Method, device and equipment for controlling mechanical arm and storage medium

Abstract

The application provides a control method, device and equipment of a mechanical arm and a storage medium, and relates to the technical field of mechanical arms. The method comprises the following steps: controlling an observation device installed on a first mechanical arm to collect task information of a target task to be executed by a second mechanical arm; controlling the second mechanical arm to execute the target task based on the task information; and adjusting a current pose of the first mechanical arm based on a current pose of the second mechanical arm during execution of the target task, so that the first mechanical arm moves following the second mechanical arm. Thus, the observation device installed on the first mechanical arm can be controlled to dynamically collect the task information of the target task to be executed by the second mechanical arm, the real-time performance and accuracy of the task information are improved, the second mechanical arm can be controlled to execute the target task by taking the task information into consideration, the control accuracy of the second mechanical arm is improved, the task execution quality of the second mechanical arm is improved, and the application scenario of welding, screwing and the like is suitable.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to a control method, device, electronic device and storage medium for a robotic arm. Background Technology

[0002] A robotic arm is a robotic device that mimics the functions of a human arm. It boasts advantages such as high efficiency, good repeatability, and high flexibility, and has been widely used in industrial manufacturing, logistics warehousing, agriculture, and other fields. However, current robotic arms suffer from low control precision, resulting in poor task execution quality. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the first objective of this application is to propose a control method for a robotic arm.

[0005] The second objective of this application is to provide a control device for a robotic arm.

[0006] The third objective of this application is to propose an electronic device.

[0007] The fourth objective of this application is to provide a computer-readable storage medium.

[0008] The fifth objective of this application is to provide a computer program product.

[0009] To achieve the above objectives, a first aspect of this application proposes a control method for a robotic arm, comprising: controlling an observation device installed on a first robotic arm to collect task information of a target task to be performed by a second robotic arm; controlling the second robotic arm to perform the target task based on the task information; and adjusting the current pose of the first robotic arm based on the current pose of the second robotic arm during the execution of the target task, so that the first robotic arm follows the movement of the second robotic arm.

[0010] To achieve the above objectives, a second aspect of this application provides a control device for a robotic arm, comprising: a first control module for controlling an observation device installed on a first robotic arm to collect task information of a target task to be performed by a second robotic arm; a second control module for controlling the second robotic arm to perform the target task based on the task information; and a third control module for adjusting the current pose of the first robotic arm based on the current pose of the second robotic arm during the execution of the target task, so that the first robotic arm follows the movement of the second robotic arm.

[0011] To achieve the above objectives, a third aspect of this application provides an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the robotic arm control method described in the first aspect of the application.

[0012] To achieve the above objectives, a fourth aspect of this application provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, are used to implement the robotic arm control method described in the first aspect of the present application.

[0013] To achieve the above objectives, a fifth aspect of this application provides a computer program product, including a computer program that, when executed by a processor, implements the robotic arm control method described in the first aspect of the present application.

[0014] The robotic arm control method, device, electronic equipment, and storage medium provided in this application control an observation device installed on a first robotic arm to collect task information of a target task to be performed by a second robotic arm. Based on the task information, the method controls the second robotic arm to perform the target task. During the execution of the target task, the method adjusts the current pose of the first robotic arm based on the current pose of the second robotic arm so that the first robotic arm follows the movement of the second robotic arm. Therefore, the observation device installed on the first robotic arm can be controlled to dynamically collect task information of the target task to be performed by the second robotic arm, improving the real-time performance and accuracy of the task information. Furthermore, by taking the task information into account, the method controls the second robotic arm to perform the target task, which helps to improve the control precision of the second robotic arm and thus improve the task execution quality. This method is suitable for applications such as welding and screw tightening.

[0015] In addition, during the execution of the target task, the current pose of the second robotic arm can be taken into account, and the current pose of the first robotic arm can be adjusted so that the first robotic arm follows the movement of the second robotic arm. Thus, no matter where the second robotic arm moves, the observation equipment can maintain an ideal observation angle and observation distance, thereby accurately collecting task information, improving the accuracy of task information, and helping to improve the control precision of the second robotic arm.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 A flowchart illustrating a control method for a robotic arm provided in an embodiment of this application;

[0019] Figure 2 A flowchart illustrating another robotic arm control method provided in an embodiment of this application;

[0020] Figure 3 A flowchart illustrating another robotic arm control method provided in an embodiment of this application;

[0021] Figure 4 A schematic diagram of a welding robot provided in an embodiment of this application;

[0022] Figure 5 A schematic diagram illustrating a control method for a robotic arm provided in an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the structure of a control device for a robotic arm provided in an embodiment of this application. Detailed Implementation

[0024] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0025] A robotic arm is a robotic device that mimics the functions of a human arm. It boasts advantages such as high efficiency, good repeatability, and high flexibility, and has been widely used in industrial manufacturing, logistics warehousing, agriculture, and other fields. However, current robotic arms suffer from low control precision, resulting in poor task execution quality.

[0026] To address the aforementioned issues, this application provides a control method for a robotic arm. The method involves controlling an observation device mounted on a first robotic arm to collect task information for a target task to be performed by a second robotic arm. Based on this task information, the method controls the second robotic arm to execute the target task. During the execution of the target task, the method adjusts the current pose of the first robotic arm based on the current pose of the second robotic arm, ensuring that the first robotic arm follows the movement of the second robotic arm. This allows for the control of the observation device mounted on the first robotic arm to dynamically collect task information for the target task to be performed by the second robotic arm, improving the real-time performance and accuracy of the task information. Furthermore, by considering the task information and controlling the second robotic arm to execute the target task, the method helps improve the control precision of the second robotic arm, thereby enhancing the quality of its task execution. This method is suitable for applications such as welding and screw tightening.

[0027] In addition, during the execution of the target task, the current pose of the second robotic arm can be taken into account, and the current pose of the first robotic arm can be adjusted so that the first robotic arm follows the movement of the second robotic arm. Thus, no matter where the second robotic arm moves, the observation equipment can maintain an ideal observation angle and observation distance, thereby accurately collecting task information, improving the accuracy of task information, and helping to improve the control precision of the second robotic arm.

[0028] The control method, apparatus, electronic device, and storage medium of the robotic arm according to embodiments of this application are described below with reference to the accompanying drawings.

[0029] Figure 1 This is a flowchart illustrating a control method for a robotic arm provided in an embodiment of this application.

[0030] like Figure 1 As shown, the method includes the following steps:

[0031] S101 controls the observation equipment installed on the first robotic arm to collect task information of the target task to be performed by the second robotic arm.

[0032] It should be noted that the control method for the robotic arm provided in this application can be executed by electronic devices, such as by a chip. For example, the robot includes a first robotic arm and a second robotic arm.

[0033] The observation equipment is not subject to many restrictions, but includes, for example, cameras, radar, sensors, infrared thermal imagers, ultrasonic imagers, and multispectral imagers. Cameras include RGB cameras, binocular structured light cameras, and molten pool cameras, while radar includes lidar and millimeter-wave radar.

[0034] The target tasks are not limited in too much, and may include welding, screwing, grinding, painting, assembly, handling, sorting, etc.

[0035] The task information is not limited in many ways. For example, it may include the starting position of the second robotic arm in performing the target task, the second current relative pose between the second robotic arm and the target object associated with the target task, the current pose of the second robotic arm, the current pose of the target object associated with the target task, and the execution status information of the target task. For the relevant content of the above-mentioned task information, please refer to the following embodiments, which will not be repeated here.

[0036] It is understandable that the task information may differ for different target tasks.

[0037] Optionally, there is a correlation between the category of task information and the observation equipment. Therefore, associated observation equipment can be specifically set for different types of task information, allowing the use of different observation equipment to collect different categories of task information, thus making it suitable for collecting various types of task information.

[0038] For example, taking a welding scenario as an example, the task information includes the starting position of the second robotic arm performing the welding task, the second current relative pose between the second robotic arm and the workpiece to be welded, the current pose of the second robotic arm, the current pose of the workpiece to be welded, and the shape of the molten pool.

[0039] The system can control an RGB camera or a binocular structured light camera mounted on the first robotic arm to collect at least one of the following information:

[0040] The starting position point for the second robotic arm to perform the welding task;

[0041] The second current relative pose between the second robotic arm and the workpiece to be welded;

[0042] The current pose of the second robotic arm;

[0043] The current position of the workpiece to be welded.

[0044] A molten pool camera mounted on the first robotic arm can be controlled to capture the molten pool morphology.

[0045] For example, in the scenario of tightening a screw, the task information includes the starting position of the second robotic arm performing the screw tightening task, the second current relative pose between the second robotic arm and the screw hole, the current pose of the second robotic arm, and the current pose of the screw hole.

[0046] The system can control an RGB camera or a binocular structured light camera mounted on the first robotic arm to collect at least one of the following information:

[0047] The starting position point for the second robotic arm to perform the screw-tightening task;

[0048] The second current relative pose between the second robotic arm and the screw hole;

[0049] The current pose of the second robotic arm;

[0050] The current position of the screw hole.

[0051] S102, based on task information, controls the second robotic arm to perform the target task.

[0052] A robotic arm is a robotic device that mimics the functions of a human arm. It boasts advantages such as high efficiency, good repeatability, and high flexibility, and has been widely used in industrial manufacturing, logistics warehousing, agriculture, and other fields. However, current robotic arms suffer from low control precision, resulting in poor task execution quality.

[0053] In this application, the observation equipment installed on the first robotic arm can be controlled to dynamically collect task information of the target task to be performed by the second robotic arm, which improves the real-time performance and accuracy of the task information. Furthermore, the second robotic arm can be controlled to perform the target task in consideration of the task information, which helps to improve the control precision of the second robotic arm and thus improve the task execution quality of the second robotic arm. This method is suitable for application scenarios such as welding and screw tightening.

[0054] In addition, the first robotic arm serves as the observation arm, and the second robotic arm serves as the execution arm (also called the manipulator arm). This allows for the separation of sensing and execution functions, enabling the selection of the most suitable robotic arm and end effector for sensing and execution tasks. For example, the first robotic arm can be lighter and more flexible, focusing on providing high-quality task information, while the second robotic arm can be more powerful and stable, focusing on applying precise force or performing high-power operations, making it particularly suitable for applications with limited space.

[0055] Optionally, based on task information, the second robotic arm is controlled to perform the target task, including at least one of the following methods:

[0056] Method 1: The task information includes the starting position of the second robotic arm in performing the target task.

[0057] Based on the task information, control the second robotic arm to perform the target task, including controlling the second robotic arm to move to the starting position point.

[0058] Therefore, the observation equipment installed on the first robotic arm can be controlled to collect the starting position point of the second robotic arm to perform the target task, which improves the accuracy of the starting position point. The second robotic arm can also be controlled to move to the starting position point, which helps to improve the position control accuracy of the second robotic arm and thus improve the task execution quality of the second robotic arm.

[0059] For example, in a welding scenario, the first robotic arm can be controlled to move to the weld area, or the operator can manually move the first robotic arm to the weld area and control the RGB camera or binocular structured light camera installed on the first robotic arm to collect the weld location points, which will serve as the starting point for the second robotic arm to perform the welding task.

[0060] Method 2: The task information includes the execution status information of the target task.

[0061] Based on task information, the second robotic arm is controlled to perform the target task, including adjusting the task parameters of the second robotic arm to perform the target task based on the execution status information of the target task.

[0062] Therefore, during the execution of the target task, the observation equipment installed on the first robotic arm can be controlled to dynamically collect the execution status information of the target task, which improves the real-time performance and accuracy of the execution status information of the target task. Furthermore, the task parameters of the second robotic arm can be dynamically adjusted based on the execution status information of the target task, which helps to improve the control precision of the task parameters of the second robotic arm and thus improve the task execution quality of the second robotic arm.

[0063] It should be noted that the execution status information may differ for different target tasks. For example, the execution status information for welding tasks includes the molten pool shape, the execution status information for grinding tasks includes the grinding trajectory and surface roughness, the execution status information for spraying tasks includes the coating thickness and spray coverage, and the execution status information for assembly tasks includes assembly accuracy and whether there are any loose parts.

[0064] The task parameters may differ for different target tasks. For example, the task parameters for a welding task include at least one of the following: welding angle, welding speed, welding current, and welding voltage. The task parameters for a screw-tightening task include the torque applied to the screw, the rotation speed of the screwdriver, and the rotation angle of the screw. The task parameters for a grinding task include the contact force applied to the workpiece to be ground and the grinding speed.

[0065] S103, during the execution of the target task, the current pose of the first robotic arm is adjusted based on the current pose of the second robotic arm so that the first robotic arm moves with the second robotic arm.

[0066] In this application, during the execution of the target task, the current pose of the second robotic arm can be taken into account, and the current pose of the first robotic arm can be adjusted so that the first robotic arm follows the movement of the second robotic arm. Thus, no matter where the second robotic arm moves, the observation device can maintain an ideal observation angle and observation distance, thereby accurately collecting task information, improving the accuracy of task information, and helping to improve the control precision of the second robotic arm.

[0067] Optionally, based on the current pose of the second robotic arm, the current pose of the first robotic arm is adjusted. This includes obtaining a first target relative pose between the first and second robotic arms, determining a target pose of the first robotic arm based on the current pose of the second robotic arm and the first target relative pose, and adjusting the current pose of the first robotic arm based on the target pose. Thus, considering the current pose of the second robotic arm and the first target relative pose, the target pose of the first robotic arm can be determined to adjust its current pose.

[0068] Optionally, there is a correlation between the relative pose of the first target and the target task. Therefore, the relative pose of the first target can be specifically set for various target tasks, improving the flexibility of the relative pose of the first target.

[0069] There are no strict restrictions on the relative pose of the first target; for example, it can be preset by personnel.

[0070] Optionally, the current pose of the first robotic arm is adjusted based on the target pose of the first robotic arm, including adjusting the current pose of the first robotic arm to the target pose of the first robotic arm.

[0071] In summary, the robotic arm control method according to the embodiments of this application controls the observation device installed on the first robotic arm to collect task information of the target task to be performed by the second robotic arm. Based on the task information, the second robotic arm is controlled to perform the target task. During the execution of the target task, the current pose of the first robotic arm is adjusted based on the current pose of the second robotic arm so that the first robotic arm follows the movement of the second robotic arm. Therefore, the observation device installed on the first robotic arm can be controlled to dynamically collect task information of the target task to be performed by the second robotic arm, improving the real-time performance and accuracy of the task information. Furthermore, by taking the task information into account, the second robotic arm can be controlled to perform the target task, which helps to improve the control precision of the second robotic arm and thus improve the task execution quality of the second robotic arm. This method is suitable for applications such as welding and screw tightening.

[0072] In addition, during the execution of the target task, the current pose of the second robotic arm can be taken into account, and the current pose of the first robotic arm can be adjusted so that the first robotic arm follows the movement of the second robotic arm. Thus, no matter where the second robotic arm moves, the observation equipment can maintain an ideal observation angle and observation distance, thereby accurately collecting task information, improving the accuracy of task information, and helping to improve the control precision of the second robotic arm.

[0073] In the above embodiments, regarding step S102, controlling the second robotic arm to perform the target task based on task information, can be combined with... Figure 2 To understand further. Figure 2 This is a flowchart illustrating another robotic arm control method provided in an embodiment of this application. Figure 2 As shown, the method may include the following steps:

[0074] S201 controls the observation equipment installed on the first robotic arm to collect task information for the target task to be performed by the second robotic arm.

[0075] For details regarding step S201, please refer to the above embodiments, which will not be repeated here.

[0076] S202, Obtain the second target relative pose between the second robotic arm and the target object.

[0077] S203, adjust the current pose of the second robotic arm based on the second current relative pose and the second target relative pose.

[0078] In this embodiment, the task information includes the second current relative pose between the second robotic arm and the target object associated with the target task.

[0079] Therefore, the second current relative pose between the second robotic arm and the target object associated with the target task can be dynamically acquired, which improves the real-time performance and accuracy of the second current relative pose. Furthermore, the current pose of the second robotic arm can be dynamically adjusted by taking into account the second current relative pose and the relative pose of the second target, which helps to improve the control accuracy of the current pose of the second robotic arm and thus improve the task execution quality of the second robotic arm.

[0080] It is understandable that different target tasks may be associated with different target objects. For example, the target object associated with a welding task includes the workpiece to be welded, the target object associated with a screw-tightening task includes the screw hole, the target object associated with a grinding task includes the workpiece to be ground, and the target object associated with a painting task includes the workpiece to be painted.

[0081] Optionally, there is a correlation between the relative pose of the second target and the target task. Therefore, associated relative poses of the second target can be set for various target tasks, improving the flexibility of the relative pose of the second target.

[0082] There are no strict restrictions on the relative pose of the second target; for example, it can be preset by personnel.

[0083] Optionally, the current pose of the second robotic arm is adjusted based on the second current relative pose and the second target relative pose. This includes determining adjustment parameters for the current pose of the second robotic arm based on the second current relative pose and the second target relative pose, and adjusting the current pose of the second robotic arm according to the adjustment parameters so that the second current relative pose is adjusted to the second target relative pose.

[0084] S204, During the execution of the target task, the current pose of the first robotic arm is adjusted based on the current pose of the second robotic arm so that the first robotic arm moves with the second robotic arm.

[0085] For details regarding step S204, please refer to the above embodiments, which will not be repeated here.

[0086] In summary, the robotic arm control method according to the embodiments of this application includes a second current relative pose between the second robotic arm and the target object associated with the target task. The method acquires the second target relative pose between the second robotic arm and the target object, and adjusts the current pose of the second robotic arm based on the second current relative pose and the second target relative pose. Therefore, the second current relative pose between the second robotic arm and the target object associated with the target task can be dynamically acquired, improving the real-time performance and accuracy of the second current relative pose. Furthermore, by considering both the second current relative pose and the second target relative pose, the current pose of the second robotic arm can be dynamically adjusted, which helps improve the control precision of the current pose of the second robotic arm, thereby improving the task execution quality of the second robotic arm.

[0087] In the above embodiments, regarding step S102, controlling the second robotic arm to perform the target task based on task information, can be combined with... Figure 3 To understand further. Figure 3 This is a flowchart illustrating another robotic arm control method provided in an embodiment of this application. Figure 3 As shown, the method may include the following steps:

[0088] S301 controls the observation equipment installed on the first robotic arm to collect task information for the target task to be performed by the second robotic arm.

[0089] For details regarding step S301, please refer to the above embodiments, which will not be repeated here.

[0090] S302, Obtain the target pose of the second robotic arm to perform the target task.

[0091] S303, based on the current pose of the second robotic arm and the target pose of the second robotic arm performing the target task, adjust the current pose of the second robotic arm.

[0092] In this embodiment, the task information includes the current pose of the second robotic arm.

[0093] Therefore, the current pose of the second robotic arm can be dynamically acquired, improving the real-time performance and accuracy of the current pose. Furthermore, the current pose of the second robotic arm can be dynamically adjusted by taking into account both the current pose and the target pose of the second robotic arm in performing the target task. This helps to improve the control precision of the current pose of the second robotic arm, thereby improving the task execution quality of the second robotic arm.

[0094] Optionally, there is a correlation between the target pose of the second robotic arm performing the target task and the target task itself. Therefore, the target pose of the second robotic arm performing the target task can be set specifically for various target tasks, improving the flexibility of the target pose of the second robotic arm performing the target task.

[0095] The target pose of the second robotic arm performing the target task is not subject to many restrictions; for example, it can be preset by personnel.

[0096] Optionally, based on the current pose of the second robotic arm and the target pose of the second robotic arm performing the target task, the current pose of the second robotic arm is adjusted. This includes determining adjustment parameters for the current pose of the second robotic arm based on the current pose of the second robotic arm and the target pose of the second robotic arm performing the target task, and adjusting the current pose of the second robotic arm according to the adjustment parameters so that the current pose of the second robotic arm is adjusted to the target pose of the second robotic arm performing the target task.

[0097] S304, during the execution of the target task, the current pose of the first robotic arm is adjusted based on the current pose of the second robotic arm so that the first robotic arm moves with the second robotic arm.

[0098] For details regarding step S304, please refer to the above embodiments, which will not be repeated here.

[0099] In summary, the robotic arm control method according to the embodiments of this application includes task information such as the current pose of the second robotic arm, obtaining the target pose of the second robotic arm performing the target task, and adjusting the current pose of the second robotic arm based on the current pose and the target pose of the second robotic arm performing the target task. Therefore, the current pose of the second robotic arm can be dynamically acquired, improving its real-time performance and accuracy. Furthermore, by considering both the current pose and the target pose of the second robotic arm performing the target task, the current pose of the second robotic arm can be dynamically adjusted, which helps improve the control precision of the current pose and thus enhances the task execution quality of the second robotic arm.

[0100] To facilitate understanding, an exemplary embodiment is provided, taking a welding scenario as an example:

[0101] like Figure 4 As shown, the welding robot includes a first robotic arm 1, a second robotic arm 2, an observation device 3 mounted on the first robotic arm 1, and a welding tool 4 mounted on the second robotic arm 2. For example, the welding tool 4 includes a welding torch.

[0102] like Figure 5 As shown, the welding process includes the following steps:

[0103] Step 1: Manually teach the weld position. The first robotic arm 1 performs pre-weld observation and sends the weld position to the second robotic arm 2. For example, the operator manually moves the first robotic arm 1 to the weld area. The first robotic arm 1 uses its end-effector structured light camera to perform pre-weld observation and modeling of the weld, and records the observed weld position.

[0104] Step 2: The second robotic arm 2 moves to the starting point of the weld, carrying the welding torch. For example, the second robotic arm 2 moves to the welding start position based on the observation results of the weld position.

[0105] Step 3: The first robotic arm 1 moves to the welding observation position. For example, the first robotic arm 1 moves to the observation position according to the pose of the second robotic arm 2, in order to observe the positional relationship between the second robotic arm 2 and the workpiece to be welded.

[0106] Step 4: The first robotic arm 1 observes the positional relationship between the second robotic arm 2 and the workpiece to be welded, and sends a welding pose adjustment command to the second robotic arm 2. For example, the first robotic arm 1 uses an RGB camera or a binocular structured light camera for observation, and instructs the second robotic arm 2 to adjust the pose based on the observation results.

[0107] Step 5: The second robotic arm 2 adjusts to the optimal welding posture. For example, the second robotic arm 2 adjusts to the optimal welding angle based on the posture provided by the first robotic arm 1.

[0108] Step 6: The first robotic arm 1 notifies the second robotic arm 2 to perform welding.

[0109] Step 7: The second robotic arm 2 performs welding.

[0110] Step 8: The first robotic arm 1 uses an end-effector camera to observe the molten pool morphology in real time and sends fine-tuning control commands to the second robotic arm 2 accordingly. For example, the first robotic arm 1 moves together with the second robotic arm 2, while simultaneously using the end-effector camera to observe the molten pool morphology in real time and sending fine-tuning control commands to the second robotic arm 2 accordingly, including welding parameters such as welding speed, angle, current, and voltage.

[0111] Step 9: The second robotic arm 2 adjusts the welding parameters in real time.

[0112] Step 10: Welding complete.

[0113] To achieve the above embodiments, this application also proposes a control device for a robotic arm.

[0114] Figure 6 This is a schematic diagram of the structure of a control device for a robotic arm provided in an embodiment of this application.

[0115] like Figure 6 As shown, the control device 100 of the robotic arm includes: a first control module 110, a second control module 120 and a third control module 130.

[0116] The first control module 110 is used to control the observation equipment installed on the first robotic arm and collect task information of the target task to be performed by the second robotic arm.

[0117] The second control module 120 is used to control the second robotic arm to perform the target task based on the task information;

[0118] The third control module 130 is used to adjust the current pose of the first robotic arm based on the current pose of the second robotic arm during the execution of the target task, so that the first robotic arm moves with the second robotic arm.

[0119] In some embodiments of this application, the third control module 130 is further configured to: acquire a first target relative pose between the first robotic arm and the second robotic arm; determine a target pose of the first robotic arm based on the current pose of the second robotic arm and the first target relative pose; and adjust the current pose of the first robotic arm based on the target pose of the first robotic arm.

[0120] In some embodiments of this application, there is a correlation between the first target relative pose and the target task.

[0121] In some embodiments of this application, the task information includes the starting position point of the second robotic arm performing the target task;

[0122] The second control module 120 is further configured to: control the second robotic arm to move to the starting position point.

[0123] In some embodiments of this application, the task information includes a second current relative pose between the second robotic arm and the target object associated with the target task;

[0124] The second control module 120 is further configured to: acquire a second target relative pose between the second robotic arm and the target object; and adjust the current pose of the second robotic arm based on the second current relative pose and the second target relative pose.

[0125] In some embodiments of this application, the task information includes the current pose of the second robotic arm;

[0126] The second control module 120 is further configured to: acquire the target pose of the second robotic arm performing the target task; and adjust the current pose of the second robotic arm based on the current pose of the second robotic arm and the target pose of the second robotic arm performing the target task.

[0127] In some embodiments of this application, the task information further includes the current pose of the target object associated with the target task;

[0128] The second control module 120 is further configured to: acquire a second target relative pose between the second robotic arm and the target object; and determine the target pose for the second robotic arm to perform the target task based on the second target relative pose and the current pose of the target object.

[0129] In some embodiments of this application, the target object associated with the welding task includes the workpiece to be welded.

[0130] In some embodiments of this application, the task information includes the execution status information of the target task;

[0131] The second control module 120 is further configured to: adjust the task parameters of the second robotic arm for performing the target task based on the execution status information of the target task.

[0132] In some embodiments of this application, the task parameters of the welding task include at least one of welding angle, welding speed, welding current, and welding voltage.

[0133] In some embodiments of this application, there is an association between the category of the mission information and the observation device.

[0134] It should be noted that the foregoing explanation of the control method embodiment for the robotic arm also applies to the control device of the robotic arm in this embodiment, and will not be repeated here.

[0135] In summary, the control device for the robotic arm in this embodiment controls the observation equipment mounted on the first robotic arm to collect task information of the target task to be performed by the second robotic arm. Based on the task information, it controls the second robotic arm to perform the target task. During the execution of the target task, the current pose of the first robotic arm is adjusted based on the current pose of the second robotic arm so that the first robotic arm follows the movement of the second robotic arm. Therefore, the observation equipment mounted on the first robotic arm can be controlled to dynamically collect task information of the target task to be performed by the second robotic arm, improving the real-time performance and accuracy of the task information. Furthermore, by taking the task information into account, the control device can control the second robotic arm to perform the target task, which helps to improve the control precision of the second robotic arm and thus improve the task execution quality. This device is suitable for applications such as welding and screw tightening.

[0136] In addition, during the execution of the target task, the current pose of the second robotic arm can be taken into account, and the current pose of the first robotic arm can be adjusted so that the first robotic arm follows the movement of the second robotic arm. Thus, no matter where the second robotic arm moves, the observation equipment can maintain an ideal observation angle and observation distance, thereby accurately collecting task information, improving the accuracy of task information, and helping to improve the control precision of the second robotic arm.

[0137] To implement the above embodiments, this application also proposes an electronic device, including: a processor and a memory communicatively connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the control method for the robotic arm provided in the foregoing embodiments.

[0138] To implement the above embodiments, this application also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the robotic arm control method provided in the foregoing embodiments.

[0139] To implement the above embodiments, this application also proposes a computer program product, including a computer program that, when executed by a processor, implements the robotic arm control method provided in the foregoing embodiments.

[0140] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0141] It should be noted that personal information collected from users should be used for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. Furthermore, such collection / sharing should only be conducted after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign an agreement / authorization that includes authorization of relevant user information before the user uses the function. In addition, any necessary steps must be taken to protect and safeguard access to such personal information data and ensure that others with access to personal information data comply with their privacy policies and procedures.

[0142] This application is intended to provide an implementation scheme for users to selectively prevent the use or access to their personal information data. Specifically, this disclosure is intended to provide hardware and / or software to prevent or block access to such personal information data. Once personal information data is no longer needed, risks can be minimized by restricting data collection and deleting data. Furthermore, where applicable, such personal information is de-identified to protect user privacy.

[0143] In the foregoing descriptions of the embodiments, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0144] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as controlling or implying relative importance or implicitly specifying the number of technical features controlled. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0145] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0146] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0147] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0148] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0149] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0150] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A control method of a robot arm, characterized by, The method comprises: controlling a first robot-mounted observation device to collect task information of a target task to be performed by a second robot; controlling the second robot to perform the target task based on the task information; during performance of the target task, adjusting a current pose of the first robot based on a current pose of the second robot, so that the first robot moves following the second robot; the adjusting of the current pose of the first robot based on the current pose of the second robot comprises: obtaining a first target relative pose between the first robot and the second robot, the first target relative pose being associated with the target task; determining a target pose of the first robot based on the current pose of the second robot and the first target relative pose; adjusting the current pose of the first robot based on the target pose of the first robot; the task information comprises a second current relative pose between the second robot and a target object associated with the target task, or a current pose of the second robot; in a case where the task information comprises the second current relative pose between the second robot and the target object associated with the target task, the controlling of the second robot to perform the target task based on the task information comprises: obtaining a second target relative pose between the second robot and the target object; adjusting the current pose of the second robot based on the second current relative pose and the second target relative pose; in a case where the task information comprises the current pose of the second robot, the controlling of the second robot to perform the target task based on the task information comprises: obtaining a target pose of the second robot for performing the target task; adjusting the current pose of the second robot based on the current pose of the second robot and the target pose of the second robot for performing the target task.

2. The method of claim 1, wherein, the task information comprises a start position point of the second robot for performing the target task; the controlling of the second robot to perform the target task based on the task information comprises: controlling the second robot to move to the start position point.

3. The method of claim 1, wherein, in a case where the task information comprises the current pose of the second robot, the task information further comprises a current pose of a target object associated with the target task; the obtaining of the target pose of the second robot for performing the target task comprises: obtaining a second target relative pose between the second robot and the target object; determining the target pose of the second robot for performing the target task based on the second target relative pose and the current pose of the target object.

4. The method according to claim 1 or 3, characterized in that, the target object associated with the welding task comprises a workpiece to be welded.

5. The method of claim 1, wherein, the task information comprises execution state information of the target task; the controlling of the second robot to perform the target task based on the task information comprises: adjusting a task parameter of the second robot for performing the target task based on the execution state information of the target task.

6. The method of claim 5, wherein, The task parameters of the welding task include at least one of a welding angle, a welding speed, a welding current, and a welding voltage.

7. The method according to any one of claims 1-3, 5, 6, characterized in that, The category of the task information is associated with the observation device.

8. A control device of a robot arm, characterized by, The method comprises: A first control module is configured to control an observation device installed on a first robot arm to collect task information of a target task to be performed by a second robot arm; A second control module is configured to control the second robot arm to perform the target task based on the task information; A third control module is configured to adjust a current pose of the first robot arm based on a current pose of the second robot arm during performance of the target task, so that the first robot arm moves following the second robot arm The third control module is specifically configured to obtain a first target relative pose between the first robot arm and the second robot arm, the first target relative pose being associated with the target task; determine a target pose of the first robot arm based on the current pose of the second robot arm and the first target relative pose; adjust the current pose of the first robot arm based on the target pose of the first robot arm; The task information includes a second current relative pose between the second robot arm and a target object associated with the target task or a current pose of the second robot arm; In a case where the task information includes the second current relative pose between the second robot arm and the target object associated with the target task, the second control module is specifically configured to obtain a second target relative pose between the second robot arm and the target object; adjust the current pose of the second robot arm based on the second current relative pose and the second target relative pose; In a case where the task information includes the current pose of the second robot arm, the second control module is specifically configured to obtain a target pose of the second robot arm performing the target task; adjust the current pose of the second robot arm based on the current pose of the second robot arm and the target pose of the second robot arm performing the target task.

9. An electronic device, comprising: The method comprises: a processor, and a memory connected to the processor in communication; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the method of any one of claims 1-7.

11. A computer program product, characterised in that, The computer program is executed by the processor to implement the method of any one of claims 1-7.

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