Transfer robot movement control method and device, electronic equipment and storage medium

Abstract

The invention relates to a transfer robot movement control method and device, electronic equipment and a storage medium. The method is applied to a controller of the transfer robot and comprises the steps that the target running speed of a main moving assembly motor is determined to determine first driving current, and the main moving assembly motor is controlled to generate the first driving current to drive a main moving assembly to move; acquiring a first real-time running speed and a real-time torque of a motor of the main moving assembly corresponding to the first driving current; and determining a target torque of an auxiliary moving assembly motor according to at least one of the two to determine a second driving current, and controlling the auxiliary moving assembly motor to generate the second driving current to drive the auxiliary moving assembly to move. According to the invention, when the robot walks, shaking is small, and the synchronization performance of all parts is good.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and more particularly to a method, device, electronic device and storage medium for controlling movement of a transport robot. Background Art

[0002] Currently, warehouse management increasingly relies on robots for cargo handling and transportation to reduce human workload and minimize handling risks. However, since robots require the coordination of various moving parts, in reality, the coordination between these components is far from ideal. Due to the interaction or coordination delays between these components, the robot may not maintain a completely upright position while moving, or may become unbalanced or wobbly, posing potential risks to the handling process and even causing damage to the goods being handled. Summary of the Invention

[0003] In view of at least some of the above-mentioned technical deficiencies of the prior art, the present invention provides a method, device, electronic device and storage medium for controlling the movement of a transport robot.

[0004] The technical solution adopted by the present invention to solve the technical problem is: constructing a method for controlling the movement of a transport robot, which is applied to a controller of the transport robot, wherein the transport robot includes a main movement component and an auxiliary movement component, each movement component includes a motor and is driven to move by the motor; the method includes:

[0005] Determining a target operating speed of the main moving assembly motor, determining a first driving current according to the target operating speed, and controlling the main moving assembly motor to generate the first driving current to drive the main moving assembly to move;

[0006] Acquire a first real-time operating speed and a real-time torque of the main moving component motor corresponding to the first driving current;

[0007] The target torque corresponding to the auxiliary moving component motor is determined according to at least one of the real-time torque and the first real-time operating speed, and a second driving current is determined according to the target torque. The auxiliary moving component motor is controlled to generate the second driving current to drive the auxiliary moving component to move.

[0008] Specifically, the method provided by the present invention further includes:

[0009] Obtain a second real-time operating speed corresponding to the auxiliary moving component motor and the second driving current, and adjust the second driving current according to the difference between the second real-time operating speed and the first real-time operating speed so that the difference between the second real-time operating speed and the first real-time operating speed is within a preset range.

[0010] Specifically, determining a first driving current according to the target operating speed, and controlling the motor of the main moving component to generate the first driving current to drive the main moving component to move, includes:

[0011] Obtaining a difference between a current operating speed of the main moving component motor and the target operating speed, so as to generate a first feedback current according to the difference between the current operating speed of the main moving component motor and the target operating speed;

[0012] determining an operating acceleration of the main moving component motor according to the target operating speed to generate a second feedback current according to the operating acceleration;

[0013] The first driving current is determined according to the first feedback current and the second feedback current.

[0014] Specifically, determining the first driving current according to the first feedback current and the second feedback current includes:

[0015] The sum of the first feedback current and the second feedback current is used as the first driving current.

[0016] Specifically, the first feedback current is generated according to the difference between the current running speed of the main moving component motor and the target running speed, including: according to the formula

[0017] I_feedback=kp*V_err+ki*ΣV_err to obtain the first feedback current, wherein I_feedback is the first feedback current, kp and ki are constants, and V_err is the difference between the current operating speed of the motor of the main moving component and the target operating speed; and / or

[0018] Generating a second feedback current according to the running acceleration includes: according to the formula

[0019] I_feedforward=ka*a to obtain the second feedback current, where I_feedforward is the second feedback current, ka is a constant, and a is the running acceleration.

[0020] Specifically, determining and obtaining a target torque corresponding to the auxiliary movement component motor according to at least one of the real-time torque and the first real-time operating speed includes:

[0021] Determining a first auxiliary movable assembly, wherein a distance between the first auxiliary movable assembly and the main movable assembly is less than or equal to a predetermined distance, and / or the first auxiliary assembly and the main movable assembly are located on the same track;

[0022] The real-time torque is used as the target torque of the first auxiliary moving component motor.

[0023] Specifically, determining and obtaining a target torque corresponding to the auxiliary movement component motor according to at least one of the real-time torque and the first real-time operating speed includes:

[0024] determining a second auxiliary movable assembly, wherein a distance between the second auxiliary movable assembly and the main movable assembly is greater than or equal to a predetermined distance, and / or the second auxiliary movable assembly and the main movable assembly are located on different tracks;

[0025] Obtaining a third real-time operating speed of the motor of the second auxiliary moving assembly, and obtaining an offset torque corresponding to the second auxiliary moving assembly according to a difference between the third real-time operating speed and the first real-time operating speed;

[0026] The target torque of the second auxiliary moving assembly motor is determined according to the offset torque and the real-time torque.

[0027] Specifically, determining the target torque of the second auxiliary movement assembly motor according to the offset torque and the real-time torque includes:

[0028] The sum of the offset torque and the real-time torque is used as the target torque of the second auxiliary component motor.

[0029] Specifically, the step of obtaining the offset torque corresponding to the second auxiliary moving component according to the difference between the third real-time running speed and the first real-time running speed comprises: according to the formula

[0030] bias_torque=kt*(V_motor3-V_motor1) to obtain the bias torque, wherein kt is a constant, bias_torque is the bias torque, V_motor3 is the first real-time operating speed, and V_motor1 is the third real-time operating speed.

[0031] Specifically, determining the target operating speed of the motor of the main moving assembly includes:

[0032] The target position and the starting position of the robot are acquired, and an S-shaped speed curve is generated according to the starting position of the robot and the target position, so as to determine the current target operating speed of the motor of the main moving component according to the S-shaped speed curve.

[0033] The present invention further provides a transport robot, comprising a controller, a transport device, and a first column and a second column arranged in parallel, wherein the first column and the second column are connected to each other, the transport device can move along the first column and the second column, and the first column and the second column are respectively provided with a moving component, wherein the moving component is used to drive the transport robot to move on a track, wherein one moving component is a main moving component and the other moving components are auxiliary moving components;

[0034] The controller is configured to execute the computer program to implement the above method.

[0035] The present invention further provides a transport robot movement control device, wherein the transport robot includes a main movement component and an auxiliary movement component, each movement component includes a motor and is driven to move by the motor; the control device includes:

[0036] a first drive current generating unit, configured to determine a target operating speed of the motor of the main moving assembly, determine a first drive current based on the target operating speed, control the motor of the main moving assembly to generate the first drive current to drive the main moving assembly to move; obtain a target operating speed of the robot, and generate the first drive current based on the target operating speed to drive the main moving assembly in the moving assembly to move;

[0037] an acquisition unit, configured to acquire a first real-time operating speed and a real-time torque of the main moving component motor corresponding to the first driving current;

[0038] The second driving current generating unit is used to determine the target torque corresponding to the auxiliary moving component motor according to at least one of the real-time torque and the first real-time operating speed, and determine the second driving current according to the target torque, and control the auxiliary moving component motor to generate the second driving current to drive the auxiliary moving component to move.

[0039] Specifically, the control device provided by the present invention further includes:

[0040] A driving current adjustment unit is used to obtain a second real-time operating speed corresponding to the auxiliary moving component motor and the second driving current, and adjust the second driving current according to the difference between the second real-time operating speed and the first real-time operating speed, so that the difference between the second real-time operating speed and the first real-time operating speed is within a preset range.

[0041] The present invention also provides an electronic device, comprising a memory and a processor;

[0042] The memory is used to store computer programs;

[0043] The processor is configured to execute the computer program to implement the method described above.

[0044] The present invention also constructs a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described above is implemented.

[0045] A method, device, electronic device and storage medium for controlling the movement of a transport robot implemented in the present invention have the following beneficial effects: they can ensure that the transport robot remains upright during walking, and effectively suppress shaking of the transport robot during walking, thereby improving the reliability and safety of the transport robot during work. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0047] Figure 1 This is a program flow chart of an embodiment of a method for controlling movement of a transport robot according to the present invention;

[0048] Figure 2 This is a program flow chart of another embodiment of a method for controlling movement of a transport robot according to the present invention;

[0049] Figure 3 This is a partial program flow chart of an embodiment of a method for controlling movement of a transport robot according to the present invention;

[0050] Figure 4 This is a partial program flow chart of an embodiment of a method for controlling movement of a transport robot according to the present invention;

[0051] Figure 5 This is a schematic diagram of working signals of an embodiment of a method for controlling movement of a transport robot according to the present invention;

[0052] Figure 6 This is a schematic structural diagram of an embodiment of a transport robot according to the present invention;

[0053] Figure 7 This is a functional module diagram of an embodiment of a mobile control device for a transport robot according to the present invention;

[0054] Figure 8 It is a functional module diagram of another embodiment of a transport robot movement control device of the present invention. DETAILED DESCRIPTION

[0055] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0056] like Figure 1FIG2 shows an embodiment of a method for controlling the movement of a transport robot according to the present invention. The control method is applied to a controller of a transport robot. The transport robot includes a main moving component and an auxiliary moving component. Each moving component includes a motor and is driven to move by the motor. The transport robot is provided with multiple moving components, each including a motor. The motor drives the moving component to move, and the movement of the moving component drives the movement of the transport robot. The main moving component and the auxiliary moving component of the transport robot can be defined according to user needs. For example, any one of the multiple moving components of the transport robot can be selected as the main moving component, and the remaining moving components can be set as auxiliary moving components. In addition, the setting process of the main moving component and the auxiliary moving component of the transport robot can be obtained while the transport robot is operating. In one embodiment, by default, the moving component in the default position can be selected as the main moving component. In another embodiment, the setting can also be triggered by a user instruction. In another embodiment, the working environment of the robot can be judged, and the working environment can be used as a trigger condition to select the moving component in the appropriate position as the main moving component.

[0057] exist Figure 1 In one embodiment of a method for controlling the movement of a transport robot of the present invention, the control method includes: step S1, determining the target operating speed of the main moving component motor, determining a first driving current according to the target operating speed, and controlling the main moving component motor to generate the first driving current to drive the main moving component to move; step S2, obtaining the first real-time operating speed and real-time torque corresponding to the main moving component motor and the first driving current; step S3, determining the target torque corresponding to the auxiliary moving component motor according to at least one of the real-time torque and the first real-time operating speed, and determining a second driving current according to the target torque, and controlling the auxiliary moving component motor to generate the second driving current to drive the auxiliary moving component to move. Through this process, the speeds of the various motors can be synchronized to avoid wheel slippage caused by the asynchronous speeds of the various motors, and the torque oscillation caused by the pulling of the upper and lower layers due to the asynchronous speeds can also be avoided.

[0058] In one embodiment, if Figure 2 As shown, the control method further includes step S4, obtaining a second real-time operating speed corresponding to the second drive current of the auxiliary moving component motor, and adjusting the second drive current based on the difference between the second real-time operating speed and the first real-time operating speed, so that the difference between the second real-time operating speed and the first real-time operating speed is within a preset range. Through the above process, the speed difference between the motors of each moving component is ultimately brought within the error range. This process can improve the synchronization of the upper and lower speeds of the robot and reduce torque oscillations caused by speed asynchrony.

[0059] Based on step S1, during the operation of the robot, after the main moving component is set, the target speed of the main moving component motor is first determined. The target speed of the main moving component motor can also be understood as the target operating speed of the main moving component motor. According to the set target operating speed, the main moving component motor generates a corresponding driving current to drive the main moving component to move.

[0060] In one embodiment, based on step S1, the specific process of determining the target operating speed of the main mobile component motor can be, obtaining the target position and the starting position of the robot, generating an S-type speed curve according to the starting position and the target position of the robot, so as to determine the target operating speed of the current main mobile component motor according to the S-type speed curve. In the process of controlling or operating the robot, the target position of the robot can be set as needed. After obtaining the target position, the robot judges the current position, calculates the relationship between the current position and the target position, such as the distance between the target position and the current position, and plans a suitable speed curve, wherein the speed curve can be understood as an S-type speed curve. In the S-type speed curve, the horizontal coordinate (x-axis) represents time, and the vertical coordinate (y-axis) represents speed. The S-type speed curve shows how the robot speed changes over time. The planning process of this speed curve can be understood as the target speed of the output shaft of the main mobile component motor in the planning robot, that is, the target operating speed of the main mobile component motor changes over time. According to the target speed, the first driving current corresponding to the main mobile component motor is determined so that the motor in the main mobile component outputs the first driving current to drive the main mobile component to move.

[0061] Based on step S2, during the movement of the main movable assembly, the real-time rotational speed of the main movable assembly motor corresponding to the first drive current is obtained, i.e., the first real-time operating speed. The corresponding real-time torque can also be obtained from this real-time rotational speed. In other words, it can be understood that although the drive current of the main movable assembly motor is set according to the target operating speed, due to various factors during the operation, the main movable assembly may not operate completely at the target operating speed. Consequently, the obtained first actual operating speed deviates from the target operating speed.

[0062] After obtaining the real-time torque and speed of the main moving assembly motor in step S3, operating parameters of the auxiliary moving assembly motor can be set based on the operating state of the main moving assembly motor. A target torque for the auxiliary moving assembly motor is calculated using one or more of the real-time torque and speed of the main moving assembly motor. Based on the obtained target torque, the auxiliary moving assembly calculates a corresponding drive current, i.e., a second drive current, for the motor, so that the motor drives the auxiliary moving assembly according to the second drive circuit.

[0063] Based on step S4, during the movement of the auxiliary moving component, the real-time rotational speed of the auxiliary moving component motor, i.e., the second real-time operating speed, is obtained in real time. The difference between the second real-time operating speed and the first real-time operating speed meets the requirements. Finally, the rotational speeds of the main moving component motor and the auxiliary moving component motor are made as close as possible to keep the robot stable during operation.

[0064] In one embodiment, if Figure 3 As shown, based on step S1, the specific process may also include: S11, obtaining the difference between the current operating speed of the main moving component motor and the target operating speed, and generating a first feedback current based on the difference between the current operating speed and the target operating speed of the main moving component motor; S12, determining the operating acceleration of the main moving component motor based on the target operating speed, and generating a second feedback current based on the operating acceleration; S13, determining a first drive current based on the first feedback current and the second feedback current. Specifically, the motor in the main moving component can use the target operating speed of the motor as input, and obtain the first drive current corresponding to the motor through the combined action of feedback control and feedforward control. For example, the sum of the first feedback current and the second feedback current is used as the first drive current.

[0065] In one embodiment, the feedback control process can use the difference between the current operating speed of the main moving component motor and the target operating speed as an input parameter to obtain a corresponding first feedback current. In one embodiment, the first feedback current can be obtained according to the formula I_feedback = kp*V_err + ki*ΣV_err, where I_feedback is the first feedback current, kp and ki are constants whose values ​​and units can be set according to different application scenarios, and V_err = V_cur - V, where V_cur is the current operating speed of the main moving component motor and V is the target operating speed corresponding to the main moving component motor.

[0066] In one embodiment, the feedforward control process can use the operating acceleration of the main moving component motor as an input parameter to obtain a corresponding second feedback current. This operating acceleration can be calculated based on the target operating data corresponding to the main moving component motor. The specific formula can refer to the acceleration formula a = dV / dt, where a is the operating acceleration of the motor, dV is the change in velocity, and dt is the change in time. In one embodiment, the second feedback current can be obtained according to the formula I_feedforward = ka * a, where I_feedforward is the second feedback current and ka is a constant, whose value and unit can be set according to different application scenarios.

[0067] Finally, the resulting value, I = I_feedback + I_feedforward, is used as the target current, or first drive current, for the main moving component motor. By adding a velocity loop feedforward to the main moving component motor's control process, the actual operating speed of the main moving component motor can be kept as close to the target speed as possible, which is particularly important in high-speed and high-acceleration walking scenarios.

[0068] In one embodiment, based on step S3, the specific process of obtaining the target torque corresponding to the auxiliary moving component motor may further include: determining a first auxiliary moving component, wherein the distance between the first auxiliary moving component and the main moving component is less than or equal to a preset distance, and / or the first auxiliary moving component and the main moving component are located on the same track; and using the real-time torque as the target torque of the motor of the first auxiliary moving component. Because the auxiliary moving component follows the main moving component, and since the various moving components are structurally interconnected, when the distance between the auxiliary moving component and the main moving component is small and / or they are located on the same track, the following performance of the auxiliary moving component relative to the main moving component will be much better. Therefore, at this time, the real-time torque of the motor in the main moving component can be directly used as the target torque of the motor in the auxiliary moving component, and the auxiliary moving component motor generates a corresponding second driving current.

[0069] In one embodiment, if Figure 4 As shown, based on step S3, the specific process of obtaining the target torque corresponding to the auxiliary moving assembly motor may also include: S31, determining a second auxiliary moving assembly, wherein the distance between the second auxiliary moving assembly and the main moving assembly is greater than or equal to a preset distance, and / or the second auxiliary assembly and the main moving assembly are located on different tracks; S32, obtaining a current third real-time operating speed of the second auxiliary moving assembly motor, and obtaining an offset torque corresponding to the second auxiliary moving assembly based on the difference between the third real-time operating speed and the first real-time operating speed; S33, determining the target torque of the second auxiliary moving assembly motor based on the offset torque and the real-time torque. As described above, considering the following performance between the auxiliary moving assembly and the main moving assembly, when the distance between the auxiliary moving assembly and the main moving assembly is large and / or they are located on different tracks, the following performance of the auxiliary moving assembly relative to the main moving assembly will become relatively poor. In this case, the target torque of the auxiliary moving assembly motor needs to be obtained based on two parameters. One parameter is the real-time torque of the main moving assembly motor, and the other parameter is the compensation value of the auxiliary moving assembly motor relative to the torque of the main moving assembly motor. This compensation value can be understood as an offset torque obtained based on the real-time rotational speed of the auxiliary moving assembly motor, that is, the difference between the third real-time operating speed and the first real-time operating speed. The target torque of the auxiliary moving assembly motor is obtained by compensating the real-time torque with this offset torque.

[0070] In the above process, a judgment threshold can be set to determine whether the auxiliary movable assembly is set as the first auxiliary movable assembly or the second auxiliary movable assembly based on whether the distance between the auxiliary movable assembly and the main movable assembly exceeds the threshold. That is, when the distance between the auxiliary movable assembly and the main movable assembly is greater than the threshold, the auxiliary movable assembly is set as the second auxiliary movable assembly to obtain the target torque corresponding to the motor of the second auxiliary movable assembly. Otherwise, the auxiliary movable assembly is set as the first auxiliary movable assembly to obtain the target torque corresponding to the motor of the first auxiliary movable assembly. The setting of the judgment threshold value may vary depending on the structural configuration of the handling robot.

[0071] In one embodiment, based on step S33, the formula

[0072] bias_torque = kt * (V_motor3 - V_motor1) to obtain the bias torque, where kt is a constant whose value and unit can be set according to the actual application scenario, bias_torque is the bias torque, V_motor3 is the first real-time operating speed, and V_motor1 is the third real-time operating speed. The target torque of the second auxiliary mobile component motor is obtained based on the bias torque and the real-time torque. For example, the target torque of the second auxiliary mobile component motor is ultimately the sum of the bias torque and the real-time torque.

[0073] In a specific embodiment, if Figure 5 As shown, a transport robot with four moving components is taken as an example, where motors 1 and 2 are upper-layer motors, used to control the movement of the moving components of the upper layer of the transport robot respectively, and motors 3 and 4 are lower-layer motors, used to control the movement of the moving components of the lower layer of the transport robot respectively. Motor 3 is selected as the main motor, that is, the moving component corresponding to motor 3 is selected as the main moving component, and the remaining moving components are auxiliary moving components. In motor 3, the driver takes the target speed as input and generates the target current through feedback control + feedforward control. The feedback control process is a PI control process, and the first feedback current is obtained by referring to the process described above. The feedforward process calculates the acceleration with the target speed and refers to the process described above to obtain the second feedback current. The current loop corresponding to motor 3 generates each phase current of the motor through PID control.

[0074] The output of motor 3, including speed and torque, is fed back to the controller, which, after calculating the torque, issues the target torques for the remaining three motors. The target torque of motor 4 is equal to the feedback torque of motor 3. The driver receives this target torque and, through the current loop, generates the current for each phase of motor 4. To prevent slippage (due to insufficient friction or pressure) in motor 4, which can cause intermittent high-speed idling of the wheels and result in poor dynamic response (including oscillation and abnormal noise), the current speed of motor 4 and the current speed of motor 3 are used as control inputs to dynamically adjust the output current of motor 4 to keep the current speed of motor 4 within the current speed of motor 3 plus the error range. The target torques of motors 1 and 2 consist of two parts: the feedback torque of motor 3 and the deviation torque generated by the speed difference between motors 1 and 3. After receiving the target torques of motors 1 and 2, the driver controls them in the same manner as motor 4, keeping the deviation between their speeds and the current speed of motor 3 within the error range.

[0075] like Figure 6 As shown, the transport robot of the present invention includes a controller 110, a transport device 140, and a first column 131 and a second column 132 arranged in parallel. The first column 131 and the second column 132 are connected to each other. The transport device 140 can move along the first column 131 and the second column 132. The first column 131 and the second column 132 are respectively provided with a moving component, which is used to drive the transport robot to move on the track 200. One of the moving components is a main moving component 121, and the other moving components are auxiliary moving components 122. The controller 110 is used to execute a computer program to implement the method described above. Specifically, in the transport robot, the transport device 140 is supported by the first column 131 and the second column 132. The transport device 140 is used to pick up and place goods and carry goods. The transport device 140 drives the goods to move along the first column 131 and the second column 132, so as to achieve movement in one direction, such as the vertical direction, and to achieve up and down transport of goods. The first column 131 and the second column 132 move on the track 200 via a set moving assembly, ultimately driving the transport device 140 to move along the track 200, thereby moving the cargo in another direction. In a typical application scenario, the track 200 is perpendicular to the first column 131 and the second column 132. Therefore, in this embodiment, when the first column 131 and the second column 132 move on the track 200, they will drive the cargo to move in a horizontal direction. Of course, in some application scenarios, the arrangement direction of the first column 131 and the second column 132 and the track 200 will be set as needed. The process of the robot moving along the track 200 is controlled by the controller 110, wherein the controller 110 can realize the control of each moving assembly through the method process described above to ultimately achieve the movement of the first column 131 and the second column 132.

[0076] like Figure 7 As shown, in an embodiment of a transport robot movement control device of the present invention, the transport robot includes a main moving component and an auxiliary moving component, each moving component includes a motor and is driven to move by the motor; the control device includes: a first drive current generating unit 301, used to determine the target operating speed of the main moving component motor, determine the first drive current according to the target operating speed, control the main moving component motor to generate the first drive current to drive the main moving component to move; obtain the target operating speed of the robot, and generate the first drive current according to the target operating speed to drive the main moving component in the moving component to move; an acquisition unit 302, used to obtain the first real-time operating speed and real-time torque corresponding to the main moving component motor and the first drive current; a second drive current generating unit 303, used to determine the target torque corresponding to the auxiliary moving component motor according to at least one of the real-time torque and the first real-time operating speed, and determine the second drive current according to the target torque, control the auxiliary moving component motor to generate the second drive current to drive the auxiliary moving component to move.

[0077] Optional, such as Figure 8 As shown, in an embodiment of a transport robot movement control device of the present invention, the control device also includes a drive current adjustment unit 304, which is used to obtain a second real-time operating speed corresponding to the auxiliary moving component motor and the second drive current, and adjust the second drive current according to the difference between the second real-time operating speed and the first real-time operating speed, so that the difference between the second real-time operating speed and the first real-time operating speed is within a preset range.

[0078] That is, in the above-described embodiment, the process of the transport robot movement control method described above can be implemented through the cooperation of various energy supply modules. These various functions can be implemented through hardware or by hardware executing corresponding software. The corresponding hardware or software includes one or more modules corresponding to the above-mentioned functions. That is, the steps of the above-mentioned method are respectively executed by one or more modules. The specific cooperation operations between the various modules can be referred to the specific process of the above-mentioned method and will not be repeated here.

[0079] In addition, an electronic device of the present invention may further include a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement the above-mentioned method for controlling the movement of the transport robot. Specifically, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by an electronic device and, when executed, performs the above-mentioned functions defined in the method of the embodiment of the present invention. The electronic device in the present invention may be a terminal such as a notebook, a desktop, a tablet computer, a smart phone, or a server.

[0080] In addition, the present invention provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for controlling the movement of a handling robot. Specifically, it should be noted that the computer-readable medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present invention, a computer-readable signal medium can include a data signal transmitted in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0081] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0082] It is understandable that the above embodiments only express the preferred implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the patent scope of the present invention. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present invention, the above technical features can be freely combined, and several deformations and improvements can be made, all of which fall within the scope of protection of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should fall within the scope of coverage of the claims of the present invention.

Claims

1. A method for controlling the movement of a transport robot, characterized in that: A controller is applied to the transport robot, wherein the transport robot includes a main moving component and an auxiliary moving component, each moving component includes a motor and is driven to move by the motor; the method includes: Determining a target operating speed of the main moving assembly motor, determining a first driving current according to the target operating speed, and controlling the main moving assembly motor to generate the first driving current to drive the main moving assembly to move; Acquire a first real-time operating speed and a real-time torque of the main moving component motor corresponding to the first driving current; The target torque corresponding to the auxiliary moving component motor is determined according to at least one of the real-time torque and the first real-time operating speed, and a second driving current is determined according to the target torque. The auxiliary moving component motor is controlled to generate the second driving current to drive the auxiliary moving component to move.

2. The method for controlling the movement of a transport robot according to claim 1, wherein: The method further comprises: Obtain a second real-time operating speed corresponding to the auxiliary moving component motor and the second driving current, and adjust the second driving current according to the difference between the second real-time operating speed and the first real-time operating speed so that the difference between the second real-time operating speed and the first real-time operating speed is within a preset range.

3. The method for controlling the movement of a transport robot according to claim 1, wherein: The determining of the first driving current according to the target operating speed, and controlling the motor of the main moving component to generate the first driving current to drive the main moving component to move, comprises: Obtaining a difference between a current operating speed of the main moving component motor and the target operating speed, so as to generate a first feedback current according to the difference between the current operating speed of the main moving component motor and the target operating speed; determining an operating acceleration of the main moving component motor according to the target operating speed to generate a second feedback current according to the operating acceleration; The first driving current is determined according to the first feedback current and the second feedback current.

4. The method for controlling the movement of a transport robot according to claim 3, wherein: The determining the first driving current according to the first feedback current and the second feedback current includes: The sum of the first feedback current and the second feedback current is used as the first driving current.

5. The method for controlling the movement of a transport robot according to claim 3, wherein: The generating of the first feedback current according to the difference between the current running speed of the main moving component and the target running speed comprises: I_feedback=kp*V_err+ki*ΣV_err to obtain the first feedback current, wherein I_feedback is the first feedback current, kp and ki are both constants, and V_err is the difference between the current operating speed of the main moving component and the target operating speed; and / or Generating a second feedback current according to the running acceleration includes: according to the formula I_feedforward=ka*a to obtain the second feedback current, where I_feedforward is the second feedback current, ka is a constant, and a is the running acceleration.

6. The method for controlling the movement of a transport robot according to claim 1, wherein: The determining and obtaining a target torque corresponding to the auxiliary moving component motor according to at least one of the real-time torque and the first real-time operating speed includes: Determining a first auxiliary movable assembly, wherein a distance between the first auxiliary movable assembly and the main movable assembly is less than or equal to a predetermined distance, and / or the first auxiliary assembly and the main movable assembly are located on the same track; The real-time torque is used as the target torque of the first auxiliary moving component motor.

7. The method for controlling the movement of a transport robot according to claim 1, wherein: The determining and obtaining a target torque corresponding to the auxiliary moving component motor according to at least one of the real-time torque and the first real-time operating speed includes: determining a second auxiliary movable assembly, wherein a distance between the second auxiliary movable assembly and the main movable assembly is greater than or equal to a predetermined distance, and / or the second auxiliary movable assembly and the main movable assembly are located on different tracks; Obtaining a third real-time operating speed of the motor of the second auxiliary moving assembly, and obtaining an offset torque corresponding to the second auxiliary moving assembly according to a difference between the third real-time operating speed and the first real-time operating speed; The target torque of the second auxiliary moving assembly motor is determined according to the offset torque and the real-time torque.

8. The method for controlling the movement of a transport robot according to claim 7, wherein: Determining the target torque of the second auxiliary moving assembly motor according to the offset torque and the real-time torque includes: The sum of the offset torque and the real-time torque is used as the target torque of the second auxiliary component motor.

9. The method for controlling the movement of a transport robot according to claim 7, wherein: The step of obtaining the offset torque corresponding to the second auxiliary moving component according to the difference between the third real-time running speed and the first real-time running speed comprises: according to the formula bias_torque=kt*(V_motor3-V_motor1) to obtain the bias torque, wherein kt is a constant, bias_torque is the bias torque, V_motor3 is the first real-time operating speed, and V_motor1 is the third real-time operating speed.

10. The method for controlling the movement of a transport robot according to claim 1, wherein: Determining the target operating speed of the main moving component motor includes: The target position and the starting position of the robot are acquired, and an S-shaped speed curve is generated according to the starting position of the robot and the target position, so as to determine the current target operating speed of the motor of the main moving component according to the S-shaped speed curve.

11. A transport robot, characterized in that: The transport robot includes a controller, a transport device, and a first column and a second column arranged in parallel, the first column and the second column are connected to each other, the transport device can move along the first column and the second column, and the first column and the second column are respectively provided with a moving component, the moving component is used to drive the transport robot to move on the track, one of the moving components is a main moving component, and the other moving components are auxiliary moving components; The controller is configured to execute the computer program to implement the method according to any one of claims 1 to 10.

12. A transport robot movement control device, characterized in that: The transport robot comprises a main moving component and an auxiliary moving component, each moving component comprises a motor and is driven to move by the motor; The control device comprises: a first drive current generating unit, configured to determine a target operating speed of the motor of the main moving assembly, determine a first drive current based on the target operating speed, control the motor of the main moving assembly to generate the first drive current to drive the main moving assembly to move; obtain a target operating speed of the robot, and generate the first drive current based on the target operating speed to drive the main moving assembly in the moving assembly to move; an acquisition unit, configured to acquire a first real-time operating speed and a real-time torque of the main moving component motor corresponding to the first driving current; The second driving current generating unit is used to determine the target torque corresponding to the auxiliary moving component motor according to at least one of the real-time torque and the first real-time operating speed, and determine the second driving current according to the target torque, and control the auxiliary moving component motor to generate the second driving current to drive the auxiliary moving component to move.

13. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program to implement the method according to any one of claims 1 to 10.

14. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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