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

Abstract

The present application relates to a kind of handling robot movement control method, device, electronic equipment and storage medium.The method is applied to the controller of handling robot, comprising: determining the target operating speed of main moving component motor to determine the first drive current, control main moving component motor generates the first drive current to drive main moving component moves;Obtain the first real-time operating speed and real-time torque corresponding to the first drive current of main moving component motor;According to at least one of the two, determine the target torque of auxiliary moving component motor, to determine the second drive current, control auxiliary moving component motor generates the second drive current to drive auxiliary moving component moves.Embodiment of the present application can make robot walk when shake small, and the synchronous performance of each component is good.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a method, apparatus, electronic device, and storage medium for controlling the movement of a handling robot. Background Technology

[0002] Currently, in warehouse system management, robots are increasingly relied upon for cargo handling and transportation to reduce human labor load and mitigate handling risks. However, because the operation of a robot requires the cooperation of its various moving parts, the collaborative relationships between these parts are not always ideal. Due to the mutual influence or coordination delays between components, the robot may not maintain a perfectly vertical position during movement, or it may become unbalanced or wobble, posing potential risks to the handling process and potentially damaging the goods being transported. Summary of the Invention

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

[0004] The technical solution adopted by this invention to solve its technical problem is: constructing a mobile control method for a handling robot, applied to the controller of the handling robot, wherein the handling robot includes a main moving component and an auxiliary moving component, each moving component including a motor and driving the moving component to move through the motor; the method includes: Determine the target operating speed of the main moving component motor, determine the first driving current based on the target operating speed, and control the main moving component motor to generate the first driving current to drive the main moving component to move. Obtain the first real-time operating speed and real-time torque of the main moving component motor corresponding to the first drive current; The target torque corresponding to the auxiliary moving component motor is determined based on at least one of the real-time torque and the first real-time running speed, and the second driving current is determined based on the target torque. The auxiliary moving component motor is then controlled to generate the second driving current to drive the auxiliary moving component to move.

[0005] Specifically, the method provided by this invention further includes: The second real-time operating speed of the auxiliary moving component motor corresponding to the second driving current is obtained, and the second driving current is adjusted 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.

[0006] Specifically, determining the first drive current based on the target operating speed and controlling the main moving component motor to generate the first drive current to drive the main moving component to move includes: The difference between the current operating speed of the main moving component motor and the target operating speed is obtained, so as to generate a first feedback current based on the difference between the current operating speed of the main moving component motor and the target operating speed; The running acceleration of the main moving component motor is determined based on the target running speed, so as to generate a second feedback current based on the running acceleration; The first drive current is determined based on the first feedback current and the second feedback current.

[0007] Specifically, determining the first drive current based on 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.

[0008] Specifically, generating the first feedback current based on the difference between the current operating speed of the main moving component motor and the target operating speed includes: according to the formula I_feedback = kp * V_err + ki * ΣV_err is used to obtain the first feedback current, where 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 main moving component motor and the target operating speed; and / or The step of generating the second feedback current based on the running acceleration includes: according to the formula I_feedforward = ka * a obtains the second feedback current, where I_feedforward is the second feedback current, ka is a constant, and a is the running acceleration.

[0009] Specifically, determining the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time operating speed includes: A first auxiliary moving component is identified, 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; The real-time torque is taken as the target torque of the motor of the first auxiliary moving component.

[0010] Specifically, determining the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time operating speed includes: A second auxiliary moving component is identified, wherein the distance between the second auxiliary moving component and the main moving component is greater than or equal to a preset distance, and / or the second auxiliary moving component and the main moving component are located on different tracks; Obtain the current third real-time operating speed of the motor of the second auxiliary moving component, and obtain the offset torque corresponding to the second auxiliary moving component based on the difference between the third real-time operating speed and the first real-time operating speed; The target torque of the second auxiliary moving component motor is determined based on the offset torque and the real-time torque.

[0011] Specifically, determining the target torque of the second auxiliary moving component motor based on 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.

[0012] Specifically, obtaining the offset torque corresponding to the second auxiliary moving component based on the difference between the third real-time operating speed and the first real-time operating speed includes: according to the formula bias_torque = kt * (V_motor3 - V_motor1) is used to obtain the offset torque, where kt is a constant, bias_torque is the offset torque, V_motor3 is the first real-time running speed, and V_motor1 is the third real-time running speed.

[0013] Specifically, determining the target operating speed of the main moving component motor includes: The target position and the robot's starting position are obtained. An S-shaped velocity curve is generated based on the robot's starting position and the target position. The target operating speed of the main moving component motor is then determined based on the S-shaped velocity curve.

[0014] The present invention also provides a transport robot, which 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. The first column and the second column are respectively provided with moving components. The moving components are 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 used to execute the computer program to implement the method described above.

[0015] The present invention also provides a mobile control device for a handling robot, the handling robot including a main moving component and an auxiliary moving component, each moving component including a motor and driving the moving component to move through the motor; the control device includes: The first drive current generation unit is used to determine the target running speed of the main moving component motor, determine the first drive current according to the target running speed, and control the main moving component motor to generate the first drive current to drive the main moving component to move; to obtain the target running speed of the robot, and generate the first drive current according to the target running speed to drive the main moving component in the moving component to move. The acquisition unit is used to acquire the first real-time operating speed and real-time torque of the main moving component motor corresponding to the first driving current; The second drive current generation unit is used to determine the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time running speed, and to determine the second drive current based on the target torque, and control the auxiliary moving component motor to generate the second drive current to drive the auxiliary moving component to move.

[0016] Specifically, the control device provided by the present invention further includes: The drive current adjustment unit is used to obtain the second real-time running speed of the auxiliary moving component motor corresponding to the second drive current, and adjust the second drive current according to the difference between the second real-time running speed and the first real-time running speed, so that the difference between the second real-time running speed and the first real-time running speed is within a preset range.

[0017] The present invention also provides an electronic device, including a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program to implement the method described above.

[0018] The present invention also provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the method described above.

[0019] The present invention provides a method, apparatus, electronic device, and storage medium for controlling the movement of a handling robot, which has the following advantages: it can ensure that the handling robot remains vertical during movement and effectively suppresses swaying during movement, thereby improving the reliability and safety of the handling robot during operation. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1This is a flowchart of an embodiment of a mobile control method for a handling robot according to the present invention; Figure 2 This is a flowchart of another embodiment of the mobile control method for a handling robot according to the present invention; Figure 3 This is a partial flowchart of an embodiment of a mobile control method for a handling robot according to the present invention; Figure 4 This is a partial flowchart of an embodiment of a mobile control method for a handling robot according to the present invention; Figure 5 This is a schematic diagram of the working signals of an embodiment of the mobile control method for a handling robot according to the present invention; Figure 6 This is a structural schematic diagram of an embodiment of a handling robot according to the present invention; Figure 7 This is a functional module diagram of an embodiment of a mobile control device for a handling robot according to the present invention; Figure 8 This is a functional module schematic diagram of another embodiment of the mobile control device for a handling robot according to the present invention. Detailed Implementation

[0021] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0022] like Figure 1 The diagram illustrates an embodiment of a mobile control method for a handling robot according to the present invention. This control method is applied to the controller of a handling robot, which includes a main moving component and auxiliary moving components. Each moving component includes a motor, and the motor drives the moving component to move. The handling robot has multiple moving components, each including a motor, which drives the moving component to move, and the movement of the moving component causes the handling robot to move. The main and auxiliary moving components of the handling robot can be defined according to user needs. For example, any one of the multiple moving components of the handling robot can be selected as the main moving component, and the remaining moving components can be set as auxiliary moving components. Furthermore, the setting process of the main and auxiliary moving components of the handling robot can be obtained during the operation of the handling robot. In one embodiment, by default, a moving component in a default position can be selected as the main moving component. In another embodiment, the setting can also be triggered by user commands. In yet another embodiment, the robot's working environment can be determined, and a moving component in a suitable position can be selected as the main moving component based on the working environment as a trigger condition.

[0023] exist Figure 1In one embodiment of the mobile control method for a handling 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 based on 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, acquiring the first real-time operating speed and real-time torque of the main moving component motor corresponding to the first driving current; step S3, determining the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time operating speed, determining a second driving current based on 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 each motor can be synchronized, thereby avoiding wheel slippage caused by asynchronous motor speeds, and also avoiding torque oscillation caused by mutual pulling between upper and lower layers due to asynchronous speeds.

[0024] In one embodiment, such as Figure 2 As shown, the control method further includes step S4: obtaining the second real-time operating speed corresponding to the auxiliary moving component motor and the second driving current, and adjusting 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. Through the above process, the speed difference of each moving component motor is ultimately made within the error range. This process can increase the speed synchronization between the upper and lower layers of the robot and reduce torque oscillation caused by speed asynchrony.

[0025] Based on step S1, during the robot's operation, after setting the main moving component, 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 running speed of the main moving component motor. According to the set target running speed, the main moving component motor generates a corresponding drive current to drive the main moving component to move.

[0026] In one embodiment, the specific process of determining the target operating speed of the main moving component motor based on step S1 can be as follows: Obtain the target position and the robot's starting position; generate an S-shaped speed curve based on the robot's starting and target positions; and determine the current target operating speed of the main moving component motor based on the S-shaped speed curve. During the control or operation of the robot, a target position of the robot will be set as needed. After obtaining the target position, the robot will judge its current position, calculate the relationship between the current position and the target position (e.g., the distance between the target and current positions), and plan a suitable speed curve, which can be understood as an S-shaped speed curve. In the S-shaped speed curve, the horizontal axis (x-axis) represents time, and the vertical axis (y-axis) represents speed. The S-shaped speed curve shows how the robot speed changes over time. The planning process of this speed curve can be understood as planning the target rotational speed of the output shaft of the main moving component motor in the robot, i.e., the process of the target operating speed of the main moving component motor changing over time. Based on this target rotational speed, a first driving current corresponding to the main moving component motor is determined, so that the motor in the main moving component outputs according to the first driving current to drive the main moving component to move.

[0027] Based on step S2, during the movement of the main moving component, the real-time rotational speed of the main moving component motor corresponding to the first drive current is obtained, which is also the first real-time operating speed. Simultaneously, the corresponding real-time torque can be obtained from this real-time rotational speed. In other words, the drive current of the main moving component motor is set according to the target operating speed; however, due to the influence of various factors during operation, the main moving component cannot operate exactly at the target operating speed. Therefore, the obtained first actual operating speed deviates from the target operating speed.

[0028] Based on step S3, after obtaining the real-time torque and real-time speed of the main moving component motor, the operating parameters of the auxiliary moving component motor can be set according to the operating status of the main moving component motor. The target torque of the auxiliary moving component motor is calculated using one or more of the real-time torque and real-time speed of the main moving component motor. The auxiliary moving component then calculates its corresponding drive current, i.e., the second drive current, based on the obtained target torque, so that the motor drives the auxiliary moving component to move according to the second drive circuit.

[0029] Based on step S4, during the movement of the auxiliary moving component, the real-time rotation speed of the auxiliary moving component motor, i.e., the second real-time running speed, is obtained in real time. Based on the difference between the second real-time running speed and the first real-time running speed meeting the requirements, the rotation speeds of the main moving component motor and the auxiliary moving component motor are made as close as possible to ensure that the robot remains stable during operation.

[0030] In one embodiment, such as Figure 3As shown, based on step S1, the specific process may further include: S11, obtaining the difference between the current operating speed and the target operating speed of the main moving component motor, 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 corresponding first drive current of 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 can be used as the first drive current.

[0031] In one embodiment, the feedback control process can use the difference between the current operating speed and the target operating speed of the main moving component motor as an input parameter to obtain the 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, V_err = V_cur - V, V_cur is the current operating speed of the main moving component motor, and V is the target operating speed of the main moving component motor.

[0032] In one embodiment, the feedforward control process can use the running acceleration of the main moving component motor as an input parameter to obtain the corresponding second feedback current. This running acceleration can be calculated based on the target running data of the main moving component motor; the specific formula can refer to the acceleration formula a=dV / dt, where a is the running 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.

[0033] Finally, the obtained I = I_feedback + I_feedforward is used as the target current, i.e., the first drive current, of the main moving component motor. By adding a speed loop feedforward element during the control process of the main moving component motor, the actual operating speed of the main moving component motor can be made as close as possible to the target operating speed, which plays an important role in high-speed, high-acceleration travel scenarios.

[0034] In one embodiment, the specific process of obtaining the target torque corresponding to the auxiliary moving component motor based on step S3 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 first auxiliary moving component motor. Because the auxiliary moving component follows the main moving component, and since the 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 the corresponding second driving current.

[0035] In one embodiment, such as Figure 4 As shown, based on step S3, the specific process of obtaining the target torque corresponding to the auxiliary moving component motor may further include: S31, determining the second auxiliary moving component, wherein the distance between the second auxiliary moving component and the main moving component is greater than or equal to a preset distance, and / or, the second auxiliary component and the main moving component are located on different tracks; S32, obtaining the current third real-time running speed of the second auxiliary moving component motor, and obtaining the offset torque corresponding to the second auxiliary moving component based on the difference between the third real-time running speed and the first real-time running speed; S33, determining the target torque of the second auxiliary moving component motor based on the offset torque and the real-time torque. According to the above description, considering the following performance between the auxiliary moving component and the main moving component, when the distance between the auxiliary moving component and the main moving component is large and / or they are located on different tracks, the following performance of the auxiliary moving component relative to the main moving component will become relatively poor. In this case, the target torque of the auxiliary moving component motor needs to be obtained based on two parameters. One parameter is the real-time torque of the main moving component motor, and the other parameter is the compensation value of the torque of the auxiliary moving component motor relative to the main moving component motor. This compensation value can be understood as the offset torque obtained based on the difference between the real-time speed of the auxiliary moving component motor (i.e., the third real-time operating speed) and the first real-time operating speed. The target torque of the auxiliary moving component motor is obtained by compensating the real-time torque with this offset torque.

[0036] In the above process, a judgment threshold can be set to determine whether the auxiliary moving component is designated as the first or second auxiliary moving component based on whether the distance between the auxiliary moving component and the main moving component exceeds the threshold. That is, when the distance between the auxiliary moving component and the main moving component is greater than the threshold, the auxiliary moving component is designated as the second auxiliary moving component to obtain the target torque corresponding to the second auxiliary moving component motor. Otherwise, the auxiliary moving component is designated as the first auxiliary moving component to obtain the target torque corresponding to the first auxiliary moving component motor. The setting of the judgment threshold value will vary depending on the different structural designs of the handling robot.

[0037] In one embodiment, based on step S33, the formula can be used. The formula `bias_torque = kt * (V_motor3 - V_motor1)` calculates the offset torque, where `kt` is a constant (its value and unit can be set according to the actual application scenario), `bias_torque` is the offset torque, `V_motor3` is the first real-time operating speed, and `V_motor1` is the third real-time operating speed. Based on the offset torque and the real-time torque, the target torque of the second auxiliary moving component motor is obtained. For example, the final target torque of the second auxiliary moving component motor is the sum of the offset torque and the real-time torque.

[0038] In one specific embodiment, such as Figure 5 As shown, taking a transport robot with four moving components as an example, motors 1 and 2 are upper-level motors, used to control the movement of the upper-level moving components of the transport robot, while motors 3 and 4 are lower-level motors, used to control the movement of the lower-level moving components of the transport robot. Motor 3 is selected as the main motor, meaning 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 and feedforward control. The feedback control process is a PI control process, referring to the process described above to obtain the first feedback current. The feedforward process calculates the acceleration based on the target speed, referring to the process described above to obtain the second feedback current. The current loop corresponding to motor 3 generates the phase current of the motor through PID control.

[0039] The output of motor 3 includes speed and torque, which are fed back to the controller. The controller calculates the torque and issues target torques to the remaining three motors. The target torque of motor 4 is equal to the feedback torque of motor 3. The driver receives the target torque of motor 4, processes it through a current loop, and generates the phase current of motor 4. To prevent slippage of motor 4 (due to insufficient friction or pressure) causing intermittent high-speed idling of the wheel and resulting in poor dynamic response (including vibration, abnormal noise, etc.), the current speeds of motor 4 and motor 3 are used as control inputs to dynamically adjust the output current of motor 4, ensuring that the current speed of motor 4 remains within the range of the current speed of motor 3 plus an error. The target torques of motors 1 and 2 consist of two parts: one is the feedback torque of motor 3, and the other is 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 way as motor 4, ensuring that the deviation between their speeds and the current speed of motor 3 is within the error range.

[0040] like Figure 6As shown, the handling robot of the present invention includes a controller 110, a handling 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 handling device 140 can move along the first column 131 and the second column 132. Moving components are respectively provided on the first column 131 and the second column 132. The moving components are used to drive the handling 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 handling robot, the first column 131 and the second column 132 support the handling device 140. The handling device 140 is used to pick up and put down goods and carry goods. The handling device 140 drives the goods to move along the first column 131 and the second column 132 to achieve movement in one direction, such as the vertical direction, and realize the vertical handling of goods. The first column 131 and the second column 132 move along the set track 200 via the set moving components, ultimately driving the handling device 140 to move along the track 200, realizing the movement of goods in another direction. In typical applications, the set 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 goods to move horizontally. Of course, in some applications, the arrangement direction of the first column 131 and the second column 132 relative to the track 200 will be set as needed. The process of the robot moving along the track 200 is controlled by the controller 110, which can control the various moving components through the methods and processes described above to ultimately realize the movement of the first column 131 and the second column 132.

[0041] like Figure 7As shown, in an embodiment of a mobile control device for a handling robot according to the present invention, the handling 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 generation unit 301, used to determine the target running speed of the main moving component motor, determine a first drive current according to the target running speed, and control the main moving component motor to generate the first drive current to drive the main moving component to move; acquire the target running speed of the robot, and generate the first drive current according to the target running speed to drive the main moving component in the moving component to move; an acquisition unit 302, used to acquire the first real-time running speed and real-time torque of the main moving component motor corresponding to the first drive current; and a second drive current generation 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 running speed, determine the second drive current according to the target torque, and control the auxiliary moving component motor to generate the second drive current to drive the auxiliary moving component to move.

[0042] Optional, such as Figure 8 As shown, in an embodiment of a mobile control device for a handling robot according to the present invention, the control device further includes a drive current adjustment unit 304, which is used to obtain the second real-time running 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 running speed and the first real-time running speed, so that the difference between the second real-time running speed and the first real-time running speed is within a preset range.

[0043] That is, in the above embodiments, the process of the described mobile control method for the handling robot can be realized through the cooperation of various power supply modules. Each function can be implemented in hardware or by hardware executing corresponding software. The corresponding hardware or software includes one or more modules corresponding to the above functions. That is, the steps in the above method are executed by one or more modules respectively. The specific cooperation between the modules can be referred to the specific process of the above method, and will not be repeated here.

[0044] Furthermore, 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-described method for controlling the movement of a transport robot. Specifically, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, when the computer program is downloaded, installed, and executed by an electronic device, it performs the functions defined in the methods of the embodiments of the present invention. The electronic device of the present invention may be a terminal such as a laptop, desktop computer, tablet computer, or smartphone, or it may be a server.

[0045] Furthermore, this invention provides a computer storage medium storing a computer program, which, when executed by a processor, implements the aforementioned mobile control method for a handling robot. Specifically, it should be noted that the computer-readable medium described above can be a computer-readable signal medium, a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this 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, apparatus, or device. In this invention, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0046] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0047] It is understood that the above embodiments only illustrate preferred embodiments of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can freely combine the above technical features without departing from the concept of the present invention, and can also make several modifications and improvements, all of which fall within the protection scope of the present invention. Therefore, all equivalent transformations and modifications made with respect to the scope of the claims of the present invention should fall within the scope 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, the transport robot including a main moving component and an auxiliary moving component, each moving component including a motor and driving the moving component to move through the motor; the method includes: Determine the target operating speed of the main moving component motor, determine the first driving current based on the target operating speed, and control the main moving component motor to generate the first driving current to drive the main moving component to move. Obtain the first real-time operating speed and real-time torque of the main moving component motor corresponding to the first drive current; The target torque corresponding to the auxiliary moving component motor is determined based on at least one of the real-time torque and the first real-time running speed, and the second driving current is determined based on the target torque. The auxiliary moving component motor is then controlled to generate the second driving current to drive the auxiliary moving component to move. The step of determining the first drive current based on the target running speed and controlling the main moving component motor to generate the first drive current to drive the main moving component to move includes: The difference between the current operating speed of the main moving component motor and the target operating speed is obtained, so as to generate a first feedback current based on the difference between the current operating speed of the main moving component motor and the target operating speed; The running acceleration of the main moving component motor is determined based on the target running speed, so as to generate a second feedback current based on the running acceleration; The first drive current is determined based on the first feedback current and the second feedback current.

2. The mobile control method for a handling robot according to claim 1, characterized in that, The method further includes: The second real-time operating speed of the auxiliary moving component motor corresponding to the second driving current is obtained, and the second driving current is adjusted 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 mobile control method for a handling robot according to claim 1, characterized in that, Determining the first drive current based on 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.

4. The mobile control method for a handling robot according to claim 1, characterized in that, The step of generating a first feedback current based on the difference between the current operating speed of the main moving component and the target operating speed includes: according to the formula The first feedback current is obtained by calculating I_feedback = kp * V_err + ki * ΣV_err, where 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 main moving component and the target operating speed; and / or The step of generating the second feedback current based on the running acceleration includes: according to the formula I_feedforward = ka * a obtains the second feedback current, where I_feedforward is the second feedback current, ka is a constant, and a is the running acceleration.

5. The mobile control method for a handling robot according to claim 1, characterized in that, Determining the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time running speed includes: A first auxiliary moving component is identified, 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; The real-time torque is taken as the target torque of the motor of the first auxiliary moving component.

6. The mobile control method for a handling robot according to claim 1, characterized in that, Determining the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time running speed includes: A second auxiliary moving component is identified, wherein the distance between the second auxiliary moving component and the main moving component is greater than or equal to a preset distance, and / or the second auxiliary moving component and the main moving component are located on different tracks; Obtain the current third real-time operating speed of the motor of the second auxiliary moving component, and obtain the offset torque corresponding to the second auxiliary moving component based on the difference between the third real-time operating speed and the first real-time operating speed; The target torque of the second auxiliary moving component motor is determined based on the offset torque and the real-time torque.

7. The mobile control method for a handling robot according to claim 6, characterized in that, Determining the target torque of the second auxiliary moving component motor based on 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.

8. The mobile control method for a handling robot according to claim 6, characterized in that, The step of obtaining the offset torque corresponding to the second auxiliary moving component based on the difference between the third real-time running speed and the first real-time running speed includes: according to the formula bias_torque = kt * (V_motor3 - V_motor1) is used to obtain the offset torque, where kt is a constant, bias_torque is the offset torque, V_motor3 is the first real-time running speed, and V_motor1 is the third real-time running speed.

9. The mobile control method for a handling robot according to claim 1, characterized in that, Determining the target operating speed of the main moving component motor includes: The target position and the robot's starting position are obtained. An S-shaped velocity curve is generated based on the robot's starting position and the target position. The target operating speed of the main moving component motor is then determined based on the S-shaped velocity curve.

10. 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. The first column and the second column are respectively provided with moving components. The moving components are used to drive the transport robot to move on the track. One of the moving components is the main moving component, and the other moving components are auxiliary moving components. The controller is used to execute a computer program to implement the method as described in any one of claims 1 to 9.

11. A mobile control device for a transport robot, characterized in that, 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 is configured to implement the method as described in any one of claims 1 to 9, the control device comprising: The first drive current generation unit is used to determine the target running speed of the main moving component motor, determine the first drive current according to the target running speed, and control the main moving component motor to generate the first drive current to drive the main moving component to move; to obtain the target running speed of the robot, and generate the first drive current according to the target running speed to drive the main moving component in the moving component to move. The acquisition unit is used to acquire the first real-time operating speed and real-time torque of the main moving component motor corresponding to the first driving current; The second drive current generation unit is used to determine the target torque corresponding to the auxiliary moving component motor based on at least one of the real-time torque and the first real-time running speed, and to determine the second drive current based on the target torque, and control the auxiliary moving component motor to generate the second drive current to drive the auxiliary moving component to move.

12. An electronic device, characterized in that, Including memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program to implement the method as described in any one of claims 1 to 9.

13. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 9.

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