 1 to operate with the thin wire winding parameters and collect detection image information of the detection position.

[0066] The detection image information refers to an image of the detection position. The auxiliary device 1 is controlled to operate with the fine wire winding parameters, and the image of the detection position is captured by the camera on the auxiliary device 1 as the detection image information.

[0067] S656: Obtain the number of detection circles by detecting image information and preset fine line features.

[0068] The thin line features are the shape and color characteristics of the thin line 3 on the auxiliary device 1, as set by the technician. The number of detection turns refers to the number of turns of the thin line 3 wrapped around the detection position. The number of thin line features at the detection position is selected from the detection image information and this number is used as the detection turn number.

[0069] S657: When the number of detected turns is consistent with the number of winding turns, the auxiliary device 1 is controlled to operate with the auxiliary force and the adsorption force.

[0070] When the number of detection turns is consistent with the number of winding turns, it means that the winding of the thin wire 3 is completed, and the auxiliary device 1 is controlled to operate with the auxiliary force and the adsorption force, so that the thin wire 3 can be fixed to the detection position and tightened and pulled.

[0071] Methods for obtaining the thin line emission position include: S6501: Respond to the detected position to obtain an abnormal direction.

[0072] The abnormal direction refers to the axial direction of the robotic arm corresponding to the detection position. The abnormal direction is obtained by analyzing the detection position. The analysis method of the abnormal direction is common knowledge to those skilled in the art and will not be elaborated here.

[0073] S6502: Respond to the abnormal direction and the auxiliary direction to generate a detection throwing range.

[0074] The detection throwing range refers to the range formed by the position where the thin wire 3 can be thrown. The circumferential range formed with the abnormal direction as the axis is used as the marking range, and the auxiliary direction is used as the normal direction. Half of the range centered on the normal direction in the marking range is used as the detection throwing range.

[0075] S6503: Collect track position.

[0076] The track position refers to each position point of the track 5 on the embodied intelligent robot, which can be obtained through pre-input by the operator.

[0077] S6504: When the detected throwing range includes the track position, generate a marked track position in response to the detected throwing range, the track position and the abnormal direction.

[0078] The marked track position refers to the track position corresponding to the auxiliary device 1 being able to launch the thin wire 3 and the thin wire 3 being perpendicular to the abnormal direction. When the detection throwing range includes the track position, it indicates that there is a track position that can control the auxiliary vehicle to launch the thin wire 3 without changing the current posture of the embodied intelligent robot. The track position that enables the auxiliary device 1 to launch the thin wire 3 perpendicular to the abnormal direction is retrieved from the track position as the detection track position, and the detection track position within the detection throwing range is used as the marked track position.

[0079] S6505: Calculate the distance between the marker track position and the detection position as the marker detection distance.

[0080] The mark detection distance refers to the straight-line distance between the mark track position and the detection position. The distance between the mark track position and the detection position is calculated as the mark detection distance.

[0081] S6506: The mark track position with the shortest mark detection distance is used as the thin line emission position.

[0082] The marker track position with the shortest marker detection distance is used as the thin line emission position.

[0083] Methods for obtaining the thin line emission position also include: S65041: When the detection throwing range does not include the track position, respond to the abnormal position and the track position to obtain the moving track position.

[0084] A mobile track position refers to a track position that can be satisfied by the movement of the embodied intelligent robot to satisfy the detection track position in S6504. For example, if the embodied intelligent robot's mechanical arm is in an abnormal orientation, the mechanical joint controlling the elbow bends so that the mechanical arm is parallel to the mechanical chest of the embodied intelligent robot. All track positions on the mechanical chest are mobile track positions.

[0085] If the embodied intelligent robot is controlled to squat, at this time, there is still no track position that meets the detection track position in S6504, then the driving method does not have a moving track position.

[0086] If the thigh of the embodied intelligent robot is stretched out and parallel to the mechanical forearm and the axis coincides with the Z-axis direction, then the track positions on the mechanical thigh are all moving track positions.

[0087] When the detection throwing range does not include the track position, it means that there is no track position that can control the auxiliary car to launch the thin line 3 without changing the current posture of the embodied intelligent robot. The abnormal position and the track position are analyzed to obtain the moving track position.

[0088] S65042: Responding to the moving track position and detecting the throwing range to obtain the moving angle.

[0089] The movement angle is the angle required to produce a moving track position within the detection throw range. The movement angle is calculated by analyzing the moving track position and the detection throw range. For example, referring to S65041, the track position of the mechanical chest cavity is formed by changing the angle of the elbow mechanical joint. The angle of the elbow mechanical joint is the movement angle.

[0090] S65043: The moving track position with the minimum moving angle is used as the thin line launch position.

[0091] The moving track position with the minimum moving angle is used as the thin line emission position.

[0092] S65044: Respond to the line emission position and the moving angle to obtain the target joint, and control the target joint to operate at the moving angle.

[0093] The target joint is the mechanical joint that forms the movement track. For example, the elbow joint in the S65041 is the target joint. The target joint is determined by analyzing the line launch position and the movement angle, and the target joint is controlled to move at the movement angle.

[0094] The method of controlling the auxiliary device 1 to operate with the fine wire winding parameters includes: S6550: Responding to the line launch position and the detection position to obtain the line casting distance and the offset angle.

[0095] The line casting distance is the straight-line distance between the line's launch position and the detection position. This distance is calculated as the line casting distance. The offset angle is the angle between the line corresponding to the line casting distance and the horizontal line. The offset angle is calculated by analyzing the angle between the line casting distance and the horizontal line based on the line's launch position. Methods for analyzing the offset angle are common knowledge among those skilled in the art and will not be elaborated upon here.

[0096] S6551: Response to the distance the thin line is thrown and the number of winding turns to obtain the marking length.

[0097] The mark length is the length of the thin wire 3 to be launched. This length is determined by matching the wire's throw distance, the number of windings, and the circumferential length of the robotic arm, as determined by the detection position, with the winding comparison table. The product of the number of windings and the circumferential length is calculated, and the sum of this product and the wire's throw distance is calculated. The mark length is greater than this sum.

[0098] The winding comparison table also stores different thin wire throwing distances and winding numbers as well as the mark length corresponding to the circumferential length of the robotic arm called at the detection position. The greater the number of winding circles, the longer the mark length.

[0099] S6552: Responding to the mark length and the offset angle to obtain the throwing angle and throwing force.

[0100] The throwing angle refers to the angle at which the auxiliary device 1 launches the fine wire 3, and the throwing force refers to the force with which the auxiliary device 1 launches the fine wire 3. The throwing angle and throwing force are matched from a preset throwing comparison table using the marker length and offset angle. The throwing comparison table stores the throwing angles and throwing forces corresponding to different marker lengths and offset angles. The parameters in the throwing comparison table are pre-determined by those skilled in the art based on actual experimental conditions and are not further described here.

[0101] S6553: In response to the number of winding turns to obtain the marker tightening force, the marker tightening force, the throwing angle and the throwing force are defined as the thin line winding parameters.

[0102] The marking tightening force refers to the force required to tighten the auxiliary device 1. This force is matched to the number of windings from the throw comparison table. The throw comparison table stores the marking tightening forces corresponding to different numbers of windings. A greater number of windings indicates a greater marking tightening force. This is not detailed here. The marking tightening force, throw angle, and throw force are defined as the fine wire winding parameters.

[0103] S6554: Control the auxiliary device 1 to operate with the throwing angle and throwing force, and collect the end position.

[0104] The end position refers to the position of the adsorption device 4 after being launched. The auxiliary device 1 is controlled to operate at a throwing angle and a throwing force, and the position point detected by the position sensor of the adsorption device 4 is used as the end position.

[0105] S6555: When the end position exceeds the detection position, the auxiliary device 1 is controlled to tighten with the marked tightening force.

[0106] When the end position exceeds the detection position, it indicates that the auxiliary device 1 can be controlled to tighten with the marked tightening force (similar to the action of winding a climbing rope around a pole or throwing a line to hang on a pole).

[0107] Also includes: S65500: When the auxiliary force is greater than a preset tightening threshold, a difference between the auxiliary force and the tightening threshold is calculated as a force deviation value.

[0108] The tightening threshold is the maximum force set by the technician at which the wire drum 2 of the auxiliary device 1 can tighten the thin wire 3. The force deviation value is the difference between the auxiliary force and the tightening threshold. When the auxiliary force is greater than the tightening threshold, it indicates that the auxiliary device 1 is having difficulty recovering a stuck mechanical joint. The difference between the auxiliary force and the tightening threshold is calculated as the force deviation value.

[0109] S65501: Respond to abnormal position and fine line emission position to obtain spaced joints.

[0110] The interval joint refers to the mechanical joint between the abnormal position and the thin line emission position. The interval joint is obtained by analyzing the abnormal position and the thin line emission position. For example, in S65041, if the thin line emission position is located in the mechanical chest cavity, the mechanical joint at the elbow position and the mechanical joint at the shoulder position are the interval joints.

[0111] S65502: Responding to the interval joint and the thin line throwing distance to obtain the interval change distance.

[0112] The interval change distance refers to the change in the thin line throwing distance when the interval joint runs in the opposite direction of the auxiliary direction at a unit angle. The interval change distance is obtained by analyzing the interval joint and the thin line throwing distance. The analysis method of the interval change distance is common knowledge among technicians in this field and will not be elaborated here.

[0113] S65503: The interval joint with the largest interval change distance is used as auxiliary joint 6.

[0114] The auxiliary joint 6 refers to a spacer joint of a mechanical joint used to help the auxiliary device 1 recover an abnormal position, and the spacer joint with the largest spacer change distance is used as the auxiliary joint 6.

[0115] S65504: Respond to the auxiliary direction to obtain the marked moving direction, and control the auxiliary joint 6 to operate with the marked moving direction and the force deviation value.

[0116] The marked moving direction refers to the direction in which the auxiliary joint 6 needs to move when the abnormal position moves in the opposite direction of the auxiliary direction. The marked moving direction is obtained by analyzing the auxiliary direction. The analysis method of the marked moving direction is common knowledge to those skilled in the art and will not be elaborated here.

[0117] A control method for an embodied intelligent robot, further comprising: S40: Responding to the auxiliary direction to generate a marking action trajectory.

[0118] The marked motion trajectory refers to the running trajectory opposite to the auxiliary direction, and the marked motion trajectory is obtained by analyzing the auxiliary direction. The analysis method of the marked motion trajectory is common knowledge to those skilled in the art and will not be described in detail here.

[0119] S41: Control the embodied intelligent robot to output abnormal positions and marked movement trajectories, and update the actual trajectory.

[0120] The embodied intelligent robot is controlled to output abnormal positions and marked motion trajectories, and the actual trajectory is reacquired to determine whether the mechanical joints in the abnormal positions will get stuck when moving only in the auxiliary direction.

[0121] S42: When the actual trajectory is consistent with the marked action trajectory, obtain a display angle in response to the historical trajectory and the marked action trajectory, and update the image detection information in response to the display angle.

[0122] The display angle refers to the angle required to display the unexposed area on the mechanical joint at the abnormal position in the historical trajectory. The display angle is obtained by analyzing the historical trajectory and the marked action trajectory, and the mechanical joint at the abnormal position is controlled to operate at the display angle, and the image detection information is reacquired.

[0123] The analysis method of the display angle is common knowledge to those skilled in the art and will not be elaborated here.

[0124] S43: Obtaining a mark output position in response to the display angle and the track position.

[0125] The marked output position refers to the position of the gap in the mechanical joint that can launch the suction device 4 to the abnormal position after the display angle is operated. The display angle is analyzed to obtain the position of the gap in the mechanical joint in the abnormal position, and the gap track position that can launch the suction device 4 to the gap position is selected from each track position. The gap track position with the shortest distance between the gap position and the gap position is used as the marked output position. The analysis method of the marked output position is common knowledge to those skilled in the art and will not be elaborated here.

[0126] S44: Obtaining the mark output length in response to the mark output position and the display angle.

[0127] The mark output length refers to the straight-line distance between the mark output position and the position of the slit showing the angle. Refer to S43 to obtain the distance between the slit track position and the position of the slit as the mark output length.

[0128] S45: Control the auxiliary device 1 to run with the mark output position and mark length, and update the detection image information.

[0129] The auxiliary device 1 is controlled to run with the marking output position and the marking length, and to reacquire the detection image information.

[0130] S46: Obtain the detection terminal position through the image detection information and the preset terminal features.

[0131] The tip features are the shape and color characteristics of the suction device 4 on the auxiliary device 1, as set by the technician. The detected tip position refers to the position of the suction device 4 when it is launched toward the abnormal position. The position of the tip features is selected from the image detection information as the detected tip position.

[0132] S47: Obtaining marking polishing parameters in response to the image detection information and the preset rust characteristics.

[0133] The marking grinding parameters refer to control parameters for grinding rust by the thin wire 3 on the auxiliary device 1, and the marking grinding parameters are obtained by analyzing the image detection information and the rust characteristics.

[0134] S48: When the detection end is located at an abnormal position, the auxiliary device 1 is controlled to operate with the adsorption force and the marking polishing parameters.

[0135] When the detection end is located at an abnormal position, it means that the adsorption device 4 is located at the gap of the mechanical joint at the abnormal position, and the auxiliary device 1 is controlled to operate with the adsorption force and mark grinding parameters.

[0136] Methods for determining marking grinding parameters include: S470: Obtaining a rust range in response to the image detection information and the rust characteristics.

[0137] The rust range refers to the range where rust appears on the mechanical joint at the abnormal position. The rust range on the mechanical joint at the abnormal position is selected from the image detection information as the rust range.

[0138] S471: Responding to the rust range and the auxiliary force to obtain the marked rust range.

[0139] The rust marking area refers to the area that requires polishing. The rust depth is determined by analyzing the auxiliary force. The corresponding color depth is then retrieved from the rust range to serve as the rust marking area. The analysis method for the rust marking area is well known to those skilled in the art and will not be detailed here.

[0140] S472: Responding to the marked rust range and the detection end position and the track position to obtain the marked grinding path.

[0141] The marking grinding path refers to the path that the auxiliary device 1 needs to follow to grind the rusted area using the thin wire 3. The detection tip position and the track position are analyzed to obtain the range of the thin wire 3. From the range of the thin wire 3, the shortest path formed by the points within the range of the thin wire 3 is retrieved as the marking grinding path. The method of analyzing the marking grinding path is common knowledge to those skilled in the art and will not be elaborated here.

[0142] S473: Responding to the auxiliary force and the mark grinding path to obtain the mark grinding force.

[0143] Marking force refers to the force required to tighten wire 3 when auxiliary device 1 is using it to polish rust. The length of wire 3 extended by auxiliary device 1 at different track positions is analyzed to determine the length of wire 3. The force required to tighten wire reel 2 to maintain consistent wire 3 tension at different wire lengths is used as the marking force. Methods for analyzing marking force are well known to those skilled in the art and will not be detailed here.

[0144] S474: Using the mark polishing force and the mark polishing path as mark polishing parameters.

[0145] The mark grinding force and the mark grinding path are used as mark grinding parameters.

[0146] Based on the same inventive concept, an embodiment of the present invention provides a control system for an embodied intelligent robot, comprising: The acquisition module is used to obtain driving parameters, actual trajectory, image detection information, historical trajectory, real-time auxiliary position, detection image information, track position and end position.

[0147] A memory is used to store a program for controlling the embodied intelligent robot.

[0148] The processor is configured to load and execute the program stored in the memory.

[0149] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0150] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that improvements and modifications that do not depart from the principles of the present invention are within the scope of protection of the present invention.

Claims

1. A control method for an embodied intelligent robot, characterized in that: include: S1: Collect driving parameters and actual trajectory; S2: generating an action trajectory in response to the driving parameter; S3: when the actual trajectory is inconsistent with the action trajectory, obtaining an abnormal position and an auxiliary direction through the action trajectory and the actual trajectory; S4: Collecting image detection information and historical trajectory of the abnormal location; S5: When the image detection information does not include a preset rust feature, generating an auxiliary force in response to the historical trajectory; S6: Controlling the auxiliary device (1) preset in the embodied intelligent robot to operate at the abnormal position, the auxiliary force and the auxiliary direction.

2. The control method of the embodied intelligent robot according to claim 1, characterized in that: The method for controlling the auxiliary device (1) before operation includes: S60: Responding to the abnormal position to obtain a detection position; S61: When the auxiliary force is greater than the preset adsorption force, calculating the difference between the auxiliary force and the adsorption force as a supplementary force; S62: Retrieving a detection material in response to the detection position; S63: Obtaining a detection friction coefficient in response to the detection material and a preset thin wire material; S64: Obtaining the number of winding turns in response to the supplementary force and the detected friction coefficient; S65: The auxiliary device (1) is controlled to operate according to the abnormal position, the detection position, the number of winding turns, and the adsorption force.

3. The control method of the embodied intelligent robot according to claim 2, characterized in that: The method for controlling the operation of the auxiliary device (1) comprises: S650: Obtaining a thin line emission position in response to the detected position and the auxiliary direction; S651: collecting the real-time auxiliary position of the auxiliary device (1); S652: Obtaining a transmission path in response to the real-time auxiliary position and the thin line transmission position; S653: Controlling the auxiliary device (1) to operate along the transmission path and updating the real-time auxiliary position; S654: When the real-time auxiliary position coincides with the thin wire launching position, obtaining thin wire winding parameters in response to the auxiliary force and the abnormal position; S655: controlling the auxiliary device (1) to operate with the thin wire winding parameters and collecting detection image information of the detection position; S656: Obtaining the number of detection circles by using the detection image information and the preset thin line features; S657: When the number of detection turns is consistent with the number of winding turns, the auxiliary device (1) is controlled to operate with the auxiliary force and the adsorption force.

4. The control method of the embodied intelligent robot according to claim 3, characterized in that: The method for obtaining the thin line emission position includes: S6501: Responding to the detected position to obtain an abnormal direction; S6502: generating a detection throwing range in response to the abnormal direction and the auxiliary direction; S6503: Collect track position; S6504: When the detection throwing range includes the track position, generating a marked track position in response to the detection throwing range, the track position and the abnormal direction; S6505: Calculate the distance between the marker track position and the detection position as a marker detection distance; S6506: The mark track position of the shortest mark detection distance is used as the fine line emission position.

5. The control method of the embodied intelligent robot according to claim 4, characterized in that: The method for obtaining the thin line emission position further includes: S65041: When the detection throwing range does not include the track position, responding to the abnormal position and the track position to obtain a moving track position; S65042: Obtaining a moving angle in response to the moving track position and the detected ejection range; S65043: Using the moving track position with the minimum moving angle as the thin line emission position; S65044: Responding to the thin line emission position and the movement angle to obtain the target joint, and controlling the target joint to operate at the movement angle.

6. The control method of the embodied intelligent robot according to claim 3, characterized in that: The method for controlling the auxiliary device (1) to operate with the said fine wire winding parameters comprises: S6550: Obtaining a thin line throwing distance and a deviation angle in response to the thin line launching position and the detection position; S6551: Obtaining a marking length in response to the line throwing distance and the number of winding turns; S6552: Obtaining a throwing angle and a throwing force in response to the mark length and the offset angle; S6553: In response to the number of winding turns to obtain a marker tightening force, the marker tightening force, the throwing angle, and the throwing force are defined as the thin line winding parameters; S6554: controlling the auxiliary device (1) to operate at the throwing angle and the throwing force to collect the end position; S6555: When the end position exceeds the detection position, the auxiliary device (1) is controlled to tighten with the marked tightening force.

7. The control method of the embodied intelligent robot according to claim 6, characterized in that: Also includes: S65500: When the auxiliary force is greater than a preset tightening threshold, calculating a difference between the auxiliary force and the tightening threshold as a force deviation value; S65501: Responding to the abnormal position and the thin line emission position to obtain an interval joint; S65502: Responding to the distance between the interval joint and the thin line to obtain the interval change distance; S65503: Using the interval joint with the largest interval change distance as the auxiliary joint (6); S65504: Responding to the auxiliary direction to obtain the marker movement direction, and controlling the auxiliary joint (6) to operate in the marker movement direction and the force deviation value.

8. The control method of an embodied intelligent robot according to claim 1, characterized in that: Also includes: S40: generating a marking action trajectory in response to the auxiliary direction; S41: Controlling the embodied intelligent robot to output the abnormal position and the marked motion trajectory, and updating the actual trajectory; S42: when the actual trajectory is consistent with the marked motion trajectory, obtaining a display angle in response to the historical trajectory and the marked motion trajectory, and updating the image detection information in response to the display angle; S43: Obtaining a mark output position in response to the display angle and the track position; S44: Obtaining a mark output length in response to the mark output position and the display angle; S45: controlling the auxiliary device (1) to operate at the mark output position and the mark length, and updating the detection image information; S46: Obtaining the detection tip position through the image detection information and the preset tip features; S47: Obtaining marking polishing parameters in response to the image detection information and preset rust characteristics; S48: When the detection end is located at the abnormal position, the auxiliary device (1) is controlled to operate with the adsorption force and the mark polishing parameters.

9. The control method of the embodied intelligent robot according to claim 8, characterized in that: The method for determining the marking polishing parameters includes: S470: Obtaining a rust range in response to the image detection information and the rust characteristics; S471: Responding to the rust range and the auxiliary force to obtain a marked rust range; S472: Obtaining a marking polishing path in response to the marked rust range, the detection end position, and the track position; S473: Obtaining a mark grinding force in response to the auxiliary force and the mark grinding path; S474: Using the mark polishing force and the mark polishing path as the mark polishing parameters.

10. A control system for an embodied intelligent robot, characterized in that: include: The acquisition module is used to obtain driving parameters, actual trajectory, image detection information and historical trajectory; A memory for storing a program for implementing the control method of the embodied intelligent robot according to any one of claims 1 to 9; The processor is configured to load and execute the program stored in the memory.

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