Control method and system for body-aware robots

Abstract

This invention relates to a control method and system for an embodied intelligent robot, belonging to the technical field of robotics. The method includes: acquiring driving parameters and an actual trajectory; generating a movement trajectory in response to the driving parameters; when the actual trajectory and the movement trajectory are inconsistent, obtaining an abnormal position and an auxiliary direction by comparing the movement trajectory and the actual trajectory; acquiring image detection information of the abnormal position and historical trajectories; when the image detection information does not contain preset rust features, generating an auxiliary force in response to the historical trajectory; and controlling an auxiliary device preset in the embodied intelligent robot to operate at the abnormal position, the auxiliary force, and the auxiliary direction. This application has the effect of improving the operating efficiency of the embodied intelligent robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to control methods and systems for embodied intelligent robots. Background Technology

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

[0003] When the embodied intelligent robot is in operation, it receives instructions from the human, perceives, understands, and makes decisions about the surrounding environment, and then executes corresponding actions through body movement to fulfill the human's instructions. During operation, the embodied intelligent robot requires periodic checks by a human to ensure the status of its devices is maintained for continued use.

[0004] When the embodied intelligent robot is in operation, due to oversights during human inspection, abnormalities such as rust may occur, causing the embodied intelligent robot to be unable to continue performing its work and reducing its operating efficiency. Summary of the Invention

[0005] To improve the operating efficiency of embodied intelligent robots, this invention provides a control method and system for embodied intelligent robots.

[0006] In a first aspect, the present invention provides a control method for an embodied intelligent robot, employing the following technical solution:

[0007] A method for controlling an embodied intelligent robot includes:

[0008] S1: Collect driving parameters and actual trajectory;

[0009] S2: Responding to the driving parameters to generate a movement trajectory;

[0010] S3: When the actual trajectory is inconsistent with the movement trajectory, the abnormal position and auxiliary direction are obtained by comparing the movement trajectory with the actual trajectory;

[0011] S4: Collect image detection information and historical trajectory of the abnormal location;

[0012] S5: When the image detection information does not contain preset rust features, generate an auxiliary force in response to the historical trajectory;

[0013] S6: Control the auxiliary device preset in the embodied intelligent robot to operate at the abnormal position, the auxiliary force and the auxiliary direction.

[0014] By adopting the above technical solution, the abnormal location 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. The operation of the auxiliary device can be controlled, thereby enabling the stuck mechanical parts to be restored so that the embodied intelligent robot can continue to operate. This improves the operating efficiency of the embodied intelligent robot and reduces the time required for manual repair of the embodied intelligent robot.

[0015] Optionally, methods for controlling the operation of the auxiliary device include:

[0016] S60: Detection location is obtained in response to the abnormal location;

[0017] 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.

[0018] S62: Retrieve the detected material in response to the detected position;

[0019] S63: Detect the friction coefficient in response to the detection material and the preset fine wire material;

[0020] S64: Response to the supplementary force and the detected friction coefficient to obtain the number of winding turns;

[0021] S65: The control auxiliary device operates with the abnormal position, the detection position, the number of winding turns, and the adsorption force.

[0022] Optionally, the method for controlling the operation of the auxiliary device includes:

[0023] S650: Responding to the detection position and the auxiliary direction to obtain the wire emission position;

[0024] S651: Collect the real-time auxiliary position of the auxiliary device;

[0025] S652: Response to the real-time auxiliary position and the thin line emission position to obtain the emission path;

[0026] S653: Control the auxiliary device to operate along the launch path and update the real-time auxiliary position;

[0027] S654: When the real-time auxiliary position coincides with the fine line emission position, the fine line winding parameters are obtained in response to the auxiliary force and the abnormal position.

[0028] S655: Control the auxiliary device to operate with the fine wire winding parameters and acquire detection image information at the detection position;

[0029] S656: The number of detection loops is obtained by combining the detected image information with preset fine line features;

[0030] S657: When the number of detection turns is consistent with the number of winding turns, control the auxiliary device to operate with the auxiliary force and the adsorption force.

[0031] By adopting the above technical solution, the auxiliary device is positioned at the fine line emission position to emit and wind the fine line at the detection position. When the fine line is wound, the auxiliary device is controlled to tighten it with auxiliary force, thereby enabling the stuck mechanical parts to be restored and improving the operating efficiency of the embodied intelligent robot.

[0032] Optionally, the method for obtaining the emission position of the thin line includes:

[0033] S6501: Response to the detection position to obtain the abnormal direction;

[0034] S6502: Responding to the abnormal direction and the auxiliary direction to generate a detection throw range;

[0035] S6503: Track position acquisition;

[0036] S6504: When the detection throw range includes the track position, a marked track position is generated in response to the detection throw range, the track position, and the abnormal direction;

[0037] S6505: Calculate the distance between the marker track position and the detection position as the marker detection distance;

[0038] S6506: The position of the marker track with the shortest marker detection distance is taken as the position of the thin line emission.

[0039] Optionally, the method for obtaining the emission position of the thin line further includes:

[0040] S65041: When the detection throw range does not include the track position, the moving track position is obtained in response to the abnormal position and the track position;

[0041] S65042: Response to the position of the moving track and the detection throw range to obtain the moving angle;

[0042] S65043: The position of the moving track with the smallest moving angle is taken as the launching position of the thin line;

[0043] S65044: In response to the wire launching position and the movement angle to obtain the target joint, and control the target joint to operate at the movement angle.

[0044] Optionally, the method for controlling the auxiliary device to operate with the aforementioned wire winding parameters includes:

[0045] S6550: Responding to the wire emission position and the detection position to obtain the wire throwing distance and offset angle;

[0046] S6551: In response to the distance the thread is thrown and the number of wraps, a marking length is obtained;

[0047] S6552: Responding to the mark length and the offset angle to obtain the throwing angle and throwing force;

[0048] S6553: In response to the number of winding turns to obtain a marking tightening force, the marking tightening force, the throwing angle, and the throwing force are defined as the thread winding parameters;

[0049] S6554: Control the auxiliary device to operate at the throwing angle and the throwing force, and collect the end position;

[0050] S6555: When the end position exceeds the detection position, control the auxiliary device to tighten with the marked tightening force.

[0051] Optional, also includes:

[0052] S65500: When the auxiliary force is greater than the preset tightening threshold, the difference between the auxiliary force and the tightening threshold is calculated as the force deviation value.

[0053] S65501: A spacer joint is obtained in response to the abnormal position and the wire emission position;

[0054] S65502: Responding to the distance between the spacer joint and the distance the thin line is thrown to obtain a spacer variation distance;

[0055] S65503: The interval joint with the largest interval change distance is used as an auxiliary joint;

[0056] S65504: Responding to the auxiliary direction to obtain the marker movement direction, and controlling the auxiliary joint to operate with the marker movement direction and the force deviation value.

[0057] By adopting the above technical solution, 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 restore stuck mechanical parts.

[0058] Optional, also includes:

[0059] S40: Responding to the auxiliary direction to generate a marked action trajectory;

[0060] S41: Control the embodied intelligent robot to output the abnormal position and the marked movement trajectory, and update the actual trajectory;

[0061] S42: When the actual trajectory matches the marked action trajectory, a display angle is obtained in response to the historical trajectory and the marked action trajectory, and the image detection information is updated in response to the display angle;

[0062] S43: Responding to the display angle and track position to obtain the marker output position;

[0063] S44: Receive the mark output length in response to the mark output position and the display angle;

[0064] S45: Control the auxiliary device to operate at the mark output position and the mark length, and update the detection image information;

[0065] S46: The detection end position is obtained by comparing the image detection information with the preset end features;

[0066] S47: In response to the image detection information and the preset rust features, mark polishing parameters are obtained;

[0067] S48: When the detection end is located at the abnormal position, control the auxiliary device to operate with the adsorption force and the marking and polishing parameters.

[0068] Optionally, the method for determining the marking and polishing parameters includes:

[0069] S470: Responding to the image detection information and the rust features to obtain the rust range;

[0070] S471: In response to the rust area and the auxiliary force, a marked rust area is obtained;

[0071] S472: In response to the rust range of the mark, the position of the detection end, and the position of the track, a mark polishing path is obtained;

[0072] S473: Responding to the auxiliary force and the marking polishing path to obtain the marking polishing force;

[0073] S474: The marking polishing force and the marking polishing path are used as the marking polishing parameters.

[0074] Secondly, this application provides a control system for an embodied intelligent robot, which adopts the following technical solution:

[0075] A control system for an embodied intelligent robot includes:

[0076] The acquisition module is used to acquire driving parameters, actual trajectory, image detection information, and historical trajectory.

[0077] Memory, used to store programs for the control methods of embodied intelligent robots;

[0078] The processor is used to load and execute programs stored in memory.

[0079] In summary, this application includes at least one of the following beneficial technical effects:

[0080] 1. By controlling the auxiliary device to operate in abnormal positions, directions, and forces, jammed mechanical parts can be restored to facilitate the continued operation of the embodied intelligent robot. This improves the operating efficiency of the embodied intelligent robot while reducing the time required for manual repairs.

[0081] 2. By controlling the auxiliary device to launch and wind a fine line at the detection position, and then tightening the fine line with an auxiliary force when the fine line is finished winding, the jammed mechanical parts can be restored, thereby improving the operating efficiency of the embodied intelligent robot.

[0082] 3. By selecting auxiliary joints to mark the deviation values ​​of movement direction and force, the auxiliary device can be helped to handle abnormal positions, thereby further helping to restore stuck mechanical parts. Attached Figure Description

[0083] Figure 1 This is a flowchart of the control method for an embodied intelligent robot according to an embodiment of the present invention;

[0084] Figure 2 This is a simplified schematic diagram illustrating the operation of the auxiliary device according to an embodiment of the present invention.

[0085] The parts referred to by the numbers in the above attached figures are as follows: 1. Auxiliary device; 2. Thread reel; 3. Thread; 4. Adsorption device; 5. Track; 6. Auxiliary joint. Detailed Implementation

[0086] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0087] Reference Figure 1 and Figure 2 This application discloses a control method for an embodied intelligent robot, including the following steps:

[0088] S1: Collect driving parameters and actual trajectory.

[0089] Driving parameters refer to the parameters used to operate the embodied intelligent robot, which can be obtained through pre-input by the operator. Driving parameters can be programs input by the operator or voice control.

[0090] The actual trajectory refers to the trajectory of the embodied intelligent robot during actual operation. The actual trajectory is the trajectory generated by the various position sensors on the embodied intelligent robot as their positions change.

[0091] S2: Responds to driving parameters to generate a motion trajectory.

[0092] Action trajectory refers to the path taken by a user to drive an embodied intelligent robot. It is obtained by analyzing the driving parameters. The methods for analyzing action trajectories are common knowledge to those skilled in the art and will not be elaborated here.

[0093] S3: When the actual trajectory is inconsistent with the movement trajectory, the abnormal position and auxiliary direction are obtained by comparing the movement trajectory with the actual trajectory.

[0094] An abnormal position refers to a position on the embodied intelligent robot where a driving abnormality occurs. When the actual trajectory is inconsistent with the movement trajectory, it indicates that there is an abnormality in the embodied intelligent robot. By comparing the positions of the actual trajectory and the movement trajectory, the inconsistent position points are marked as abnormal positions, and the joint positions of the mechanical devices that drive each marked abnormal position are also marked as abnormal positions.

[0095] The auxiliary direction refers to the direction in which the mechanical joint in the abnormal position needs to move. It uses the position point on the movement trajectory as a reference and the straight line between the marked abnormal position and the position point as the auxiliary direction.

[0096] A mechanical joint is a device that controls the angle and direction changes of a robotic arm. Mechanical joints can be universal joints, etc.

[0097] S4: Collect image detection information and historical trajectories of abnormal locations.

[0098] Image detection information is obtained by capturing images of mechanical joints in abnormal positions using a camera. Historical trajectory refers to the trajectory of angle changes of the mechanical joints in S3 throughout history, which can be retrieved from the system.

[0099] S5: When the image detection information does not contain the preset rust features, generate an auxiliary force in response to the historical trajectory.

[0100] The rust feature refers to the rusty color characteristic that appears on the embodied intelligent robot as defined by the technicians.

[0101] The auxiliary force refers to the force required to help a mechanical joint recover from a stuck state. When the image detection information does not contain rust features, it indicates that rust has appeared inside the mechanical joint, causing it to jam. Therefore, by analyzing various angles of the historical trajectory, the area in the historical trajectory that is not exposed to the air is taken as the rust detection range. The auxiliary force is obtained by looking up a preset rust reference table through the rust detection range.

[0102] The analytical method for detecting the extent of rust is common knowledge to those skilled in the art and will not be elaborated here. The rust reference table stores the auxiliary force corresponding to different rust detection ranges. Under the condition that the degree of rust remains unchanged, the larger the rust detection range, the greater the auxiliary force. The parameters in the rust reference table are set in advance by those skilled in the art based on actual conditions and will not be elaborated here.

[0103] S6: Control the auxiliary device 1 pre-set in the embodied intelligent robot to operate in abnormal position, auxiliary force and auxiliary direction.

[0104] Auxiliary device 1 refers to an auxiliary vehicle installed on the outside of the embodied intelligent robot. Auxiliary device 1 contains a coil 2, a thin wire 3, an adsorption device 4 connected to the thin wire 3, and an air gun for launching the adsorption device 4. The adsorption device 4 is an electromagnetic plate. The thin wire 3 contains wires used to control the opening and closing of the adsorption device 4, and the thin wire 3 is made of carbon fiber.

[0105] The embodied intelligent robot is equipped with a C-shaped track 5 to assist the trolley in changing positions, allowing the trolley to move on the robot without falling off. Gaps exist between the various robotic arms on the track 5 to facilitate their movement. A telescopic rod is installed between the trolley's tires and the robot body to change the trajectory of the trolley's firing line 3. The telescopic rod's extension and retraction are controlled by an air pump pre-installed within the robot body.

[0106] The auxiliary device 1 can push the robotic arm through the vehicle body or wrap the robotic arm with the thin line 3 and control the reel 2 to pull the robotic arm to restore the stuck mechanical joint, depending on the position of the track 5.

[0107] The methods for controlling auxiliary device 1 before operation include:

[0108] S60: Response to an abnormal location to obtain the detection location.

[0109] The detection position refers to the position where the adsorption device 4 adsorbs or wraps the thin thread 3. The position on the robotic arm corresponding to the abnormal position is used as the detection position.

[0110] 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.

[0111] The adsorption force is the maximum adsorption force that the adsorption device 4 can perform, as preset by the technician. There are two types of adsorption force: one refers to the magnetic force of the adsorption device 4, and the other is the frictional force resulting from the translation of the adsorption device 4 at the detection position. When the fine thread 3 needs to be wound, the adsorption force is the frictional force resulting from translation.

[0112] The supplementary force refers to the additional force required for the robotic arm to pull directly. 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 it. Therefore, the difference between the auxiliary force and the adsorption force is calculated as the supplementary force.

[0113] S62: Retrieves the material to be detected in response to the detection position.

[0114] The material being detected refers to the material on the outer side of the robotic arm at the detection location. The material is retrieved by analyzing the detection location. The method for retrieving the material is common knowledge to those skilled in the art and will not be elaborated upon here.

[0115] S63: Response to the detection material and the preset fine wire material to obtain the detection friction coefficient.

[0116] The material of the fine wire 3 is specified by the technicians. The fine wire material is carbon fiber. The measured friction coefficient refers to the friction coefficient between the fine wire 3 and the detection position. The measured friction coefficient is obtained by analyzing the detection material and the fine wire material. The analytical method for measuring the friction coefficient is common knowledge to those skilled in the art and will not be elaborated here.

[0117] S64: Response to supplementary force and detection of friction coefficient to obtain the number of winding turns.

[0118] The number of winding turns refers to the number of turns of the thin thread 3 required for the auxiliary device 1 to pull the detection position. The number of winding turns is obtained by analyzing the supplementary force and the detection friction coefficient. The greater the supplementary force, the more winding turns are required. The method for analyzing the number of winding turns is common knowledge to those skilled in the art and will not be elaborated here.

[0119] S65: The control auxiliary device 1 operates according to the abnormal position, detection position, number of winding turns, and adsorption force.

[0120] By analyzing the abnormal position, detection position, number of winding turns, and adsorption force, the operation of the auxiliary device 1 is controlled so that the thin thread 3 is wound to the detection position and tightened to restore the stuck mechanical joint.

[0121] The method for controlling the operation of auxiliary device 1 includes:

[0122] S650: Response to the detection position and auxiliary direction to obtain the fine line emission position.

[0123] The fine line emission position refers to the position where the fine line 3 emitted by the auxiliary device 1 reaches the detection position. The fine line emission position is obtained by analyzing the detection position and the auxiliary direction.

[0124] S651: Real-time auxiliary position of acquisition auxiliary device 1.

[0125] Real-time assisted position refers to the position of the assisted device 1 on the embodied intelligent robot in real time, which can be used as the real-time assisted position by the position parameters detected by the position sensor.

[0126] S652: Response to real-time auxiliary position and fine-line launch position to obtain launch path.

[0127] The launch path refers to the position of the shortest track 5 from the real-time auxiliary position to the thin line launch position. This launch path is determined by analyzing the real-time auxiliary position, the thin line launch position, and the track 5 set on the embodied intelligent robot, finding the shortest track 5 between the real-time auxiliary position and the thin line launch position. The method for analyzing the launch path is common knowledge to those skilled in the art and will not be elaborated upon here. In this embodiment, when the auxiliary vehicle moves between the robotic arms, it is necessary to control the robotic arms to align the track 5 to facilitate the passage of the auxiliary vehicle.

[0128] S653: Control auxiliary device 1 to operate along the launch path and update the real-time auxiliary position.

[0129] The control auxiliary device 1 operates along the launch path and reacquires the real-time auxiliary position.

[0130] S654: When the real-time auxiliary position coincides with the fine line launch position, the fine line winding parameters are obtained in response to the auxiliary force and abnormal position.

[0131] The fine thread winding parameter refers to the control parameter used to control the auxiliary device 1 to launch the fine thread 3 to wind to the detection position. When the real-time auxiliary position coincides with the fine thread launch position, it means that the auxiliary device 1 can launch the fine thread 3 to the detection position for winding. The fine thread winding parameter is obtained by analyzing the auxiliary force and abnormal position.

[0132] S655: The control auxiliary device 1 operates with the fine wire winding parameters and acquires detection image information at the detection position.

[0133] The detection image information refers to the image of the detection position. The control auxiliary device 1 operates with the fine wire winding parameter, and the camera on the auxiliary device 1 captures the image of the detection position as the detection image information.

[0134] S656: The number of detection loops is obtained by detecting image information and preset fine line features.

[0135] The fine line feature refers to the shape and color characteristics of the fine line 3 on the auxiliary device 1 set by the technician. The number of detection turns refers to the number of turns of the fine line 3 wound at the detection position. This number is determined by selecting the number of fine line features at the detection position from the detection image information.

[0136] S657: When the number of detection turns is the same as the number of winding turns, the control auxiliary device 1 operates with auxiliary force and adsorption force.

[0137] When the number of detection turns matches the number of winding turns, it indicates that the winding of the fine thread 3 is complete. Then, the control auxiliary device 1 operates with auxiliary force and adsorption force, thereby fixing the fine thread 3 to the detection position and tightening it.

[0138] Methods for obtaining the emission position of the thin line include:

[0139] S6501: Response to the detected position to obtain the abnormal direction.

[0140] An 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 method of abnormal direction analysis is common knowledge to those skilled in the art and will not be elaborated here.

[0141] S6502: Responds to the abnormal direction and the auxiliary direction to generate the detection throw range.

[0142] The detection throw range refers to the range formed by the position where the thin line 3 can be thrown. The circumferential range formed with the abnormal direction as the axis is used as the marked range, and the auxiliary direction is used as the normal direction. The half range of the marked range centered on the normal direction is used as the detection throw range.

[0143] S6503: Collect track position.

[0144] The track position refers to the various position points of track 5 on the embodied intelligent robot, which can be obtained through pre-input by the operator.

[0145] S6504: When the detected throw range includes the track position, generate a marked track position in response to the detected throw range, track position, and abnormal direction.

[0146] The marked track position refers to the track position corresponding to the auxiliary device 1 being able to launch the thin line 3 and the thin line 3 being perpendicular to the abnormal direction. When the detection throw range includes the track position, it means that there is a track position that can control the auxiliary vehicle to launch the thin line 3 without changing the current posture of the embodied intelligent robot. Then, the track position that enables the auxiliary device 1 to launch the thin line 3 perpendicular to the abnormal direction is retrieved from the track positions as the detection track position, and the detection track position within the detection throw range is used as the marked track position.

[0147] S6505: Calculate the distance between the marker track position and the detection position as the marker detection distance.

[0148] The marker detection distance refers to the straight-line distance between the marker track position and the detection position. The marker detection distance is calculated by measuring the distance between the marker track position and the detection position.

[0149] S6506: Use the marker track position with the shortest marker detection distance as the fine line launch position.

[0150] The position of the marker track with the shortest marker detection distance is used as the launch position of the thin line.

[0151] Methods for obtaining the emission position of the thin line also include:

[0152] S65041: When the detected throw range does not include the track position, respond to the abnormal position and the track position to obtain the moving track position.

[0153] The moving trajectory position refers to the trajectory position that can be satisfied by the movement of the embodied intelligent robot to meet the detection trajectory position in S6504. For example, if the mechanical forearm of the embodied intelligent robot is in an abnormal orientation, the mechanical joint controlling the elbow bends so that the mechanical forearm is parallel to the mechanical chest cavity of the embodied intelligent robot. The trajectory position on the mechanical chest cavity is the moving trajectory position.

[0154] If the embodied intelligent robot is controlled to squat, and there is still no track position that satisfies the detected track position in S6504, then the driving method does not have a moving track position.

[0155] If the control unit extends the thigh of the embodied intelligent robot, parallel to the mechanical forearm, and the axes coincide in the Z-axis direction, then the track positions on the mechanical thigh are all moving track positions.

[0156] When the detection range does not include the track position, it means that there is no track position that can control the auxiliary vehicle to launch the thin line 3 without changing the current posture of the embodied intelligent robot. The moving track position can be obtained by analyzing the abnormal position and the track position.

[0157] S65042: Response to the moving track position and the detected throw range to obtain the moving angle.

[0158] The movement angle refers to the angle required for the movement trajectory position to be within the detection and ejection range. The movement angle is obtained by analyzing the movement trajectory position and the detection and ejection range. For example, referring to S65041, the movement trajectory position of the mechanical thoracic cavity is formed by changing the angle of the elbow mechanical joint; therefore, the angle of the elbow mechanical joint is the movement angle.

[0159] S65043: Use the position of the moving track with the smallest moving angle as the launching position of the thin line.

[0160] The position of the trajectory with the smallest movement angle is used as the launch position of the thin line.

[0161] S65044: Responds to the position and movement angle of the fine wire to obtain the target joint, and controls the target joint to move at the movement angle.

[0162] A target joint refers to a mechanical joint that forms the position of a moving track. For example, the mechanical joint of the elbow in S65041 is a target joint. The target joint is obtained by analyzing the launch position and movement angle of the thin line, and then the target joint is controlled to move at the movement angle.

[0163] The method for controlling the auxiliary device 1 to operate with fine thread winding parameters includes:

[0164] S6550: Responds to the line launch position and detection position to obtain the line throw distance and offset angle.

[0165] The wire projection distance refers to the straight-line distance between the wire's launch position and the detection position. It is calculated as the wire projection distance. The offset angle is the angle between the line corresponding to the wire projection distance and the horizontal line. It is obtained by analyzing the angle between the wire projection distance and the horizontal line based on the wire's launch position. The method for analyzing the offset angle is common knowledge to those skilled in the art and will not be elaborated upon here.

[0166] S6551: Response to the distance the thread is thrown and the number of turns to obtain the mark length.

[0167] The marker length refers to the length of the thin line 3 to be emitted. The marker length is determined by matching the line throw distance, the number of wrapping turns, and the circumferential length of the robotic arm at the detection position from the wrapping reference table. The product of the number of wrapping turns and the circumferential length is calculated, and the sum of this product and the line throw distance is calculated. The marker length must be greater than this sum.

[0168] The winding reference table also stores the mark length corresponding to different wire throwing distances, winding numbers, and the circumferential length of the robotic arm retrieved at the detection position. The larger the winding number, the longer the mark length.

[0169] S6552: Responds to the mark length and offset angle to obtain the launch angle and launch force.

[0170] The throwing angle refers to the angle at which the auxiliary device 1 launches the fine line 3, and the throwing force refers to the force with which the auxiliary device 1 launches the fine line 3. The throwing angle and throwing force are matched with a preset throwing lookup table by the mark length and offset angle. The throwing lookup table stores the throwing angle and throwing force corresponding to different mark lengths and offset angles. The parameters in the throwing lookup table are set in advance by those skilled in the art based on actual conditions and will not be elaborated here.

[0171] S6553: In response to the number of winding turns to obtain the marking tightening force, the marking tightening force, the throwing angle, and the throwing force are defined as the thread winding parameters.

[0172] The marking tightening force refers to the force required to tighten the auxiliary device 1. This force is determined by matching the number of winding turns from the throwing reference table. The throwing reference table stores the marking tightening forces corresponding to different numbers of winding turns; the larger the number of winding turns, the greater the marking tightening force, which will not be elaborated upon here. The marking tightening force, throwing angle, and throwing force are defined as the thread winding parameters.

[0173] S6554: Control auxiliary device 1 operates with throwing angle and throwing force to collect end position.

[0174] The end position refers to the position of the adsorption device 4 after being launched. The control auxiliary device 1 operates with the throwing angle and throwing force, and the position point detected by the position sensor of the adsorption device 4 is taken as the end position.

[0175] S6555: When the end position exceeds the detection position, the control auxiliary device 1 tightens with a marked tightening force.

[0176] 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 rock climbing rope wrapping around a post or throwing line hanging on a pole).

[0177] Also includes:

[0178] S65500: When the auxiliary force is greater than the preset tightening threshold, the difference between the auxiliary force and the tightening threshold is calculated as the force deviation value.

[0179] The tightening threshold is the maximum force that the spool 2 of the auxiliary device 1 can tighten the thin thread 3, as set by the technician. The force deviation value refers to the deviation between the auxiliary force and the tightening threshold. When the auxiliary force is greater than the tightening threshold, it means that the auxiliary device 1 is not easy to restore the stuck mechanical joint. Therefore, the difference between the auxiliary force and the tightening threshold is calculated as the force deviation value.

[0180] S65501: Responds to abnormal position and fine wire firing position to obtain spacer joint.

[0181] An interstitial joint is a mechanical joint between an abnormal position and a fine wire firing position. Interstitial joints are obtained by analyzing the abnormal position and the fine wire firing position. For example, in S65041, if the fine wire firing position is located in the mechanical chest cavity, then the mechanical joint at the elbow position and the mechanical joint at the shoulder position are interstitial joints.

[0182] S65502: Responds to the distance thrown by the interlocking joint and the thin line to obtain the distance of the interval change.

[0183] The interval variation distance refers to the change in the distance the string is thrown when the interval joint moves in the opposite direction of the auxiliary direction at a unit angle. The interval variation distance is obtained by analyzing the interval joint and the string throwing distance. The method for analyzing the interval variation distance is common knowledge to those skilled in the art and will not be elaborated here.

[0184] S65503: The interval joint with the largest change in interval distance is designated as auxiliary joint 6.

[0185] The auxiliary joint 6 refers to the interval joint of the mechanical joint used to help the auxiliary device 1 restore the abnormal position. The interval joint with the largest interval change distance is used as the auxiliary joint 6.

[0186] S65504: Responds to the auxiliary direction to obtain the marked movement direction, and controls the auxiliary joint 6 to operate with the marked movement direction and force deviation value.

[0187] The marker movement direction refers to the direction that the auxiliary joint 6 needs to run when the abnormal position moves in the opposite direction to the auxiliary direction. The marker movement direction is obtained by analyzing the auxiliary direction. The method of analyzing the marker movement direction is common knowledge to those skilled in the art and will not be elaborated here.

[0188] A control method for an embodied intelligent robot further includes:

[0189] S40: Responds to auxiliary direction to generate marked action trajectory.

[0190] A marked trajectory refers to a movement trajectory that is opposite to the auxiliary direction. The marked trajectory is obtained by analyzing the auxiliary direction. The analysis method for marked trajectories is common knowledge to those skilled in the art and will not be elaborated here.

[0191] S41: Control the embodied intelligent robot to output abnormal positions and marked movement trajectories, and update the actual trajectory.

[0192] The system controls the embodied intelligent robot to output abnormal positions and marked movement trajectories, and reacquires the actual trajectory to determine whether the mechanical joints at abnormal positions will get stuck if they only move in the auxiliary direction.

[0193] S42: When the actual trajectory matches the marked action trajectory, respond to the historical trajectory and the marked action trajectory to obtain the display angle, and update the image detection information in response to the display angle.

[0194] 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 run at the display angle, and the image detection information is reacquired.

[0195] The method for analyzing display angles is common knowledge to those skilled in the art and will not be elaborated here.

[0196] S43: Responds to the display angle and track position to obtain the mark output position.

[0197] The marker output position refers to the position of the gap in the mechanical joint that can launch the adsorption device 4 to the abnormal position after the display angle is reached. The position of the gap in the mechanical joint at the abnormal position is obtained by analyzing the display angle. Then, the gap track position that can launch the adsorption device 4 to the gap position is selected from various track positions. The gap track position with the shortest distance between the two gap positions is taken as the marker output position. The analysis method for the marker output position is common knowledge to those skilled in the art and will not be elaborated here.

[0198] S44: Response to the mark output position and display angle to obtain the mark output length.

[0199] The mark output length refers to the straight-line distance between the mark output position and the position of the gap at the display angle. Refer to S43 to obtain the distance between the gap track position and the gap position as the mark output length.

[0200] S45: Control auxiliary device 1 operates with the mark output position and mark length, and updates the detection image information.

[0201] The control auxiliary device 1 operates with the mark output position and mark length, and reacquires the detection image information.

[0202] S46: The detection end position is obtained by comparing the image detection information with the preset end features.

[0203] The end features refer to the shape and color characteristics of the adsorption device 4 on the auxiliary device 1, as defined by the technician. The detection end position refers to the position of the adsorption device 4 when it is emitted towards an abnormal position. The detection end position is determined by selecting the position of the end features from the image detection information.

[0204] S47: Respond to image detection information and preset rust features to obtain marking and polishing parameters.

[0205] The marking and polishing parameters refer to the control parameters for polishing rust through the fine wire 3 on the auxiliary device 1. The marking and polishing parameters are obtained by analyzing the image detection information and rust characteristics.

[0206] S48: When the detection end is in an abnormal position, the control auxiliary device 1 operates with the adsorption force and marking and polishing parameters.

[0207] When the detection end is in an abnormal position, it indicates that the adsorption device 4 is located in the gap of the mechanical joint in an abnormal position. Then, the control auxiliary device 1 will operate with adsorption force and marking and polishing parameters.

[0208] Methods for determining marking and polishing parameters include:

[0209] S470: Response to image detection information and rust features to obtain the rust range.

[0210] The rust range refers to the area of ​​rust appearing on the mechanical joint at an abnormal location. The rust range is defined by selecting the area of ​​rust on the mechanical joint at an abnormal location from the image detection information.

[0211] S471: Responds to the rust range and the assist force to obtain the marked rust range.

[0212] The marked rust area refers to the area that needs to be polished. By analyzing the auxiliary force, the color depth of the rust is obtained, and the area with the corresponding color depth is extracted from the marked rust area. The analysis method for marking the rust area is common knowledge to those skilled in the art and will not be elaborated here.

[0213] S472: Response to the marked rust range and the position of the detection end and the track position to obtain the marked grinding path.

[0214] The marking and grinding path refers to the path that the auxiliary device 1 needs to travel to grind the rusted area using the fine line 3. The range encompassed by the fine line 3 is obtained by analyzing the position of the detection end and the track position. The shortest path formed by selecting the position points within the range of the fine line 3 is then used as the marking and grinding path. The method for analyzing the marking and grinding path is common knowledge to those skilled in the art and will not be elaborated upon here.

[0215] S473: Responds to the auxiliary force and the marking polishing path to obtain the marking polishing force.

[0216] The marking and polishing force refers to the force required to tighten the fine wire 3 when the auxiliary device 1 polishes the rust. By analyzing the marking and polishing path, the length of the fine wire 3 extending from the auxiliary device 1 at different track positions is obtained. The force required to tighten the spool 2 to maintain the tension of the fine wire 3 at different lengths is taken as the marking and polishing force. The method for analyzing the marking and polishing force is common knowledge to those skilled in the art and will not be elaborated here.

[0217] S474: Use the marking and polishing force and the marking and polishing path as marking and polishing parameters.

[0218] The marking and polishing force and the marking and polishing path are used as marking and polishing parameters.

[0219] Based on the same inventive concept, embodiments of the present invention provide a control system for an embodied intelligent robot, comprising:

[0220] The acquisition module is used to acquire driving parameters, actual trajectory, image detection information, historical trajectory, real-time auxiliary position, detection image information, track position, and end position.

[0221] A memory used to store programs that control the methods of an embodied intelligent robot.

[0222] The processor is used to load and execute programs stored in memory.

[0223] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above 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 process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0224] 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 falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered 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: Responding to the driving parameters to generate a movement trajectory; S3: When the actual trajectory is inconsistent with the movement trajectory, the abnormal position and auxiliary direction are obtained by comparing the movement trajectory with the actual trajectory; S4: Collect image detection information and historical trajectory of the abnormal location; S5: When the image detection information does not contain preset rust features, generate an auxiliary force in response to the historical trajectory; S6: Control the auxiliary device (1) pre-installed in the embodied intelligent robot to operate at the abnormal position, the auxiliary force and the auxiliary direction; The method for controlling the operation of the auxiliary device (1) includes: S60: Detection location is obtained in response to the abnormal location; 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. S62: Retrieve the detected material in response to the detected position; S63: Detect the friction coefficient in response to the detection material and the preset fine wire material; S64: Response to the supplementary force and the detected friction coefficient to obtain the number of winding turns; S65: The control auxiliary device (1) operates with the abnormal position, the detection position, the number of winding turns, and the adsorption force.

2. The control method for the embodied intelligent robot according to claim 1, characterized in that, The method for controlling the operation of the auxiliary device (1) includes: S650: Responding to the detection position and the auxiliary direction to obtain the wire emission position; S651: Collect the real-time auxiliary position of the auxiliary device (1); S652: Response to the real-time auxiliary position and the thin line emission position to obtain the emission path; S653: Control the auxiliary device (1) to run along the launch path and update the real-time auxiliary position; S654: When the real-time auxiliary position coincides with the fine line emission position, the fine line winding parameters are obtained in response to the auxiliary force and the abnormal position. S655: Control the auxiliary device (1) to operate with the fine wire winding parameters and collect detection image information at the detection position; S656: The number of detection loops is obtained by combining the detected image information with preset fine line features; S657: When the number of detection turns is the same as the number of winding turns, control the auxiliary device (1) to operate with the auxiliary force and the adsorption force.

3. The control method for the embodied intelligent robot according to claim 2, characterized in that, The method for obtaining the emission position of the thin line includes: S6501: Response to the detection position to obtain the abnormal direction; S6502: Responding to the abnormal direction and the auxiliary direction to generate a detection throw range; S6503: Track position acquisition; S6504: When the detection throw range includes the track position, a marked track position is generated in response to the detection throw range, the track position, and the abnormal direction; S6505: Calculate the distance between the marker track position and the detection position as the marker detection distance; S6506: The position of the marker track with the shortest marker detection distance is taken as the position of the thin line emission.

4. The control method for the embodied intelligent robot according to claim 3, characterized in that, The method for obtaining the emission position of the thin line further includes: S65041: When the detection throw range does not include the track position, the moving track position is obtained in response to the abnormal position and the track position; S65042: Response to the position of the moving track and the detection throw range to obtain the moving angle; S65043: The position of the moving track with the smallest moving angle is taken as the launching position of the thin line; S65044: In response to the wire launching position and the movement angle to obtain the target joint, and control the target joint to operate at the movement angle.

5. The control method for the embodied intelligent robot according to claim 2, characterized in that, The method for controlling the auxiliary device (1) to operate with the aforementioned wire winding parameters includes: S6550: Responding to the wire emission position and the detection position to obtain the wire throwing distance and offset angle; S6551: In response to the distance the thread is thrown and the number of wraps, a marking length is obtained; S6552: Responding to the mark length and the offset angle to obtain the throwing angle and throwing force; S6553: In response to the number of winding turns to obtain a marking tightening force, the marking tightening force, the throwing angle, and the throwing force are defined as the thread winding parameters; S6554: Control the auxiliary device (1) to operate at the throwing angle and the throwing force, and collect the end position; S6555: When the end position exceeds the detection position, control the auxiliary device (1) to tighten with the mark tightening force.

6. The control method for the embodied intelligent robot according to claim 5, characterized in that, Also includes: S65500: When the auxiliary force is greater than the preset tightening threshold, the difference between the auxiliary force and the tightening threshold is calculated as the force deviation value. S65501: A spacer joint is obtained in response to the abnormal position and the wire emission position; S65502: Responding to the distance between the spacer joint and the distance the thin line is thrown to obtain a spacer variation distance; S65503: The interval joint with the largest interval change distance is used as an auxiliary joint (6). S65504: Responding to the auxiliary direction to obtain the mark movement direction, and controlling the auxiliary joint (6) to operate with the mark movement direction and the force deviation value.

7. The control method for the embodied intelligent robot according to claim 2, characterized in that, Also includes: S40: Responding to the auxiliary direction to generate a marked action trajectory; S41: Control the embodied intelligent robot to output the abnormal position and the marked movement trajectory, and update the actual trajectory; S42: When the actual trajectory matches the marked action trajectory, a display angle is obtained in response to the historical trajectory and the marked action trajectory, and the image detection information is updated in response to the display angle; S43: Responding to the display angle and track position to obtain the marker output position; S44: Receive the mark output length in response to the mark output position and the display angle; S45: Control the auxiliary device (1) to operate at the mark output position and the mark length, and update the image detection information; S46: The detection end position is obtained by comparing the image detection information with the preset end features; S47: In response to the image detection information and the preset rust features, mark polishing parameters are obtained; S48: When the detection end is located at the abnormal position, control the auxiliary device (1) to operate with the adsorption force and the marking and polishing parameters.

8. The control method for the embodied intelligent robot according to claim 7, characterized in that, The method for determining the marking and polishing parameters includes: S470: Responding to the image detection information and the rust features to obtain the rust range; S471: In response to the rust area and the auxiliary force, a marked rust area is obtained; S472: In response to the rust range of the mark, the position of the detection end, and the position of the track, a mark polishing path is obtained; S473: Responding to the auxiliary force and the marking polishing path to obtain the marking polishing force; S474: The marking polishing force and the marking polishing path are used as the marking polishing parameters.

9. A control system for an embodied intelligent robot, characterized in that, include: The acquisition module is used to acquire driving parameters, actual trajectory, image detection information, and historical trajectory. A memory for storing a program that implements the control method for the embodied intelligent robot as described in any one of claims 1 to 8; The processor is used to load and execute programs stored in memory.

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