Control method and system of industrial robot

Abstract

The invention relates to the technical field of information, and particularly provides a control method and system for an industrial robot, and the method comprises the steps: firstly constructing a grid map, discretizing a space, and endowing a collision risk coefficient and a gas exposure risk coefficient; secondly, acquiring position and gas concentration data by using high-precision positioning and sensing equipment, and carrying out risk grading early warning; then, path points are determined based on multi-factor fusion calculation, and paths and early warning are dynamically adjusted through loop iteration; and finally, fitting to generate a robot moving path. The method effectively solves the problems of limited space, complex risk and the like in aircraft maintenance, and ensures safe and efficient operation of the robot.

Description

Technical Field

[0001] The present application relates to the field of information technology, and in particular to a control method and system for an industrial robot. Background Art

[0002] During aircraft maintenance, cargo holds, landing gear bays, and rocket fuel filling areas exhibit three typical characteristics: First, the space is highly restricted and the internal structure is extremely complex, with densely distributed components such as pipes, brackets, and cables, resulting in a narrow traversable area (the minimum width is often less than 300mm). Traditional robots rely on lidar or visual obstacle avoidance technology, which has difficulty achieving millimeter-level precision path planning and is prone to collision risks due to insufficient spatial cognition. Second, the problem of multi-source risk superposition is significant, including harmful gases such as Skydrol vapor generated by leaks in the aircraft's hydraulic system, as well as the potential danger of liquid hydrogen / liquid oxygen leakage during rocket fuel filling. Traditional single-point detection methods are unable to meet the real-time safety assessment needs in complex environments. Finally, reliability requirements are stringent, especially in manned aircraft scenarios. Any collision or excessive gas exposure may lead to mission failure or even endanger personnel safety, and cannot meet aircraft-level high-reliability operation standards. Summary of the Invention

[0003] One purpose of the present application is to provide a control method for an industrial robot, at least to solve the problem of how to accurately warn of risks in the aircraft maintenance process while ensuring the safe operation of the industrial robot.

[0004] To achieve the above objectives, some embodiments of the present application provide the following aspects: In a first aspect, some embodiments of the present application further provide a method for controlling an industrial robot, comprising: step S100: obtaining a grid map of a current aircraft working environment; wherein the grid map includes a plurality of grids, each grid including a preset collision risk coefficient and a preset gas exposure risk coefficient; Step S102: Obtaining a grid position and a hazardous gas concentration field of the current industrial robot in the grid map; wherein the hazardous gas concentration field includes the hazardous gas concentration at the grid position and the hazardous gas concentrations of grids adjacent to the grid position; Step S104: determining first warning information based on the hazardous gas concentration field; Step S106: Determine the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position, and the grid map: Step S108: looping through steps S102 to S106 to obtain multiple next path points and multiple first warning information; Step S110: Determine the movement path of the robot based on the multiple next path points.

[0005] In a second aspect, some embodiments of the present application further provide a control system for an industrial robot, the system comprising: The first acquisition module is configured to perform step S100: acquiring a grid map of the current aircraft operating environment; wherein the grid map includes a plurality of grids, each grid including a preset collision risk coefficient and a preset gas exposure risk coefficient; The second acquisition module is configured to perform step S102: acquiring a grid position of the current industrial robot in the grid map and a hazardous gas concentration field; wherein the hazardous gas concentration field includes the hazardous gas concentration at the grid position and the hazardous gas concentrations of grids adjacent to the grid position; The first data processing module is configured to: determine first warning information based on the dangerous gas concentration field in step S104; The second data processing module is configured to perform step S106: determining the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position and the grid map: The loop module is configured to perform step S108: looping through steps S102 to S106 to obtain multiple next path points and multiple first warning information; The third data processing module is configured to perform step S110: determining a moving path of the robot based on the multiple next path points.

[0006] In a third aspect, some embodiments of the present application further provide an electronic device comprising: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method described above.

[0007] In a fourth aspect, some embodiments of the present application further provide a computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method described above.

[0008] Compared with the related art, in the scheme provided by the embodiment of the application, a control method of an industrial robot, the construction process of a grid map is as follows: first, a CAD design drawing of an aircraft equipment is imported, and geometric structure parameters thereof are extracted, such as position and size information of components such as pipelines, supports, and cables; then, the aircraft working environment space is discretized and divided into multiple cubic grid cells with a side length of 10 mm; finally, for each grid cell, a preset collision risk coefficient is determined according to the proportion of the internal obstacle volume, and a preset gas exposure risk coefficient is determined in combination with historical leakage data or equipment design parameters, thereby completing the construction of the grid map. Through the UWB ultra-wideband positioning system carried by the robot, the real-time grid position of the robot in the grid map can be accurately obtained, and the positioning accuracy can reach ±5 cm; at the same time, through the use of detection equipment such as a miniaturized infrared spectrum gas detector and a low-temperature-resistant hydrogen sensor, the dangerous gas concentration of the grid position and the adjacent grid position where the robot is located can be collected in real time, the detection accuracy is 0.1 ppm (for Skydrol vapor) or 0.1% LEL (for hydrogen), and the sampling frequency is not less than 5 Hz, so as to ensure timely capture of the gas concentration change. Based on the collected dangerous gas concentration, in combination with the preset gas safety threshold, warning threshold, and danger threshold, the gas risk is graded and evaluated, thereby determining the first warning information. Based on the dangerous gas concentration, the grid position, and the grid map, the next path point of the current industrial robot is determined, and the robot is controlled to move to the next path point. Through the cyclic execution of steps S102 to S106, the grid position, dangerous gas concentration, first warning information, and next path point of the robot are constantly updated, so that real-time data is continuously obtained during the movement of the robot, and the path planning and warning response are dynamically adjusted. In step S110, the plurality of next path points obtained through the cyclic execution are fitted to form a continuous path curve, and the curve is the movement path of the robot. Through the above series of steps, the control method of the industrial robot provided by the embodiment of the application can accurately warn the risk of the aircraft maintenance process under the premise of ensuring the safe working of the industrial robot, and realize high-precision path planning, effectively solving the problems of limited space, risk superposition, and strict reliability requirements in the aircraft maintenance scene. BRIEF DESCRIPTION OF DRAWINGS

[0009] One or more embodiments are illustrated by way of example in the drawings that are not intended to be limiting of the application, and like reference numbers refer to like elements in the various drawings, unless otherwise specified. The drawings are not necessarily to scale, the emphasis instead being placed upon illustrating the principles of the embodiments.

[0010] Figure 1 A flowchart of a control method of an industrial robot provided by the embodiment of the application; Figure 2This is a schematic diagram of the structure of a control system of an industrial robot according to an embodiment of the present application; Figure 3 is a schematic diagram of an exemplary structure of a processor and memory according to the present application; Figure 4 Schematic diagram of an exemplary structure of an electronic device according to the present application. DETAILED DESCRIPTION

[0011] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0012] See attached Figure 1 , Figure 1 This is a flow chart of a control method for an industrial robot provided in an embodiment of the present application. Figure 1 As shown, the control method of the industrial robot in the embodiment of the present application mainly includes: Step S100: Obtaining a grid map of the current aircraft operating environment; wherein the grid map includes a plurality of grids, each grid including a preset collision risk coefficient and a preset gas exposure risk coefficient; Step S102: Obtaining the grid position of the current industrial robot in the grid map and the hazardous gas concentration field; wherein the hazardous gas concentration field includes the hazardous gas concentration at the grid position and the hazardous gas concentrations of grids adjacent to the grid position; Step S104: determining first warning information based on the dangerous gas concentration field; Step S106: Determine the next path point of the current industrial robot based on the hazardous gas concentration field, grid position, and grid map: Step S108: looping through steps S102 to S106 to obtain multiple next path points and multiple first warning information; Step S110: Determine the movement path of the robot based on multiple next path points.

[0013] In this embodiment, the grid map construction process is as follows: First, CAD design drawings of aircraft equipment are imported to extract geometric parameters, such as the location and dimensions of components such as pipes, brackets, and cables. Next, the aircraft's workspace is discretized into multiple 10mm-per-side cubic grids. Finally, for each grid, a collision risk factor is preset based on the volume occupied by obstacles within it, and a gas exposure risk factor is preset based on historical leakage data or equipment design parameters, completing the grid map construction. The robot's onboard UWB ultra-wideband positioning system accurately determines the robot's real-time grid position within the grid map, with an accuracy of ±5cm. Simultaneously, a miniaturized infrared spectrometer gas detector and a low-temperature hydrogen sensor are used to collect real-time hazardous gas concentrations at the robot's grid location and adjacent grids, with an accuracy of 0.1ppm (for Skydrol vapor) or 0.1%LEL (for hydrogen). A sampling frequency of at least 5Hz is used to ensure timely capture of gas concentration changes. Based on the collected hazardous gas concentrations, combined with pre-set gas safety thresholds, warning thresholds, and danger thresholds, a graded gas risk assessment is performed to determine the initial warning information. Based on the hazardous gas concentration, grid position and grid map, the next path point of the current industrial robot is determined, and the robot is controlled to move to the next path point. By cyclically executing steps S102 to S106, the robot's grid position, hazardous gas concentration, first warning information and next path point are continuously updated, so that real-time data is continuously obtained during the movement of the robot, and the path planning and warning response are dynamically adjusted. In step S110, the multiple next path points obtained by the cyclic execution are fitted to form a continuous path curve, which is the movement path of the robot. Through the above series of steps, the industrial robot control method provided by the embodiment of the present invention can accurately warn of the risks of the aircraft maintenance process and realize high-precision path planning while ensuring the safe operation of the industrial robot, effectively solving the problems of limited space, superimposed risks, and strict reliability requirements in aircraft maintenance scenarios.

[0014] In one embodiment, determining the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position, and the grid map includes: Determining, based on the grid location and the grid map, a preset collision risk coefficient of a grid adjacent to the grid location and a preset gas exposure risk coefficient of an adjacent grid; Inputting the preset collision risk coefficient of the adjacent grid, the preset gas exposure risk coefficient of the adjacent grid, and the hazardous gas concentration of the adjacent grid into the preset comprehensive cost calculation equation group to obtain the comprehensive cost of each adjacent grid; Screening the integrated costs of the adjacent grids that are less than a first preset threshold value to obtain the adjacent grids whose integrated costs are less than the first preset threshold value; A grid with the smallest distance from the preset path endpoint is selected from adjacent grids with a comprehensive cost less than a first preset threshold as the next path point of the current industrial robot.

[0015] In this embodiment, the specific process for determining the next path point for the current industrial robot is as follows: First, based on the current grid position of the industrial robot and in conjunction with a pre-constructed grid map, the preset collision risk coefficient and gas exposure risk coefficient for the adjacent grids are accurately extracted. These coefficients are pre-set based on the equipment CAD model and historical maintenance data and reflect the structural complexity and potential gas hazard level within the grid. Next, the extracted risk coefficients, along with the real-time hazardous gas concentration data for the adjacent grids, are input into a preset comprehensive cost calculation equation set to derive a comprehensive cost value for each adjacent grid. This value intuitively quantifies the risk and cost of the robot entering each grid. Subsequently, the calculated comprehensive costs of the adjacent grids are filtered, using a first preset threshold as the screening criterion. Only adjacent grids with a comprehensive cost below the threshold are retained. This operation prioritizes grids with manageable risks to ensure the safety of the robot's movement path. Finally, among the selected low-risk adjacent grids, the distance between each grid and the preset path endpoint is further calculated, and the grid with the smallest distance is selected as the next path point for the current industrial robot. This approach effectively improves the efficiency of the robot's operation path planning while ensuring safety, ensuring that the robot can complete aircraft maintenance tasks along the optimal path.

[0016] In one embodiment, after screening the comprehensive costs of adjacent grids that are less than a first preset threshold and obtaining adjacent grids with comprehensive costs less than the first preset threshold, the method further includes: When the number of adjacent grids with a comprehensive cost less than the first preset threshold is zero, sorting the comprehensive cost of each adjacent grid from small to large to determine a comprehensive cost sorting table; The adjacent grid with the smallest comprehensive cost is selected from the comprehensive cost sorting table as the next path point of the current industrial robot.

[0017] In the embodiment, after the screening of the adjacent grid comprehensive cost is completed, if the extreme case of the number of adjacent grids less than the first preset threshold value is zero, the system will start the emergency path decision mechanism. First, the comprehensive cost of all adjacent grids is sorted in full amount, and a strictly increasing comprehensive cost sorting table is constructed to intuitively present the priority sequence of the potential risk and execution cost of each grid in a digital way. Then, the system starts from the top of the sorting table and retrieves the adjacent grid with the minimum comprehensive cost as the next path point of the current industrial robot. This mechanism ensures that when there is no completely safe path to choose, the robot can still follow the "risk minimization" principle to advance the work, taking into account the safety and feasibility of task execution, and providing robust path protection for aircraft maintenance work.

[0018] In one embodiment, the comprehensive cost calculation equation is constructed by the following formula: ; ; ; ; ; In the formula, is the comprehensive cost, is the collision risk cost, is the cumulative gas exposure cost, is the path smoothness cost, is the kinematic feasibility cost, is the first preset weight, is the second preset weight, is the third preset weight, is the fourth preset weight, is the passable volume in the grid, is the total volume of the grid, is the preset collision risk coefficient, is the minimum distance between the robot joint and the mth precision component, and M is the number of precision components in the grid, is the safety distance threshold value, t is the current time, is the time window of path planning, is the gas safety threshold value, is the concentration of hazardous gas in the adjacent grid at time , is the preset gas exposure risk coefficient, is the ventilation correction coefficient, is the ventilation factor, is the time, n is the total number of path points, and mc is the number of curved segments in the path. is the moving direction angle of the i-th path, is the curvature radius of the jth path segment, is the curvature penalty coefficient, is the angle of the kth joint, is the maximum allowed angle of the kth joint, is the intermediate safety angle of the kth joint, is the minimum allowed angle of the kth joint, is the acceleration penalty coefficient, is the joint jerk, and k is the joint number.

[0019] In this embodiment, For the comprehensive cost, is the collision risk cost, Cumulative cost of gas exposure, is the path smoothness cost, is the kinematic feasibility cost, is the first preset weight, is the second preset weight, is the third preset weight, is the fourth preset weight, is the traversable volume within the grid (space not occupied by obstacles), is the total volume of the grid (the basic unit volume after discretization in three-dimensional space), is the preset collision risk factor (collision priority of different equipment components), is the minimum distance between the robot joint and the mth precision component, M is the number of precision components in the grid (such as pipelines, sensors and other equipment that require key protection), is the safety distance threshold, t is the current moment, The time window for path planning (future time range), is the gas safety threshold, For time The dangerous gas concentration of the adjacent grid at time (dynamic value changing with time), is the preset gas exposure risk factor (nonlinear penalty factor for high concentration areas), is the ventilation correction factor (reflecting the impact of ambient ventilation conditions on risk), is the ventilation factor (predefined based on the equipment ventilation system parameters), is the time, n is the total number of path points, mc is the number of curved segments in the path, is the moving direction angle of the i-th path (the angle change relative to the previous path), is the curvature radius of the j-th path (the inverse of the path curvature), is a curvature penalty coefficient, is an angle of the kth joint (real-time position of the robot 6-DOF joint), is a maximum allowable angle of the kth joint (hardware physical limit), is an intermediate safety angle of the kth joint (avoid approaching the joint limit position), is a minimum allowable angle of the kth joint (hardware physical limit), is an acceleration penalty coefficient (airfield scene priority smooth motion), is a joint jerk (reflects the smoothness of robot motion), k is the joint number (1-6 corresponds to the robot 6-DOF joint).

[0020] In one embodiment, based on the dangerous gas concentration field, the first warning information is determined, including: determining the adjacent grid concentration correlation degree based on the dangerous gas concentration field; determining the first warning information based on the adjacent grid concentration correlation degree; Wherein, the first warning information includes a first warning level, a second warning level and a third warning level.

[0021] In this embodiment, according to the dangerous gas concentration field, the adjacent grid concentration correlation degree is determined, and according to the adjacent grid concentration correlation degree, the first warning information is determined, wherein the first warning information includes a first warning level, a second warning level and a third warning level, and the warning levels of the first warning level, the second warning level and the third warning level are sequentially increased.

[0022] In one embodiment, based on the adjacent grid concentration correlation degree, the first warning information is determined, including: determining whether the adjacent grid concentration correlation degree is less than a second preset threshold; If yes, it is determined that the first warning information is the first warning level; If yes, it is determined whether the adjacent grid concentration correlation degree is greater than or equal to the second preset threshold and less than a third preset threshold, if yes, it is determined that the first warning information is the second warning level; if no, it is determined that the first warning information is the third warning level.

[0023] In this embodiment, the system determines the first warning based on the correlation of adjacent grid concentrations by comparing the calculated correlation with a preset threshold system. If the correlation value is less than the second preset threshold (e.g., 0.5 ppm / m), the system triggers the first warning level (yellow alert), indicating "local abnormal gas concentration, requiring enhanced monitoring." If the correlation value is between the second and third preset thresholds (e.g., 1.5 ppm / m), the system upgrades to the second warning level (orange alert), warning "significant gas diffusion trend, leak source investigation required." If the correlation value exceeds the third preset threshold, the system triggers the highest level (red alert), immediately issuing an alert stating "dangerous gas concentration exceeds limit, initiating emergency evacuation procedures." This tiered threshold determination mechanism enables the system to rapidly respond based on the spatial characteristics of gas diffusion, achieving precise grading from early warning to emergency response.

[0024] In one embodiment, the concentration correlation between adjacent grids is determined by the following formula: ; Where, is the concentration correlation degree of adjacent grids, is the dangerous gas concentration of the grid adjacent to the grid position, is the concentration of hazardous gas at the grid location, is the distance from the current grid center to the i-th adjacent grid center, is the set of adjacent grids of the current grid, and i is the index of the adjacent grid.

[0025] In this embodiment, is the concentration correlation degree of adjacent grids (reflecting the gas diffusion intensity), i is the adjacent grid index (such as the grids in the four directions of front / back / left / right), is the dangerous gas concentration of the adjacent grids at the grid position, that is, the gas concentration of the ith adjacent grid at time t, is the concentration of dangerous gas at the grid location, the gas concentration of the current grid (the location of the robot) at time t, The set of adjacent grids of the current grid (grids directly connected in space) is the distance from the center of the current grid to the center of the ith adjacent grid (the space between grids).

[0026] See attached Figure 2 , Figure 2 This is a schematic diagram of the structure of a control system of an industrial robot according to an embodiment of the present application. Figure 2 As shown, the control system of the industrial robot in the embodiment of the present invention mainly includes: The first acquisition module 200 is configured to perform step S100: acquiring a grid map of the current aircraft operating environment; wherein the grid map includes a plurality of grids, each grid including a preset collision risk coefficient and a preset gas exposure risk coefficient; The second acquisition module 202 is configured to perform step S102: acquiring a grid position of the current industrial robot in the grid map and a hazardous gas concentration field; wherein the hazardous gas concentration field includes the hazardous gas concentration at the grid position and the hazardous gas concentrations of grids adjacent to the grid position; The first data processing module 204 is configured to perform step S104: determining first warning information based on the dangerous gas concentration field; The second data processing module 206 is configured to perform step S106: determining the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position and the grid map: The loop module 208 is configured to perform step S108: looping through steps S102 to S106 to obtain multiple next path points and multiple first warning information; The third data processing module 210 is configured to perform step S110: determining a moving path of the robot based on the multiple next path points.

[0027] In one embodiment of the present invention, the third data processing module 210, when determining the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position, and the grid map, is configured to perform the following operations: Determining, based on the grid position and the grid map, a preset collision risk coefficient of a grid adjacent to the grid position and a preset gas exposure risk coefficient of an adjacent grid; Inputting the preset collision risk coefficient of the adjacent grid, the preset gas exposure risk coefficient of the adjacent grid, and the hazardous gas concentration of the adjacent grid into a preset comprehensive cost calculation equation group to obtain a comprehensive cost of each adjacent grid; Screening the comprehensive costs of the adjacent grids that are less than a first preset threshold value to obtain adjacent grids whose comprehensive costs are less than the first preset threshold value; A grid with the smallest distance from an end point of a preset path is selected from the adjacent grids whose comprehensive costs are less than a first preset threshold value as the next path point of the current industrial robot.

[0028] In one embodiment of the present invention, the control system further includes a fourth data processing module, and the fourth data processing module is configured to perform the following operations: When the number of adjacent grids having a comprehensive cost less than the first preset threshold is zero, sorting the comprehensive cost of each adjacent grid from small to large to determine a comprehensive cost sorting table; The adjacent grid with the smallest comprehensive cost is selected from the comprehensive cost ranking table as the next path point of the current industrial robot.

[0029] In one embodiment of the present invention, the comprehensive cost calculation equation is constructed by the following formula: ; ; ; ; ; Where, is the comprehensive cost, is the collision risk cost, Cumulative cost of gas exposure, is the path smoothness cost, is the kinematic feasibility cost, is the first preset weight, is the second preset weight, is the third preset weight, is the fourth preset weight, is the traversable volume within the grid, is the total volume of the grid, is the preset collision risk coefficient, is the minimum distance between the robot joint and the mth precision component, M is the number of precision components in the grid, is the safety distance threshold, t is the current moment, is the time window for path planning, is the gas safety threshold, For time The dangerous gas concentration of the adjacent grid is is the preset gas exposure risk factor, is the ventilation correction factor, is the ventilation factor, is the time, n is the total number of path points, mc is the number of curved segments in the path, is the moving direction angle of the i-th path, is the curvature radius of the jth path segment, is the curvature penalty coefficient, is the angle of the kth joint, is the maximum allowed angle of the kth joint, is the intermediate safety angle of the kth joint, is the minimum allowable angle of the kth joint, is the acceleration penalty coefficient, is the joint jerk, and k is the joint number.

[0030] In an embodiment of the present application, the first data processing module 204, when determining the first warning information based on the dangerous gas concentration field, is configured to perform the following operations: determining the adjacent grid concentration correlation degree based on the dangerous gas concentration field; determining the first warning information based on the adjacent grid concentration correlation degree; The first warning information includes a first warning level, a second warning level, and a third warning level.

[0031] In an embodiment of the present application, the first data processing module 204, when determining the first warning information based on the adjacent grid concentration correlation degree, is configured to perform the following operations: determining whether the adjacent grid concentration correlation degree is less than a second preset threshold value; If yes, determining that the first warning information is the first warning level; If yes, determining whether the adjacent grid concentration correlation degree is greater than or equal to the second preset threshold value and less than a third preset threshold value, if yes, determining that the first warning information is the second warning level; if no, determining that the first warning information is the third warning level.

[0032] In an embodiment of the present application, the adjacent grid concentration correlation degree is determined by the following formula: ; In the formula, is the adjacent grid concentration correlation degree, is the dangerous gas concentration of the adjacent grid of the grid position, is the dangerous gas concentration of the grid position, is the distance from the current grid center to the i th adjacent grid center, is the adjacent grid set of the current grid, and i is the adjacent grid index.

[0033] The step division of the above various methods is only for the purpose of clear description, and can be combined into one step or split into multiple steps in implementation, as long as the same logical relationship is included, and all are within the protection scope of the present patent; adding insignificant modifications or introducing insignificant designs in the algorithm or flow, but not changing the core design of the algorithm and flow are within the protection scope of the present patent.

[0034] It is not difficult to find that this embodiment is a method embodiment corresponding to the system embodiment, and this embodiment can be implemented in conjunction with the system embodiment. The relevant technical details mentioned in the system embodiment are still valid in this embodiment, and to reduce repetition, they are not repeated here. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the system embodiment.

[0035] It is worth mentioning that all modules involved in this embodiment are logical modules. In actual applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovation of this application, this embodiment does not include units that are not closely related to solving the technical problems proposed by this application. However, this does not mean that other units do not exist in this embodiment.

[0036] In addition, some embodiments of the present application further provide an electronic device. The electronic device may be various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, etc. The electronic device may also be various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices.

[0037] The electronic device comprises: one or more processors; and a memory storing computer program instructions, wherein the computer program instructions, when executed, cause the processor to perform the steps of the method provided in any one or more of the above embodiments. Figure 3 As shown, the electronic device includes: one or more processors 1101, memory 1102, and interfaces for connecting various components, including high-speed and low-speed interfaces. The various components are interconnected using different buses and can be mounted on a common motherboard or in other ways as needed. The processor can process instructions executed within the electronic device, including instructions stored in or on the memory for displaying graphical information of a GUI on an external input / output device (such as a display device coupled to the interface). In some other embodiments, if desired, multiple processors and / or multiple buses can be used with multiple memories and multiple storage devices. Similarly, multiple electronic devices can be connected, with each device providing some of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0038] The electronic device may further include: an input device 1103 and an output device 1104. The processor 1101, the memory 1102, the input device 1103 and the output device 1104 may be connected via a bus or other means. Figure 4 The bus connection is taken as an example.

[0039] Input device 1103 can receive input digital or character information and generate key signal input related to user settings and function control of the electronic device. Examples include a touch screen, keypad, mouse, trackpad, touchpad, pointing stick, one or more mouse buttons, trackball, joystick, and other input devices. Output device 1104 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibration motors). Display devices may include, but are not limited to, liquid crystal displays (LCDs), light-emitting diode (LED) displays, and plasma displays. In some embodiments, the display device may be a touch screen.

[0040] To provide user interaction, the electronic device may be a computer. The computer includes a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user, as well as a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices may also be used to provide user interaction; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback), and input from the user may be received in any form, including acoustic input, voice input, or tactile input.

[0041] In the embodiments of the present application, a computer program / instruction is stored on a computer-readable medium. When executed by a processor, the computer program / instruction implements the steps of the method provided in any one or more of the above embodiments. The computer-readable medium may be included in the electronic device described in the above embodiments, or it may exist independently and not be incorporated into the device. The computer-readable medium carries one or more computer-readable instructions.

[0042] The memory 1102 can be used as a non-transitory computer-readable storage medium to store non-transitory software programs, non-transitory computer executable programs, and modules. The processor 1101 executes the non-transitory software programs, instructions, and modules stored in the memory 1102 to execute various functional applications and data processing of the server, thereby implementing the program instructions / modules corresponding to the method provided in any one or more of the above embodiments of the present application.

[0043] The memory 1102 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and applications required for at least one function; the data storage area may store data created based on the use of the electronic device, etc. In addition, the memory 1102 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory remotely located relative to the processor 1101, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0044] It should be noted that the computer-readable medium described in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. Computer-readable media may include, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination thereof. More specific examples of computer-readable storage media 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, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable medium may 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.

[0045] Computer-readable media include both permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology for information storage. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc-read only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0046] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0047] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. For example, implementation may be achieved using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of the present application may be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) may be stored in a computer-readable recording medium, such as a RAM memory, a magnetic or optical drive, a floppy disk, or the like. In addition, some steps or functions of the present application may be implemented using hardware, for example, as a circuit that cooperates with a processor to perform the various steps or functions.

[0048] The computer program product provided in the embodiments of the present application includes one or more computer programs / instructions that, when executed by a processor, fully or partially produce the processes or functions described in the embodiments of the present application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0049] The flowcharts or block diagrams in the accompanying drawings illustrate the possible architectures, functions and operations of the devices, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of code, and the module, program segment or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-specific system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0050] The scope of this application is defined by the appended claims rather than the foregoing description and is therefore intended to encompass within this application all changes that come within the meaning and range of equivalents of the claims. Any reference signs in the claims should not be construed as limiting the claims to which they relate. In addition, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in a device claim may also be implemented by one unit or device through software or hardware. Words such as "first" and "second" are only used to distinguish the description and do not indicate any particular order, nor should they be understood as indicating or implying relative importance.

[0051] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art may easily propose variations or substitutions within the technical scope disclosed in the present application, and such variations or substitutions shall be encompassed within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the scope of protection of the claims, and the above embodiments shall be regarded as exemplary and non-limiting.

Claims

1. A control method for an industrial robot, characterized in that: The method comprises: Step S100: Obtaining a grid map of the current aircraft operating environment; wherein the grid map includes a plurality of grids, each grid including a preset collision risk coefficient and a preset gas exposure risk coefficient; Step S102: Obtaining a grid position and a hazardous gas concentration field of the current industrial robot in the grid map; wherein the hazardous gas concentration field includes the hazardous gas concentration at the grid position and the hazardous gas concentrations of grids adjacent to the grid position; Step S104: determining first warning information based on the hazardous gas concentration field; Step S106: Determine the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position, and the grid map: Step S108: looping through steps S102 to S106 to obtain multiple next path points and multiple first warning information; Step S110: Determine the movement path of the robot based on the multiple next path points.

2. The method according to claim 1, characterized in that The determining the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position, and the grid map includes: Determining, based on the grid position and the grid map, a preset collision risk coefficient of a grid adjacent to the grid position and a preset gas exposure risk coefficient of an adjacent grid; Inputting the preset collision risk coefficient of the adjacent grid, the preset gas exposure risk coefficient of the adjacent grid, and the hazardous gas concentration of the adjacent grid into a preset comprehensive cost calculation equation group to obtain a comprehensive cost of each adjacent grid; Screening the comprehensive costs of the adjacent grids that are less than a first preset threshold value to obtain adjacent grids whose comprehensive costs are less than the first preset threshold value; A grid with the smallest distance from an end point of a preset path is selected from the adjacent grids whose comprehensive costs are less than a first preset threshold value as the next path point of the current industrial robot.

3. The method according to claim 2, characterized in that After screening the comprehensive costs of the adjacent grids that are less than a first preset threshold value and obtaining the adjacent grids whose comprehensive costs are less than the first preset threshold value, the method further includes: When the number of adjacent grids having a comprehensive cost less than the first preset threshold is zero, sorting the comprehensive cost of each adjacent grid from small to large to determine a comprehensive cost sorting table; The adjacent grid with the smallest comprehensive cost is selected from the comprehensive cost ranking table as the next path point of the current industrial robot.

4. The method according to claim 3, characterized in that The comprehensive cost calculation equation is constructed by the following formula: ； ； ； ； ； Where, is the comprehensive cost, is the collision risk cost, Cumulative cost of gas exposure, is the path smoothness cost, is the kinematic feasibility cost, is the first preset weight, is the second preset weight, is the third preset weight, is the fourth preset weight, is the traversable volume within the grid, is the total volume of the grid, is the preset collision risk coefficient, is the minimum distance between the robot joint and the mth precision component, M is the number of precision components in the grid, is the safety distance threshold, t is the current moment, is the time window for path planning, is the gas safety threshold, For time The dangerous gas concentration of the adjacent grid is is the preset gas exposure risk factor, is the ventilation correction factor, is the ventilation factor, is the time, n is the total number of path points, mc is the number of curved segments in the path, is the moving direction angle of the i-th path, is the curvature radius of the j-th path, is the curvature penalty coefficient, is the angle of the kth joint, is the maximum allowed angle of the kth joint, is the intermediate safety angle of the kth joint, is the minimum allowed angle of the kth joint, is the acceleration penalty coefficient, is the joint jerk, and k is the joint number.

5. The method according to claim 1, wherein The determining of first warning information based on the hazardous gas concentration field includes: Determining concentration correlations of adjacent grids based on the hazardous gas concentration field; Determining first warning information based on the adjacent grid concentration correlation; The first warning information includes a first warning level, a second warning level and a third warning level.

6. The method according to claim 5, characterized in that The determining of first warning information based on the adjacent grid concentration correlation includes: Determining whether the adjacent grid concentration correlation is less than a second preset threshold; If so, determining that the first warning information is a first warning level; If so, determine whether the adjacent grid concentration correlation is greater than or equal to the second preset threshold and less than the third preset threshold. If so, determine that the first warning information is the second warning level; if not, determine that the first warning information is the third warning level.

7. The method according to claim 5, characterized in that The adjacent grid concentration correlation is determined by the following formula: ； Where, is the concentration correlation degree of adjacent grids, is the dangerous gas concentration of the grid adjacent to the grid position, is the concentration of dangerous gas at the grid location, is the distance from the current grid center to the i-th adjacent grid center, is the set of adjacent grids of the current grid, and i is the index of the adjacent grid.

8. A control system for an industrial robot, characterized in that: Applied to the method according to any one of claims 1 to 7, the system comprising: The first acquisition module is configured to perform step S100: acquiring a grid map of the current aircraft operating environment; wherein the grid map includes a plurality of grids, each grid including a preset collision risk coefficient and a preset gas exposure risk coefficient; The second acquisition module is configured to perform step S102: acquiring a grid position of the current industrial robot in the grid map and a hazardous gas concentration field; wherein the hazardous gas concentration field includes the hazardous gas concentration at the grid position and the hazardous gas concentrations of grids adjacent to the grid position; The first data processing module is configured to: determine first warning information based on the dangerous gas concentration field in step S104; The second data processing module is configured to perform step S106: determining the next path point of the current industrial robot based on the hazardous gas concentration field, the grid position and the grid map: The loop module is configured to perform step S108: looping through steps S102 to S106 to obtain multiple next path points and multiple first warning information; The third data processing module is configured to perform step S110: determining a moving path of the robot based on the multiple next path points.

9. An electronic device, characterized in that: The device comprises: one or more processors; and A memory storing computer program instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 7.

10. A computer-readable medium having computer program instructions stored thereon, wherein the computer program instructions can be executed by a processor to implement the method according to any one of claims 1 to 7.

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