A composite robot target following method and related device

Abstract

The application provides a composite robot target following method and related equipment, a first actual distance and a first actual deviation angle of a target to be followed to an operating assembly in a current period are acquired; a terminal pose control amount of the operating assembly is determined according to the first actual distance, the first actual deviation angle and preset first type expected parameters; in the case that the terminal pose control amount of the operating assembly does not exceed a pose boundary corresponding to the operating assembly, inverse kinematics is solved based on the terminal pose control amount of the operating assembly to determine the positions of each joint motor in the operating assembly in the current period and execute movement to follow the target, and the mobile assembly is synchronously controlled according to the distance and the deviation angle of the operating assembly to the mobile assembly. Not only the mobile assembly is relied on to follow the target, but also each joint motor in the operating assembly is regulated and controlled, so that the redundancy and flexibility of the composite robot are improved, and the target following operation is more rapid and stable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a composite robot target following method and related equipment. BACKGROUND

[0002] With the development of artificial intelligence technology, robots are increasingly applied to various scenarios. For example, currently there are robots for entertainment, unmanned vehicles, robotic dogs, and highly balanced humanoid robots. However, more and more robots are now entering ordinary life and providing services for humans, such as meal delivery robots in restaurants and explanation service robots in museums.

[0003] In some industrial or service scenarios, robots need to recognize people or specific objects and complete follow-up operations. In the case of object movement, how to ensure that the robot can quickly and stably follow and execute has become a difficult problem for those skilled in the art. SUMMARY

[0004] The purpose of the present application is to provide a composite robot target following method and related equipment to improve the above problems.

[0005] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0006] In a first aspect, the embodiments of the present application provide a composite robot target following method applied to a composite robot, the composite robot comprising a moving component and an operating component disposed on the moving component, and the method comprising:

[0007] obtaining a first actual distance and a first actual deviation angle of a following target to the operating component in a current period;

[0008] determining an end pose control amount of the operating component according to the first actual distance, the first actual deviation angle, and a preset first type of expected parameter;

[0009] wherein the first type of expected parameter comprises an expected distance, an expected speed, an expected linear acceleration, an expected deviation angle, an expected angular velocity, and an expected angular acceleration of the following target relative to the operating component;

[0010] in a case where the end pose control amount of the operating component does not exceed the corresponding pose boundary of the operating component, performing inverse kinematics solving based on the end pose control amount of the operating component to determine the positions of each joint motor in the operating component in the current period and perform movement to follow the target;

[0011] obtaining a second actual distance and a second actual deviation angle of the operating component to the moving component in the current period;

[0012] determine an end pose control amount of the mobile component according to the first actual distance, the first actual deviation angle, and a preset first type of expected parameter;

[0013] The first type of expected parameter includes an expected distance, an expected speed, an expected linear acceleration, an expected deviation angle, an expected angular speed, and an expected angular acceleration of the following target relative to the operation component.

[0014] perform inverse kinematics solving based on the end pose control amount of the operation component to determine positions of joint motors in the operation component in the current period and perform motion to follow the target.

[0015] In a second aspect, an embodiment of the present application provides a target following device of a compound robot, which is applied to a compound robot including a mobile component and an operation component arranged on the mobile component, and includes:

[0016] A first processing unit is configured to acquire a first actual distance and a first actual deviation angle of a following target to the operation component in a current period.

[0017] A second processing unit is configured to determine an end pose control amount of the operation component according to the first actual distance, the first actual deviation angle, and a preset first type of expected parameter.

[0018] The first type of expected parameter includes an expected distance, an expected speed, an expected linear acceleration, an expected deviation angle, an expected angular speed, and an expected angular acceleration of the following target relative to the operation component.

[0019] The second processing unit is further configured to perform inverse kinematics solving based on the end pose control amount of the operation component to determine positions of joint motors in the operation component in the current period and perform motion to follow the target, in a case that the end pose control amount of the operation component does not exceed a corresponding pose boundary of the operation component.

[0020] The first processing unit is further configured to acquire a second actual distance and a second actual deviation angle of the operation component to the mobile component in the current period.

[0021] The second processing unit is further configured to determine an end pose control amount of the mobile component according to the second actual distance, the second actual deviation angle, and a preset second type of expected parameter.

[0022] The second type of expected parameter includes an expected distance, an expected speed, an expected linear acceleration, an expected deviation angle, an expected angular speed, and an expected angular acceleration of the operation component relative to the mobile component.

[0023] The second processing unit is also used to perform inverse kinematics solution based on the end pose control of the mobile component to determine the position of each joint motor in the mobile component in the current cycle and execute motion to perform cooperative target following of the composite robot.

[0024] Thirdly, embodiments of the present invention provide a storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method.

[0025] Fourthly, embodiments of the present invention provide an electronic device, the electronic device comprising: a processor and a memory, the memory being used to store one or more programs; when the one or more programs are executed by the processor, the above-described method is implemented.

[0026] Compared to existing technologies, the target following method and related equipment for a composite robot provided in this invention obtain the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle; based on the first actual distance, the first actual deviation angle, and a preset first type of expected parameter, the end-effector pose control quantity of the operating component is determined; when the end-effector pose control quantity of the operating component does not exceed the pose boundary corresponding to the operating component, inverse kinematics is solved based on the end-effector pose control quantity of the operating component to determine the position of each joint motor in the operating component in the current cycle and execute motion to perform target following; and the moving component is synchronously controlled according to the distance and deviation angle from the operating component to the moving component. This method not only relies on the moving component for target following, but also improves the redundancy and flexibility of the composite robot by adjusting the joint motors in the operating component, resulting in a faster and more stable target following response.

[0027] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0030] Figure 2 This is one of the flowcharts illustrating the composite robot target following method provided in an embodiment of the present invention.

[0031] Figure 3 This is the second flowchart illustrating the composite robot target following method provided in this embodiment of the invention.

[0032] Figure 4 This is the third flowchart illustrating the composite robot target following method provided in this embodiment of the invention.

[0033] Figure 5 This is a schematic diagram of a composite robot target following device provided in an embodiment of the present invention.

[0034] In the diagram: 10-Processor; 11-Memory; 12-Bus; 13-Communication interface; 501-First processing unit; 502-Second processing unit. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0037] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this invention, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0038] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, 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. Without further limitations, 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 said element.

[0039] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0040] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0041] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0042] This invention provides an electronic device, which may be a composite robot, a central control device for a composite robot, or a mobile phone, computer, or server device that is communicatively connected to the composite robot. The composite robot includes a mobile component and an operating component deployed on the mobile component. The mobile component includes, but is not limited to, a differential mobile chassis, an Ackerman mobile chassis, a Mecanum mobile chassis, and a legged mobile component. The operating component includes, but is not limited to, a 6-axis robotic arm, a 7-axis robotic arm, a SCRA robotic arm, and a dexterous hand.

[0043] Please refer to Figure 1This is a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12. The processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11.

[0044] Processor 10 can be an integrated circuit chip with signal processing capabilities. In implementation, each step of the composite robot target following method can be completed through integrated logic circuits in the hardware or software instructions within processor 10. Processor 10 can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0045] The memory 11 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage.

[0046] Bus 12 can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. Figure 1 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus 12 or one type of bus 12.

[0047] The memory 11 is used to store programs, such as programs corresponding to a composite robot target-following device. The composite robot target-following device includes at least one software functional module that can be stored in the memory 11 in the form of software or firmware, or embedded in the operating system (OS) of the electronic device. Upon receiving an execution instruction, the processor 10 executes the program to implement the composite robot target-following method.

[0048] The electronic device provided in this embodiment of the invention may further include a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0049] It should be understood that, Figure 1 The structure shown is only a partial schematic diagram of the electronic device; the electronic device may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0050] The composite robot target following method provided in this embodiment of the invention can be applied to, but is not limited to, [various applications]. Figure 1 For the specific process of the electronic devices shown, please refer to [link / reference]. Figure 2 The target following method for composite robots includes S11, S12, S13 and S14, which are described in detail below.

[0051] S11, obtain the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle.

[0052] Optionally, the first actual distance and first actual deviation angle of the target to the end of the operating component or the gripper in the current cycle can be obtained from a depth camera (which may be, but is not limited to, an RGB-D camera) or a radar component.

[0053] S12, determine the end pose control quantity of the operating component based on the first actual distance, the first actual deviation angle and the preset first type of expected parameters.

[0054] The first type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the following target relative to the operating component (end-effector or gripper). The parameters of the following target relative to the operating component can be, but are not limited to, being determined in the coordinate system of the operating component.

[0055] S13: Determine whether the end-effector pose control value of the operating component exceeds its corresponding pose boundary. If the end-effector pose control value of the operating component does not exceed its corresponding pose boundary, execute S14; otherwise, execute other steps.

[0056] Adjustable boundary values ​​for distance and deviation angle of the operating component are set as its corresponding pose boundaries. The pose boundaries of the operating component are smaller than its corresponding workspace boundaries and can be defined based on the workspace boundaries. The workspace boundaries of the operating component are obtained from the amplitude limits of the joint motors in the operating component and robot kinematics calculations. Optionally, the operating component is a robotic arm, and the workspace boundaries of the robotic arm are obtained through kinematics. In target following applications of composite robots, an initial pose of the robotic arm is set, which should meet the requirements of target detection. The distance and deviation angle boundaries of the robotic arm are set according to the application requirements, using the initial pose of the robotic arm as the origin.

[0057] The distance and deviation angle boundaries of the operating component can be set to 0. If both boundaries are set to 0, it is equivalent to the operating component no longer moving independently, but moving together with the moving component, which is equivalent to the target following the operation in the traditional method.

[0058] S14: Inverse kinematics is solved based on the end-effector pose control of the manipulator component to determine the position of each joint motor in the manipulator component in the current cycle and execute the motion. The joint motor moves to its corresponding position to perform target following.

[0059] S15, obtain the second actual distance and the second actual deviation angle between the operating component and the moving component in the current cycle.

[0060] Wherein, the second actual distance refers to the distance from the operating component to the moving component when the end-effector pose control amount of the operating component does not exceed the pose boundary, and the second actual deviation angle refers to the deviation angle from the operating component to the moving component when the end-effector pose control amount of the operating component does not exceed the pose boundary.

[0061] S16, determine the end pose control amount of the moving component based on the second actual distance, the second actual deviation angle and the preset second type of expected parameters.

[0062] The second type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the operating component relative to the moving component.

[0063] S17. Inverse kinematics is solved based on the end-effector pose control of the mobile component to determine the position of each joint motor in the mobile component in the current cycle and execute motion to perform cooperative target following of the composite robot.

[0064] It should be noted that the methods for obtaining the end-effector pose control values ​​of the moving component and the related inverse kinematics solution are similar to those for obtaining the end-effector pose control values ​​of the manipulating component and the related inverse kinematics solution, and will not be elaborated here.

[0065] In the target following method of the composite robot provided in the embodiments of the present invention, the target following is not only carried out by the moving component, but also by adjusting the joint motors of each joint in the operating component, thereby improving the redundancy and flexibility of the composite robot, resulting in a faster and more stable target following operation response.

[0066] Based on the foregoing, regarding the content of S11, this embodiment of the invention also provides an optional implementation method, please refer to the following text. S11, obtaining the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle, includes: S111, S112 and S113, which are specifically described below.

[0067] S111, acquire a depth image of the target being followed by a depth camera in the current cycle, wherein the depth camera is deployed at the end of the robotic arm of the operating component.

[0068] S112, determine the first actual distance from the target to the operating component in the current cycle based on the depth information in the depth image.

[0069] S113, based on the number of pixels in the depth image that follow the target from the center line of the image, determine the first actual deviation angle of the target from the operation component in the current cycle.

[0070] Based on the preceding text, regarding the content of S12, this embodiment of the invention also provides an optional implementation method, please refer to the following. S12, determining the end-effector pose control quantity of the operating component based on the first actual distance, the first actual deviation angle, and the preset first type of expected parameters, includes: S121 to S125, which are specifically described below.

[0071] S121. Based on the first actual distance, the first actual deviation angle, and the preset first type of expected parameters, a first solution model is constructed, wherein the first solution model is a second-order mass-damping-stiffness model.

[0072] S122, Solve the first solution model to obtain the first linear acceleration control quantity and the first angular acceleration control quantity of the target relative to the operating component in the current cycle.

[0073] S123, perform integral calculation based on the first linear acceleration control quantity to determine the first speed control quantity of the target relative to the operating component in the current cycle, and perform integral calculation based on the first speed control quantity to determine the distance control quantity of the target relative to the operating component in the current cycle.

[0074] S124, perform integral calculation based on the first angular acceleration control quantity to determine the first angular velocity control quantity of the target relative to the operating component in the current cycle, and perform integral calculation based on the first angular velocity control quantity to determine the deviation angular control quantity of the target relative to the operating component in the current cycle.

[0075] S125, determine the end-effector pose control value of the operating component based on the current pose of the operating component, the distance control value, and the deviation angle control value.

[0076] The target-following operation of the composite robot can be equivalent to using a virtual second-order spring-damped system to connect the target and the composite robot, thereby ensuring the continuous, natural and stable target-following system, and the following performance can be improved by adjusting the parameters of the second-order system.

[0077] Optionally, the first solution model is:

[0078]

[0079] The formulas for the first linear acceleration control quantity and the first angular acceleration control quantity are:

[0080]

[0081] in, This indicates the first actual distance between the target and the operating component. This indicates the speed of the target relative to the operating component. This represents the first-line acceleration control amount of the target relative to the operating component. This represents the expected distance of the target relative to the operating component. This indicates the desired speed of the target relative to the operating component. This represents the expected acceleration of the target relative to the operating component. This indicates the distance stiffness coefficient corresponding to the operating component. This indicates the distance damping coefficient corresponding to the operating component. This represents the distance quality coefficient corresponding to the operating component. This represents the first actual deviation angle of the target relative to the operating component. This represents the angular velocity of the target relative to the operating component. This represents the first angular acceleration control amount of the target relative to the operating component. This represents the expected deviation angle of the target relative to the operating component. This represents the desired angular velocity of the target relative to the operating component. This represents the desired angular acceleration of the target relative to the operating component. This represents the deviation angular stiffness coefficient corresponding to the operating component. This indicates the deviation angle damping coefficient corresponding to the operating component. This represents the deviation angle quality coefficient corresponding to the operating component.

[0082] When the end-effector pose control variable of the manipulator component does not exceed the pose boundary corresponding to the manipulator component, the settlement model of the moving component in the composite robot target following method is as follows:

[0083] The second solution model is:

[0084]

[0085] The formulas for the second linear acceleration control quantity and the second angular acceleration control quantity are:

[0086] )

[0087] in, This represents the second actual distance between the operating component and the moving component. This indicates the speed of the operating component relative to the moving component. This represents the second-line acceleration control amount of the operating component relative to the moving component. This represents the desired distance between the manipulated component and the moving component. This indicates the desired speed of the operating component relative to the moving component. This represents the expected acceleration of the operating component relative to the moving component. This represents the distance stiffness coefficient corresponding to the moving component. This indicates the distance damping coefficient corresponding to the moving component. This represents the distance quality coefficient corresponding to the moving component. This indicates the first actual deviation angle of the operating component relative to the moving component. This represents the angular velocity of the operating component relative to the moving component. This represents the second angular acceleration control amount of the operating component relative to the moving component. This represents the expected deviation angle between the operating component and the moving component. This represents the desired angular velocity of the operating component relative to the moving component. This represents the desired angular acceleration of the operating component relative to the moving component. This represents the deviation angular stiffness coefficient corresponding to the moving component. This represents the damping coefficient of the deviation angle corresponding to the moving component. This represents the deviation angle mass coefficient corresponding to the moving component.

[0088] Please refer to Figure 3In an optional implementation, when the end-effector pose control amount of the operating component exceeds the pose boundary corresponding to the operating component, the composite robot target following method further includes: S18 to S21, which are described in detail below.

[0089] S18, adjust the end-effector pose control quantity based on the pose boundary corresponding to the operation component to obtain the adjusted end-effector pose control quantity corresponding to the operation component.

[0090] S19, perform inverse kinematics solution based on the end pose control of the operating component to determine the position of each joint motor in the operating component in the current cycle and execute the motion.

[0091] S20, Based on the adjustment of the end pose control amount of the operation component, generate the end pose control amount corresponding to the moving component.

[0092] S21, perform inverse kinematics solution based on the end pose control of the mobile component to determine the position of each joint motor in the mobile component in the current cycle and execute the motion.

[0093] In the composite robot target following method provided in this embodiment of the invention, dynamic target following is achieved by synchronously controlling the operation component and the movement component, thereby further ensuring the following response speed and accuracy.

[0094] Please refer to Figure 4 In an optional implementation, when the end-effector pose control amount of the operating component exceeds the pose boundary corresponding to the operating component, the composite robot target following method further includes: S22 to S26, which are described in detail below.

[0095] S22, convert the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle to determine the third actual distance and the third actual deviation angle from the target to the moving component in the current cycle.

[0096] Among them, the third actual distance refers to the distance from the target component to the moving component when the end pose control quantity of the operating component exceeds the pose boundary, and the third actual deviation angle refers to the deviation angle from the target component to the moving component when the end pose control quantity of the operating component exceeds the pose boundary.

[0097] S23, adjust the end-effector pose control amount of the operation component based on the pose boundary corresponding to the operation component, so as to obtain the adjusted end-effector pose control amount corresponding to the operation component.

[0098] S24, perform inverse kinematics solution based on the end pose control of the operating component to determine the position of each joint motor in the operating component in the current cycle and execute the motion.

[0099] S25, based on the adjustment of the end pose control amount of the operation component, correct the third actual distance and the third actual deviation angle of the following target to the moving component in the current cycle, so as to obtain the corrected fourth estimated distance and the fourth estimated deviation angle.

[0100] Among them, the fourth estimated distance is the estimated distance of the following target relative to the moving component after the operation component moves to the end pose control value, and the fourth estimated deviation angle is the estimated deviation angle of the following target relative to the moving component after the operation component moves to the end pose control value.

[0101] S26, perform inverse kinematics solution based on the fourth estimated distance and the fourth estimated deviation angle of the moving component to determine the position of each joint motor in the moving component in the current cycle and perform motion.

[0102] Regarding the content in S26, this embodiment of the invention also provides an optional implementation method, please refer to the following. S26, based on the fourth estimated distance and the fourth estimated deviation angle of the moving component, performs inverse kinematics solution to determine the position of each joint motor in the moving component in the current cycle and executes the movement, including: S261 to S265, which are specifically described below.

[0103] S261, construct the third solution model based on the fourth estimated distance, the fourth estimated deviation angle, and the preset third type of expected parameters.

[0104] The third solution model is a second-order mass-damping-stiffness model. The third type of expected parameters include the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the following target relative to the moving component. The parameters of the following target relative to the moving component can be, but are not limited to, being determined in the coordinate system of the moving component.

[0105] S262, solve the third solution model to obtain the third linear acceleration control quantity and the third angular acceleration control quantity of the following target relative to the moving component in the current cycle.

[0106] S263, perform integral calculation based on the third-line acceleration control quantity to determine the third velocity control quantity of the following target relative to the moving component in the current cycle.

[0107] S264 performs an integral calculation based on the third-angle acceleration control quantity to determine the third-angle velocity control quantity of the following target relative to the moving component in the current cycle.

[0108] S265, based on the third speed control quantity and the third angular velocity control quantity, performs inverse kinematics solution to determine the position of each joint motor in the moving component in the current cycle and executes the motion.

[0109] The third solution model is:

[0110]

[0111] The formulas for the third linear acceleration control quantity and the third angular acceleration control quantity are:

[0112] )

[0113] in, This indicates the fourth estimated distance. Indicates the speed of the target relative to the moving component. This represents the third-line acceleration control amount relative to the moving component, indicating the target being followed. This indicates the expected distance of the target relative to the moving component. This indicates the desired speed of the target relative to the moving component. This represents the expected acceleration of the target relative to the moving component. This represents the distance stiffness coefficient corresponding to the moving component. This indicates the distance damping coefficient corresponding to the moving component. This represents the distance quality coefficient corresponding to the moving component. This indicates the fourth predicted deviation angle. This represents the angular velocity of the target relative to the moving component. This represents the third-order acceleration control value of the target relative to the moving component. This represents the expected deviation angle of the target relative to the moving component. This represents the expected angular velocity of the target relative to the moving component. This represents the desired angular acceleration of the target relative to the moving component. This represents the deviation angular stiffness coefficient corresponding to the moving component. This represents the damping coefficient of the deviation angle corresponding to the moving component. This represents the deviation angle mass coefficient corresponding to the moving component.

[0114] The composite robot target following method provided in this invention proposes a collaborative planning and control method based on a second-order mass-damping-stiffness model. This method fully utilizes the redundancy of the composite robot and performs collaborative planning and control of the moving component and the operating component in the target following operation scenario. It achieves a fast and stable target following operation effect through the operating component with lower inertia.

[0115] Please see Figure 5 , Figure 5 The present invention provides a composite robot target following device, which is optionally applied to the electronic device described above.

[0116] The composite robot target following device includes: a first processing unit 501 and a second processing unit 502.

[0117] The first processing unit 501 is used to obtain the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle.

[0118] The second processing unit 502 is used to determine the end pose control quantity of the operating component based on the first actual distance, the first actual deviation angle and the preset first type of expected parameters.

[0119] Among them, the first type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the target relative to the operating component;

[0120] The second processing unit 502 is also used to perform inverse kinematics solution based on the end pose control of the operation component when the end pose control of the operation component does not exceed the pose boundary corresponding to the operation component, so as to determine the position of each joint motor in the operation component in the current cycle and execute the motion to perform target following.

[0121] The first processing unit 501 is also used to obtain the second actual distance and the second actual deviation angle between the operating component and the moving component in the current cycle;

[0122] The second processing unit 502 is also used to determine the end pose control amount of the moving component based on the second actual distance, the second actual deviation angle and the preset second type of expected parameters;

[0123] The second type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the operating component relative to the moving component;

[0124] The second processing unit 502 is also used to perform inverse kinematics solution based on the end pose control quantity of the mobile component, so as to determine the position of each joint motor in the mobile component in the current cycle and execute motion to perform cooperative target following of the composite robot.

[0125] Optionally, the first processing unit 501 may execute S11, S15 and S22 as described above, and the second processing unit 502 may execute other steps in the above method embodiments.

[0126] It should be noted that the composite robot target following device provided in this embodiment can execute the method flow shown in the above-described method flow embodiment to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above-described embodiments.

[0127] This invention also provides a storage medium storing computer instructions and programs, which, when read and executed, perform the composite robot target following method described above. The storage medium may include memory, flash memory, registers, or a combination thereof.

[0128] The following provides an electronic device, which can be a composite robot, a central control device for a composite robot, or a mobile phone, computer, or server device that communicates with the composite robot. This electronic device, for example... Figure 1 As shown, the above-described composite robot target following method can be implemented. Specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 may be a CPU. The memory 11 is used to store one or more programs, which, when executed by the processor 10, execute the composite robot target following method of the above embodiment.

[0129] In summary, the target following method and related equipment for a composite robot provided by this invention obtains the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle; determines the end-effector pose control quantity of the operating component based on the first actual distance, the first actual deviation angle, and a preset first type of expected parameter; and performs inverse kinematics solution based on the end-effector pose control quantity of the operating component to determine the position of each joint motor in the operating component in the current cycle and execute motion for target following, while synchronously controlling the moving component based on the distance and deviation angle from the operating component to the moving component. This method not only relies on the moving component for target following but also improves the redundancy and flexibility of the composite robot by adjusting the joint motors in the operating component, resulting in a faster and more stable target following response.

[0130] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0131] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A target following method for a composite robot, characterized in that, Applied to a composite robot, the composite robot including a moving component and an operating component deployed on the moving component, the method includes: Obtain the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle; The end-effector pose control quantity of the operation component is determined based on the first actual distance, the first actual deviation angle, and the preset first type of expected parameters. The first type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the target relative to the operating component. If the end-effector pose control value of the operation component does not exceed the pose boundary corresponding to the operation component, inverse kinematics solution is performed based on the end-effector pose control value of the operation component to determine the position of each joint motor in the operation component in the current cycle and execute the motion to perform target following. Obtain the second actual distance and the second actual deviation angle between the operating component and the moving component in the current cycle; The end pose control amount of the moving component is determined based on the second actual distance, the second actual deviation angle, and the preset second type of expected parameters. The second type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the operating component relative to the moving component; Inverse kinematics is solved based on the end-effector pose control of the mobile component to determine the position of each joint motor in the mobile component in the current cycle and execute motion for collaborative target following of the composite robot.

2. The composite robot target following method as described in claim 1, characterized in that, The process of obtaining the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle includes: Acquire a depth image of the target being followed by a depth camera in the current cycle, wherein the depth camera is deployed at the end of the robotic arm of the operating component; Based on the depth information in the depth image, determine the first actual distance from the target to the operating component in the current cycle; Based on the number of pixels in the depth image that follow the target at a distance from the center line of the image, the first actual deviation angle of the target to the operating component in the current cycle is determined.

3. The composite robot target following method as described in claim 1, characterized in that, The step of determining the end-effector pose control quantity of the operating component based on the first actual distance, the first actual deviation angle, and a preset first type of expected parameter includes: Based on the first actual distance, the first actual deviation angle, and the preset first type of expected parameters, a first solution model is constructed, wherein the first solution model is a second-order mass-damping-stiffness model. The first solution model is solved to obtain the first linear acceleration control amount and the first angular acceleration control amount of the target relative to the operating component in the current cycle; Integral calculation is performed based on the first linear acceleration control quantity to determine the first speed control quantity of the following target relative to the operating component in the current cycle. Integral calculation is performed based on the first speed control quantity to determine the distance control quantity of the following target relative to the operating component in the current cycle. Integral calculation is performed based on the first angular acceleration control quantity to determine the first angular velocity control quantity of the following target relative to the operating component in the current cycle. Integral calculation is performed based on the first angular velocity control quantity to determine the deviation angular control quantity of the following target relative to the operating component in the current cycle. The end-effector pose control amount of the operation component is determined based on the current pose of the operation component, the distance control amount, and the deviation angle control amount.

4. The composite robot target following method as described in claim 3, characterized in that, The first solution model is: The formulas for the first linear acceleration control quantity and the first angular acceleration control quantity are: in, This indicates the first actual distance between the target and the operating component. This indicates the speed of the target relative to the operating component. This represents the first-line acceleration control amount of the target relative to the operating component. This represents the expected distance of the target relative to the operating component. This indicates the desired speed of the target relative to the operating component. This represents the expected acceleration of the target relative to the operating component. This indicates the distance stiffness coefficient corresponding to the operating component. This indicates the distance damping coefficient corresponding to the operating component. This represents the distance quality coefficient corresponding to the operating component. This represents the first actual deviation angle of the target relative to the operating component. This represents the angular velocity of the target relative to the operating component. This represents the first angular acceleration control amount of the target relative to the operating component. This represents the expected deviation angle of the target relative to the operating component. This represents the desired angular velocity of the target relative to the operating component. This represents the desired angular acceleration of the target relative to the operating component. This represents the deviation angular stiffness coefficient corresponding to the operating component. This indicates the deviation angle damping coefficient corresponding to the operating component. This represents the deviation angle quality coefficient corresponding to the operating component.

5. The composite robot target following method as described in claim 1, characterized in that, When the end-effector pose control value of the operating component exceeds the pose boundary corresponding to the operating component, the method further includes: The end-effector pose control quantity is adjusted based on the pose boundary corresponding to the operation component to obtain the adjusted end-effector pose control quantity corresponding to the operation component. Inverse kinematics is solved based on the end-effector pose control of the operation component to determine the position of each joint motor in the operation component in the current cycle and to execute the motion. Based on the adjustment of the end-effector pose control amount of the operation component, the end-effector pose control amount corresponding to the moving component is generated; Inverse kinematics is performed based on the end-effector pose control parameters of the moving component to determine the position of each joint motor in the moving component in the current cycle and to execute the motion.

6. The composite robot target following method as described in claim 1, characterized in that, When the end-effector pose control value of the operating component exceeds the pose boundary corresponding to the operating component, the method further includes: The first actual distance and the first actual deviation angle from the target to the operating component in the current cycle are converted to determine the third actual distance and the third actual deviation angle from the target to the moving component in the current cycle. The end-effector pose control amount of the operation component is adjusted based on the pose boundary corresponding to the operation component to obtain the adjusted end-effector pose control amount corresponding to the operation component. Inverse kinematics is solved based on the end-effector pose control of the operation component to determine the position of each joint motor in the operation component in the current cycle and to execute the motion. Based on the adjustment of the end pose control amount of the operation component, the third actual distance and the third actual deviation angle of the following target to the moving component in the current cycle are corrected to obtain the corrected fourth estimated distance and the fourth estimated deviation angle. Wherein, the fourth estimated distance is the estimated distance of the following target relative to the moving component after the operating component has moved to the adjusted end pose control value, and the fourth estimated deviation angle is the estimated deviation angle of the following target relative to the moving component after the operating component has moved to the adjusted end pose control value; Inverse kinematics is performed based on the fourth estimated distance and the fourth estimated deviation angle of the moving component to determine the position of each joint motor in the moving component in the current cycle and to perform the motion.

7. The composite robot target following method as described in claim 6, characterized in that, The inverse kinematics solution based on the fourth estimated distance and the fourth estimated deviation angle of the moving component to determine the position of each joint motor in the moving component in the current cycle and execute the movement includes: Based on the fourth estimated distance, the fourth estimated deviation angle, and the preset third type of expected parameters, a third solution model is constructed. The third solution model is a second-order mass-damping-stiffness model. The third type of expected parameters include the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the following target relative to the moving component. The third solution model is solved to obtain the third linear acceleration control quantity and the third angular acceleration control quantity of the following target relative to the moving component in the current cycle; The third linear acceleration control quantity is integrated to determine the third velocity control quantity of the target relative to the moving component in the current cycle. The third-angle acceleration control quantity is integrated to determine the third-angle velocity control quantity of the target relative to the moving component in the current cycle. Based on the third velocity control quantity and the third angular velocity control quantity, inverse kinematics is solved to determine the position of each joint motor in the moving component in the current cycle and to execute the movement.

8. A composite robot target following device, characterized in that, Applied to a composite robot, the composite robot including a moving component and an operating component deployed on the moving component, the device includes: The first processing unit is used to obtain the first actual distance and the first actual deviation angle from the target to the operating component in the current cycle; The second processing unit is used to determine the end pose control quantity of the operation component based on the first actual distance, the first actual deviation angle, and the preset first type of expected parameters. The first type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the target relative to the operating component. The second processing unit is further configured to perform inverse kinematics solution based on the end pose control of the operation component when the end pose control of the operation component does not exceed the pose boundary corresponding to the operation component, so as to determine the position of each joint motor in the operation component in the current cycle and perform motion to perform target following; The first processing unit is further configured to obtain the second actual distance and the second actual deviation angle between the operating component and the moving component in the current cycle; The second processing unit is further configured to determine the end pose control amount of the moving component based on the second actual distance, the second actual deviation angle, and the preset second type of expected parameters; The second type of expected parameters includes the expected distance, expected velocity, expected linear acceleration, expected deviation angle, expected angular velocity, and expected angular acceleration of the operating component relative to the moving component; The second processing unit is also used to perform inverse kinematics solution based on the end pose control of the mobile component to determine the position of each joint motor in the mobile component in the current cycle and execute motion to perform cooperative target following of the composite robot.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-7.

10. An electronic device, characterized in that, include: Processor and memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method as described in any one of claims 1-7 is implemented.

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