Determination method and device for sudden stop parameters of robot, equipment and storage medium

Abstract

According to the method and device for determining the sudden stop parameters of the robot, the equipment and the storage medium, the first position data of the sudden stop object and the second position data of the sudden stop target under the condition that sudden stop is triggered are obtained in real time, the target cannot be captured by the optical tracking equipment when sudden stop is not triggered, and the target cannot be captured by the optical tracking equipment when sudden stop is not triggered. The sudden stop target can be captured by the optical tracking device and detect second position data of the sudden stop target under the condition that sudden stop is triggered, and the sudden stop object executes sudden stop operation under the condition that sudden stop is triggered; determining the initial moment when the second position data is detected as the sudden stop triggering time; the sudden stop parameter is determined according to the triggering time and the first position data, and the triggering time for triggering sudden stop can be accurately determined, so that the accuracy of the determined sudden stop parameter can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a method and device for determining emergency stop parameters of a robot, an apparatus, and a storage medium. BACKGROUND

[0002] In related technologies, when detecting the emergency stop of the end effector of a robot, a laser tracker is used to cooperate with an emergency stop accessory box to measure the emergency stop distance and the emergency stop time. An emergency stop signal is directly connected to the system to be tested via an emergency stop switch and is transmitted to an external emergency stop accessory box, and then a special software is triggered to collect the signal. Since a signal transfer link is required when the signal is transmitted to the emergency stop accessory box and then collected by the laser tracker, a certain test system error is caused, and the measurement is not accurate enough. In addition, the target of the laser tracker is generally a hollow stainless steel ball, and the applicability of the target to objects to be tested with small rigidity and self-weight is limited. Moreover, the recognizable range of the target of the laser tracker is limited, and the test effectiveness greatly depends on the test path and the position. When the distance (direction is parallel to the transverse direction of the laser tracker) and the shaking frequency of the object to be tested are large, the mechanical performance of the joint of the laser tracker is limited, and the target is easily lost during the emergency stop process. SUMMARY

[0003] To solve the above problems, the present application provides a method and device for determining the emergency stop parameters of a robot, an apparatus, and a storage medium, which can improve the accuracy of the determined emergency stop parameters.

[0004] The present application provides a method for determining the emergency stop parameters of a robot, the robot comprising an emergency stop object, comprising:

[0005] real-time acquisition of first position data of the emergency stop object and second position data of an emergency stop target in the case of triggering the emergency stop, wherein the emergency stop target cannot be captured by an optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected in the case of triggering the emergency stop, and the emergency stop object performs an emergency stop operation in the case of triggering the emergency stop;

[0006] determination of an initial time when the second position data is detected as a triggering time of the emergency stop;

[0007] determination of emergency stop parameters according to the triggering time and the first position data.

[0008] In some embodiments, the emergency stop parameters include an emergency stop time and an emergency stop distance, and the determination of the emergency stop parameters according to the triggering time and the first position data comprises:

[0009] determination of a position corresponding to the triggering time in the first position data as a triggering position of the emergency stop object when the emergency stop is triggered.

[0010] determining a stable position and a stable time of the emergency stop object when the emergency stop object is stable after the emergency stop stabilizes according to the first position data;

[0011] determining an emergency stop time based on the trigger time and the stable time;

[0012] determining an emergency stop distance based on the trigger position and the stable position.

[0013] In some embodiments, the first position data is obtained based on a measurement target arranged on the emergency stop object, the emergency stop object is connected to a normally closed end of an emergency stop switch, a normally open end of the emergency stop switch is connected to a power supply circuit of the emergency stop target, the emergency stop is triggered when the emergency stop switch is operated, the emergency stop switch turns on the power supply circuit when the emergency stop switch triggers the emergency stop, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target emit light.

[0014] In some embodiments, the target is arranged on the emergency stop object, the first position data and the second position data are the same data, the emergency stop object is connected to a normally closed end of an emergency stop switch, a normally open end of the emergency stop switch is connected to a power supply circuit of the emergency stop target, the emergency stop is triggered when the emergency stop switch is operated, the emergency stop switch turns on the power supply circuit when the emergency stop switch triggers the emergency stop, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target emit light.

[0015] Embodiments of the present application provide a device for determining emergency stop parameters of a robot, the robot including an emergency stop object, comprising:

[0016] an acquisition module configured to acquire first position data of the emergency stop object and second position data of an emergency stop target when the emergency stop is triggered in real time, wherein the emergency stop target cannot be captured by an optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered, and the emergency stop object performs an emergency stop operation when the emergency stop is triggered;

[0017] a first determination module configured to determine an initial time when the second position data is detected as a trigger time of the emergency stop;

[0018] a second determination module configured to determine emergency stop parameters according to the trigger time and the first position data.

[0019] Embodiments of the present application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method for determining emergency stop parameters of the robot according to any one of the above embodiments when executing the computer program.

[0020] The embodiment of the present application provides a system for determining an emergency stop parameter of a robot, comprising:

[0021] The electronic device and the emergency stop target, wherein the emergency stop target cannot be captured by the optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered.

[0022] In some embodiments, the emergency stop object is connected with a normally closed end of an emergency stop switch, a normally open end of the emergency stop switch is connected with a power supply circuit of the target, and the emergency stop is triggered when the emergency stop switch is operated; when the emergency stop switch is operated, the normally open end of the emergency stop switch is closed to turn on the power supply circuit, and the power supply circuit supplies power to the target to make the target emit light.

[0023] In some embodiments, the system for determining the emergency stop parameter of the robot further comprises:

[0024] A measurement target is arranged on the emergency stop object, wherein the optical tracking device can detect the position data of the measurement target to obtain the first position data of the emergency stop object.

[0025] The embodiment of the present application provides a computer readable storage medium, the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the method for determining the emergency stop parameter of the robot.

[0026] The embodiment of the present application provides a computer program product, when the computer program product is run on a terminal device, the electronic device executes the method.

[0027] The embodiment of the present application provides a method, device and equipment for determining an emergency stop parameter of a robot, and a storage medium, by acquiring first position data of an emergency stop object and second position data of an emergency stop target when the emergency stop is triggered, wherein the emergency stop target cannot be captured by an optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered, and the emergency stop object performs an emergency stop operation when the emergency stop is triggered; an initial time when the second position data is detected is determined as a triggering time of the emergency stop; and an emergency stop parameter is determined according to the triggering time and the first position data, and since the triggering time of the emergency stop can be accurately determined, the accuracy of the determined emergency stop parameter can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0028] The present application will be described in more detail below based on embodiments and with reference to the drawings.

[0029] Figure 1 An application scenario schematic diagram of a robot emergency stop parameter determination system provided by an embodiment of the present application is provided.

[0030] Figure 2 An application scenario schematic diagram of another robot emergency stop parameter determination system provided by an embodiment of the present application is provided.

[0031] Figure 3 An implementation flow schematic diagram of a robot emergency stop parameter determination method provided by an embodiment of the present application is provided.

[0032] Figure 4 A structure schematic diagram of a robot emergency stop parameter determination device provided by an embodiment of the present application is provided.

[0033] Figure 5 A component structure schematic diagram of an electronic device provided by an embodiment of the present application is provided.

[0034] In the drawings, the same components are designated by the same reference numerals, and the drawings are not drawn according to the actual proportions. DETAILED DESCRIPTION

[0035] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings, and the described embodiments should not be regarded as limiting the present application, and all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0036] In the following description, "some embodiments" are described, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0037] If similar descriptions of "first\second\third" appear in the application file, the following description is added, in the following description, the terms "first\second\third" referred to only distinguish similar objects, and do not represent a specific order of the objects, and it can be understood that "first\second\third" can be interchanged with a specific order or sequence as allowed, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application, and are not intended to limit the present application.

[0039] Based on the problems existing in related technologies, this application provides a method for determining the emergency stop parameters of a robot, which can be applied to electronic devices such as mobile phones, tablets, wearable devices, in-vehicle devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), and optical tracking sensors (OTS). This application does not impose any restrictions on the specific type of electronic device.

[0040] The electronic device provided in this application embodiment can be applied to a robot emergency stop parameter determination system. The following description uses an optical tracking device as an example to illustrate the robot emergency stop parameter determination system. The system includes an optical tracking device and an emergency stop target. The emergency stop target is used so that it cannot be captured by the optical tracking device when an emergency stop is not triggered, and can be captured by the optical tracking device and its second position data detected when an emergency stop is triggered. In this application embodiment, the emergency stop target can be set on the emergency stop object.

[0041] In some embodiments, the emergency stop target is connected to the normally closed terminal of an emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch is operated, the normally open terminal of the emergency stop switch closes to conduct the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target emit light.

[0042] Figure 1 This application provides an illustration of an system for determining emergency stop parameters of a robot, as shown in the embodiments of this application. Figure 1 As shown, the emergency stop target is the robot's end effector. The emergency stop target is fixed on the end effector to be measured. The normally closed terminal of the dual-channel emergency stop switch is connected to the robot system, and the normally open terminal of the dual-channel emergency stop switch is connected to the power supply line of the emergency stop target. Before triggering the emergency stop, the continuous acquisition function of the OTS is turned on. During the movement of the end effector, taking a picture of the emergency stop switch can simultaneously trigger the robot system's emergency stop and the visibility of the emergency stop target. After the end effector's emergency stop stabilizes, the continuous acquisition of the OTS is stopped. The second position data of the acquired emergency stop target is output. The emergency stop parameters of the emergency stop target are calculated using the first moment when the emergency stop target acquisition data is generated (no data when invisible) as the trigger time of the emergency stop.

[0043] In some embodiments, the system for determining the robot's emergency stop parameters further includes:

[0044] A measuring target is used to be set on the emergency stop object, wherein the optical tracking device is able to detect the position data of the measuring target to obtain the first position data of the emergency stop object.

[0045] Figure 2 This is a schematic diagram illustrating an application scenario for another robot emergency stop parameter determination system provided in this application embodiment, such as... Figure 2 As shown, the measurement target is fixed on the emergency stop object to be measured, maintaining its trackability to the OTS during movement; the measurement target is an active launch target recognizable by the OTS; the normally closed terminal of the dual-channel emergency stop switch is connected to the robot system, and the normally open terminal of the dual-channel emergency stop switch is connected to the power supply circuit of the emergency stop target; ensuring that both the measurement target and the emergency stop target are within the effective field of view of the OTS, the continuous acquisition function of the OTS is activated before the emergency stop is triggered to obtain the first position data of the emergency stop object through the measurement target; during the movement of the end effector, pressing the emergency stop switch can simultaneously trigger the emergency stop of the robot system and the visibility of the emergency stop target; after the emergency stop of the end effector stabilizes, the continuous acquisition of the OTS is stopped; the acquired first position data and second position data are output, and the initial time of the second position data generated by the emergency stop target is used as the trigger time of the emergency stop, and the emergency stop parameters are determined based on the emergency stop trigger time and the first position data.

[0046] The robot emergency stop parameter determination system provided in this application can achieve synchronization of emergency stop time, and is marked by the activation or visibility of the emergency stop target to minimize the impact of signal relay delay; it uses optical tracking equipment for testing, and the tracking performance of the emergency stop target is not limited by the response speed of the mechanical structure, making it suitable for scenarios with large emergency stop distances and high shaking frequencies; it can collect data covering the entire process before and after the emergency stop, and the recording of emergency stop process information is more complete; the measurement target and the emergency stop target are made of plastic, and their own weight is negligible, making it suitable for a wider range of test objects; the measurement target and the emergency stop target have a large recognizable angle, and the tracking effectiveness is less dependent on the test path and placement; only the software of the measuring instrument itself is needed, without the need to add or develop a dedicated emergency stop trigger acquisition module.

[0047] Based on the aforementioned application scenario of the robot emergency stop parameter determination system, the function of the robot emergency stop parameter determination method provided in this application embodiment can be implemented by the processor of an electronic device calling program code, wherein the program code can be stored in a computer storage medium.

[0048] This application provides a method for determining the emergency stop parameters of a robot. The following description uses an electronic device as an example, where the robot includes an object requiring emergency stop.Figure 3 A schematic diagram illustrating the implementation process of a method for determining emergency stop parameters of a robot provided for the purposes of this application is shown below. Figure 3 As shown, it includes:

[0049] Step S101: Real-time acquisition of the first position data of the emergency stop object and the second position data of the emergency stop target when the emergency stop is triggered. The emergency stop target cannot be captured by the optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered. The emergency stop object performs an emergency stop operation when the emergency stop is triggered.

[0050] In this embodiment of the application, the emergency stop object can be the end effector of the robot, and the first position data includes: the position of the emergency stop object and the time of the emergency stop object at that position. The first position data may include: the position data before the emergency stop and the data of the entire emergency stop process.

[0051] In this embodiment of the application, by acquiring the location data before the emergency stop and the data of the entire emergency stop process, the location information of the emergency stop process can be more complete, thereby improving the accuracy of the determined emergency stop parameters.

[0052] In this embodiment of the application, the first position data can be obtained by detecting the measurement target using an optical tracking device, or it can be obtained by directly detecting the object that is about to stop using an optical tracking device.

[0053] When detection is performed using a measurement target, the measurement target can be fixedly set on the object that is about to stop. The optical tracking device can capture the measurement target in real time, so that the optical correction device can detect the position data of the measurement target. The position data of the measurement target can be regarded as the first position data of the object that is about to stop.

[0054] In this embodiment, the emergency stop target cannot be captured by the optical tracking device when no emergency stop is triggered, but can be captured and detected by the optical tracking device when an emergency stop is triggered. This indicates a change in the state of the emergency stop target, which could be a change in color, shape, or brightness, enabling the optical tracking device to detect the second position data. For example, when the emergency stop target is emitting light, the optical tracking device begins to detect the second position data; when the emergency stop target is not emitting light, the optical tracking device cannot detect the second position data.

[0055] In this embodiment, the emergency stop target can be made of plastic, and a light source can be incorporated into the plastic material. By applying voltage to the light source, it can be made to emit light. The light source can be an LED.

[0056] For example, the emergency stop target can be made of plastic and weigh only a few grams. By using an emergency stop target weighing only a few grams as a measurement target, it is lighter than the metal targets used in related technologies, making it suitable for lighter emergency stop objects and applicable to a wider range of situations.

[0057] In this embodiment of the application, the optical tracking device can be PixArt's Optical Tracking Sensor (OTS).

[0058] Step S102: The initial time when the second position data is detected is determined as the trigger time for emergency stop.

[0059] In this embodiment of the application, since the second position data is detected when an emergency stop is triggered, the initial time when the second position data is detected is determined as the trigger time of the emergency stop.

[0060] In this embodiment of the application, for the detected second location data, the electronic device can record the corresponding timestamp. At this time, the timestamp corresponding to the initial detection of the second location data can be determined as the trigger time.

[0061] Step S103: Determine the emergency stop parameters based on the trigger time and the first position data.

[0062] In this embodiment of the application, the emergency stop parameters include: the stable position and corresponding stabilization time after the emergency stop stabilizes, the trigger position and corresponding trigger time when the emergency stop is triggered, the emergency stop time, and the emergency stop distance.

[0063] In this embodiment, the emergency stop time is the time between the moment the emergency stop is triggered and the moment the emergency stop stabilizes, and the emergency stop distance is the distance between the position where the emergency stop is triggered and the position where the emergency stop stabilizes. Emergency stop stabilization is defined as the position change of the emergency-stopped object being less than a set threshold. For example, the set threshold can be a number close to 0. For instance, if the position stops changing after the emergency stop stabilizes and remains stationary thereafter, it can be considered that the emergency stop is stable.

[0064] In this embodiment of the application, the stable position and corresponding stabilization time after the emergency stop, the trigger position and corresponding trigger time when the emergency stop is triggered, the emergency stop time and emergency stop distance can be determined by the trigger time and the first position data.

[0065] This application provides a method for determining emergency stop parameters for a robot. It acquires first position data of an emergency stop object and second position data of an emergency stop target in real time when an emergency stop is triggered. The emergency stop target cannot be captured by an optical tracking device when no emergency stop is triggered, but can be captured and its second position data detected by the optical tracking device when an emergency stop is triggered. The emergency stop object performs an emergency stop operation when an emergency stop is triggered. The initial time of detecting the second position data is determined as the emergency stop trigger time. Emergency stop parameters are determined based on the trigger time and the first position data. Because the trigger time of the emergency stop can be accurately determined, the accuracy of the determined emergency stop parameters can be improved.

[0066] In some embodiments, the emergency stop parameters include emergency stop time and emergency stop distance. Step S103, "determining the emergency stop parameters based on the trigger time and the first position data," can be achieved through the following steps:

[0067] Step S1031: Determine the position corresponding to the trigger time in the first position data as the trigger position of the emergency stop object when the emergency stop is triggered.

[0068] In this embodiment of the application, the trigger time is t1, and the position corresponding to t1 is the trigger position of the emergency stop object when the emergency stop is triggered.

[0069] Step S1032: Determine the stable position and stabilization time of the emergency stop object after the emergency stop based on the first position data.

[0070] In this embodiment of the application, the position stabilization after an emergency stop can be defined as the position change being less than a set position change threshold. In this case, the stabilization time can be determined from the first position data as t2, and the position corresponding to t2 is the stable position.

[0071] Step S1033: Determine the emergency stop time based on the trigger time and the stabilization time.

[0072] Continuing with the example above, the emergency stop time can be obtained by subtracting t2 from t1.

[0073] Step S1034: Determine the emergency stop distance based on the trigger position and the stable position.

[0074] In this embodiment of the application, the emergency stop distance can be calculated using the trigger position and the stable position.

[0075] In some embodiments, the first position data is obtained based on a measurement target, which is disposed on the emergency stop object. The emergency stop object is connected to the normally closed terminal of an emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch triggers an emergency stop, the emergency stop switch turns on the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target emit light.

[0076] In this embodiment, the measurement target can be fixed on the emergency stop object. The power supply circuit can include a power supply. The normally open terminal of the emergency stop switch can cut off the power supply to the target, or it can supply power to both the power supply and the emergency stop target.

[0077] In this embodiment of the application, the measurement target can be an active emission target, and in some embodiments, it can also be a reflective target.

[0078] In this embodiment, the measurement target can be a reflective measurement target made of plastic material. A coating can be applied to the surface of the plastic material to achieve reflection. For an active emission target, an LED light can be installed in the measurement target to achieve active light emission by lighting the LED light.

[0079] In some embodiments, the emergency stop target is disposed on the emergency stop object, the emergency stop object is connected to the normally closed terminal of the emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch triggers an emergency stop, the emergency stop switch turns on the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target emit light.

[0080] In this embodiment of the application, the optical tracking device can directly detect the first position data of the object that has stopped suddenly.

[0081] Based on the foregoing embodiments, this application provides a device for determining the emergency stop parameters of a robot. The various modules and units included in the device can be implemented by a processor in a computer device; of course, they can also be implemented by specific logic circuits. In the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP), or a field programmable gate array (FPGA), etc.

[0082] This application provides a device for determining the emergency stop parameters of a robot.Figure 4 This is a schematic diagram of a device for determining emergency stop parameters of a robot, provided in an embodiment of this application. Figure 4 As shown, the device 200 for determining the robot's emergency stop parameters includes:

[0083] The acquisition module 201 is used to acquire in real time the first position data of the emergency stop object and the second position data of the emergency stop target when the emergency stop is triggered. The emergency stop target cannot be captured by the optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered. The emergency stop object performs an emergency stop operation when the emergency stop is triggered.

[0084] The first determining module 202 is used to determine the initial time of detecting the second position data as the trigger time for emergency stop;

[0085] The second determining module 203 is used to determine emergency stop parameters based on the trigger time and the first position data.

[0086] In some embodiments, the emergency stop parameters include emergency stop time and emergency stop distance, and the second determining module includes:

[0087] The first determining unit is used to determine the position corresponding to the trigger time in the first position data as the trigger position of the emergency stop object when the emergency stop is triggered.

[0088] The second determining unit is used to determine the stable position and stabilization time of the emergency stop object after the emergency stop is stabilized based on the first position data.

[0089] The third determining unit is used to determine the emergency stop time based on the trigger time and the stabilization time.

[0090] The fourth determining unit is used to determine the emergency stop distance based on the trigger position and the stable position.

[0091] In some embodiments, the first position data is obtained based on a measurement target, which is disposed on the emergency stop object. The emergency stop object is connected to the normally closed terminal of an emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch triggers an emergency stop, the emergency stop switch turns on the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target emit light.

[0092] In some embodiments, the emergency stop target is disposed on the emergency stop object, the first position data and the second position data are the same data, the emergency stop object is connected to the normally closed terminal of the emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch triggers an emergency stop, the emergency stop switch conducts the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target light up.

[0093] This application provides an electronic device. Figure 5 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application, such as... Figure 5 As shown, the electronic device 300 includes: a processor 301, at least one communication bus 302, a user interface 303, at least one external communication interface 304, and a memory 305. The communication bus 302 is configured to enable communication between these components. The user interface 303 may include a display screen, and the external communication interface 304 may include standard wired and wireless interfaces. The processor 301 is configured to execute a program stored in the memory for determining the robot's emergency stop parameters, to implement the steps in the robot emergency stop parameter determination method provided in the above embodiment.

[0094] In this application embodiment, if the method for determining the robot's emergency stop parameters 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. Based on this understanding, the technical solution of this application embodiment, essentially or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, portable hard drive, read-only memory (ROM), magnetic disk, or optical disk. Thus, this application embodiment is not limited to any specific hardware and software combination.

[0095] Accordingly, this application provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps in the method for determining the emergency stop parameters of a robot provided in the above embodiments.

[0096] This application provides another computer program product that, when run on an electronic device, causes the electronic device to execute the method for determining the emergency stop parameters of the robot described in any of the above embodiments.

[0097] The descriptions of the optical tracking device and storage medium embodiments above are similar to those of the method embodiments above, and have similar beneficial effects. For technical details not disclosed in the computer device and storage medium embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.

[0098] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0099] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0100] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0101] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0102] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0103] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0104] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a controller to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0105] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining emergency stop parameters of a robot, characterized in that, The robot includes objects requiring emergency stop, including: The system acquires the first position data of the emergency stop object and the second position data of the emergency stop target when the emergency stop is triggered. The emergency stop target cannot be captured by the optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered. The emergency stop object performs an emergency stop operation when the emergency stop is triggered. The initial moment when the second position data is detected is determined as the trigger time for emergency stop; The emergency stop parameters are determined based on the trigger time and the first position data.

2. The method according to claim 1, characterized in that, The emergency stop parameters include emergency stop time and emergency stop distance. Determining the emergency stop parameters based on the trigger time and the first position data includes: The position corresponding to the trigger time in the first position data is determined as the trigger position of the emergency stop object when the emergency stop is triggered. Based on the first position data, determine the stable position and stabilization time of the emergency stop object when its position stabilizes after the emergency stop; The emergency stop time is determined based on the trigger time and stabilization time. The emergency stop distance is determined based on the trigger position and the stable position.

3. The method according to any one of claims 1 to 2, characterized in that, The first position data is obtained based on a measurement target, which is set on the emergency stop object. The emergency stop object is connected to the normally closed terminal of the emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch triggers an emergency stop, the emergency stop switch turns on the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target light up.

4. The method according to any one of claims 1 to 2, characterized in that, The emergency stop target is disposed on the emergency stop object. The first position data and the second position data are the same data. The emergency stop object is connected to the normally closed terminal of the emergency stop switch. The normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch triggers an emergency stop, the emergency stop switch conducts the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target light up.

5. A device for determining emergency stop parameters of a robot, characterized in that, The robot includes objects requiring emergency stop, including: The acquisition module is used to acquire in real time the first position data of the emergency stop object and the second position data of the emergency stop target when the emergency stop is triggered. The emergency stop target cannot be captured by the optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered. The emergency stop object performs an emergency stop operation when the emergency stop is triggered. The first determining module is used to determine the initial time of detecting the second position data as the trigger time for emergency stop; The second determining module is used to determine emergency stop parameters based on the trigger time and the first position data.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for determining the emergency stop parameters of the robot as described in any one of claims 1 to 4.

7. A system for determining emergency stop parameters for a robot, characterized in that, include: The electronic device and emergency stop target as described in claim 6; Specifically, the emergency stop target cannot be captured by the optical tracking device when the emergency stop is not triggered, and the emergency stop target can be captured by the optical tracking device and the second position data of the emergency stop target can be detected when the emergency stop is triggered.

8. The system for determining the emergency stop parameters of a robot according to claim 7, characterized in that, The emergency stop target is connected to the normally closed terminal of the emergency stop switch, and the normally open terminal of the emergency stop switch is connected to the power supply circuit of the emergency stop target. When the emergency stop switch is operated, an emergency stop is triggered. When the emergency stop switch is operated, the normally open terminal of the emergency stop switch closes to conduct the power supply circuit, and the power supply circuit supplies power to the emergency stop target to make the emergency stop target light up.

9. The system for determining the emergency stop parameters of a robot according to any one of claims 7 to 8, characterized in that, The system for determining the robot's emergency stop parameters also includes: A measuring target is used to be placed on the emergency stop object, wherein the electronic device is capable of detecting the position data of the measuring target to obtain the first position data of the emergency stop object.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the emergency stop parameters of the robot as described in any one of claims 1 to 4.

Images