A robot and its control method

Abstract

This invention provides a robot and its control method, relating to the field of automated production technology. The robot includes: a robot body comprising a torso, a robotic arm, and a head; a neck joint module mounted on the torso and driven by the head, including a first rotary joint and a second rotary joint connected in series, used to drive the head to swing left and right and to pitch, respectively; and a vision detection device including a camera mounted on the head and a controller electrically connected to the camera, the first rotary joint, the second rotary joint, and the robotic arm, used to drive the first and second rotary joints according to images captured by the camera so that the camera's field of view follows the target product, and to control the robotic arm to perform operations on the target product based on the image information. This invention decouples vision tracking from robotic arm operation, enabling parallel execution of detection and operation tasks, improving equipment utilization and production efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated production technology, and more specifically, to a robot and its control method. Background Technology

[0002] Currently, robots are widely used in assembly line operations for automated operations such as product gripping and assembly. Robots typically employ two visual guidance methods: one is to fix a camera to the side or top of the assembly line to photograph and locate passing products; the other is to mount a camera at the end of the robot's robotic arm, adjusting the camera's viewing angle by moving the robotic arm.

[0003] However, fixed cameras have a limited field of view, covering only fixed workstations, making it difficult to dynamically track continuously moving products; while mounting cameras on the end of robotic arms takes up the robotic arm's production time, preventing visual inspection and robotic arm operation from being performed in parallel, resulting in low equipment utilization and limited production efficiency. Summary of the Invention

[0004] The present invention aims to provide a robot and its control method that can decouple visual tracking from robotic arm operation, thereby improving the automation level and production efficiency of assembly line operations.

[0005] The embodiments of the present invention can be implemented as follows: In a first aspect, the present invention provides a robot, comprising: The robot body includes a torso, at least one robotic arm, and a head, with the robotic arm mounted on the torso. A neck joint module is installed on the torso and connected to the head drive. The neck joint module includes a first rotary joint and a second rotary joint connected in series. The first rotary joint is used to drive the head to swing left and right, and the second rotary joint is used to drive the head to swing up and down. A visual inspection device, comprising a camera mounted on the head and a controller, wherein the controller is electrically connected to the camera, the first rotary joint, the second rotary joint and the robotic arm respectively; The controller is used to drive the first rotary joint and the second rotary joint according to the image captured by the camera so that the camera's field of view follows the moving target product, and to control the robotic arm to perform operations on the target product according to the image information captured by the camera.

[0006] In an optional implementation, the controller includes: A speed calculation unit is used to generate motion speed information of the target product based on the positional changes of the target product in continuous image frames captured by the camera. A trajectory prediction unit is configured to generate predicted position information of the target product based on the motion speed information and the current position of the target product. A joint driving unit is used to generate driving signals for the first rotary joint and the second rotary joint based on the predicted position information.

[0007] In an optional implementation, the controller further includes a target recognition unit for identifying the type of the target product based on image information from the camera.

[0008] In an optional embodiment, the controller further includes a reset control unit, which is used to control the first rotary joint and the second rotary joint to rotate to a preset initial posture after the robotic arm has completed its operation.

[0009] In an optional embodiment, the neck joint module further includes a damping pivot, through which the head is rotatably connected to the torso.

[0010] In an optional embodiment, the first rotary joint and the second rotary joint are connected in series, with the first rotary joint located above the second rotary joint, or the second rotary joint located above the first rotary joint.

[0011] In a second aspect, the present invention provides a robot control method, applied to a robot as described in any of the foregoing embodiments, the method comprising: The camera captures continuous image frames of the moving target product; Based on the image information captured by the camera, determine the image location and product type of the target product; The movement speed of the target product is determined based on the change in the image position of the target product in the consecutive image frames; Based on the movement speed and the current image position of the target product, drive the first rotary joint and the second rotary joint to keep the camera's field of view following the target product; When the target product enters the working range of the robotic arm, the robotic arm is driven to perform a work operation corresponding to the target product type based on the real-time location information of the target product and the product type acquired by the camera.

[0012] In an optional implementation, determining the speed of the target product includes: Extract the coordinates of the same feature point of the target product in the consecutive image frames; Calculate spatial displacement based on the coordinate difference between adjacent image frames; The motion velocity vector is calculated based on the spatial displacement and the time interval between adjacent image frames.

[0013] In an optional embodiment, driving the first rotary joint and the second rotary joint includes: The camera optical axis direction is calculated based on the movement speed and the current image position of the target product; Calculate the target angles of the first and second rotary joints based on the direction of the camera's optical axis; Calculate the target angular velocities of the first and second rotary joints based on the motion speed and the current camera orientation; A drive signal is generated based on the target angle and the target angular velocity to control the rotation of the first rotary joint and the second rotary joint.

[0014] In an optional implementation, a correction step is also included: Based on the deviation between the actual image position of the target product and the preset image position in the real-time images captured by the camera, a joint angle correction amount is generated; The drive signals of the first rotary joint and the second rotary joint are adjusted according to the joint angle correction amount.

[0015] The beneficial effects of the robot and robot control method provided in the embodiments of the present invention include: The robot provided by this invention, by setting a neck joint module decoupled from the robotic arm's movement, allows the camera to obtain independent degrees of freedom of movement. This enables visual inspection and robotic arm operation to be performed in parallel without interference, improving equipment utilization and production efficiency. The controller drives the first and second rotary joints based on images captured by the camera, allowing the camera's field of view to follow the target product. This achieves dynamic visual tracking of continuously moving products on the production line, expanding the perception range and providing sufficient reaction time for subsequent operations. By controlling the robotic arm to perform tasks based on the target product's position information fed back by the camera, a closed-loop operation process from visual perception to mechanical operation is realized, ensuring the accuracy and reliability of the operation. Attached Figure Description

[0016] 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.

[0017] Figure 1 This is a schematic diagram of the robot provided in this embodiment.

[0018] Icons: 100-Robot; 10-Robot body; 11-Tortoise; 12-Mechanical arm; 13-Head; 131-Camera; 20-Neck joint module; 21-First rotary joint; 22-Second rotary joint; 200-Production line. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] It should be noted that similar labels 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.

[0022] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to 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, 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, and therefore should not be construed as a limitation of this invention.

[0023] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0024] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0025] The following detailed description, through embodiments and in conjunction with the accompanying drawings, details the overall structure, working principle, and technical effects of the robot provided by the present invention, as well as the detailed steps, implementation principles, and technical effects of the supporting control method.

[0026] Please refer to Figure 1 The present invention provides a robot 100, which is applied to an automated production line 200 production scenario and is used to perform visual tracking and automated operation on target products on the production line 200.

[0027] The robot 100 provided in this embodiment of the invention includes a robot body 10, a neck joint module 20, a vision detection device, and a controller.

[0028] The robot body 10 is positioned on the side of the assembly line 200. The robot body 10 includes a torso 11, at least one robotic arm 12, and a head 13. The robotic arm 12 is mounted on the torso 11. The torso 11, serving as the robot's basic support structure, can be made of metal or high-strength composite materials, such as aluminum alloy or stainless steel, to provide sufficient rigidity and stability. The robotic arm 12 is a multi-degree-of-freedom industrial robotic arm used to perform tasks such as gripping, assembly, and handling. The head 13 is used to mount a vision inspection device.

[0029] A neck joint module 20 is mounted on the torso 11 and drivenly connected to the head 13. The neck joint module 20 includes a first rotary joint 21 and a second rotary joint 22 connected in series. The first rotary joint 21 is used to drive the head 13 to swing left and right, achieving horizontal viewing angle adjustment; the second rotary joint 22 is used to drive the head 13 to swing up and down, achieving vertical viewing angle adjustment. Through the combined movement of the first rotary joint 21 and the second rotary joint 22, the head 13 can obtain two rotational degrees of freedom, thereby flexibly adjusting the pointing of the camera 131.

[0030] The visual inspection device includes a camera 131 mounted on the head 13 and a controller. The camera 131 is used to acquire image information of the target product on the production line 200. The camera 131 can be a monocular camera 131, a binocular camera 131, or a 3D camera 131; in this embodiment, it is a binocular camera 131 to obtain depth information of the target. The controller is electrically connected to the camera 131, the first rotary joint 21, the second rotary joint 22, and the robotic arm 12.

[0031] The controller is used to drive the first rotary joint 21 and the second rotary joint 22 according to the image captured by the camera 131 so that the field of view of the camera 131 follows the target product on the production line 200, and to control the robotic arm 12 to perform operations on the target product according to the image information captured by the camera 131.

[0032] By setting up a neck joint module 20 that is decoupled from the movement of the robotic arm 12, the camera 131 gains independent degrees of freedom, allowing visual inspection and robotic arm 12 operation to be performed in parallel without interference, thus improving equipment utilization and production efficiency. The controller drives the first rotary joint 21 and the second rotary joint 22 based on the images captured by the camera 131, enabling the camera 131's field of view to follow the target product. This achieves dynamic visual tracking of continuously moving products on the production line 200, expanding the perception range and providing sufficient reaction time for subsequent operations. By controlling the robotic arm 12 to perform operations based on the target product position information fed back by the camera 131, a complete closed loop from visual perception to mechanical operation is achieved, ensuring the accuracy and reliability of the operation.

[0033] Furthermore, the controller includes a speed calculation unit, a trajectory prediction unit, and a joint drive unit.

[0034] The velocity calculation unit is used to generate motion velocity information of the target product based on the positional changes of the target product in continuous image frames acquired by the camera 131. Specifically, the velocity calculation unit extracts the same feature point of the target product in continuous image frames through image processing algorithms, calculates the pixel displacement of the feature point on the image plane, and converts it into a motion velocity vector in actual space by combining the calibration parameters of the camera 131 and the time interval.

[0035] The trajectory prediction unit generates predicted position information for the target product based on its motion velocity information and its current position. The unit can smooth the motion velocity information using a Kalman filter or a moving average filter, and predict the future position of the target product based on a uniform motion model or a uniformly accelerated motion model, providing feedforward information for joint control.

[0036] The joint drive unit is used to generate drive signals for the first rotary joint 21 and the second rotary joint 22 based on the predicted position information. The joint drive unit converts the desired camera 131 pointing direction into the target angle of the first rotary joint 21 and the second rotary joint 22 through inverse kinematics, and generates corresponding current or voltage drive signals through a servo control algorithm to control the joint motor rotation.

[0037] By setting up a speed calculation unit, a trajectory prediction unit, and a joint driving unit, accurate speed measurement and trajectory prediction of moving target products, as well as joint control of the robot, are realized, providing a foundation for high-precision dynamic tracking.

[0038] Furthermore, the controller also includes a target recognition unit. The target recognition unit is used to identify the type of the target product based on the image information from the camera 131. The target recognition unit can employ deep learning-based target detection algorithms, such as YOLO and Faster R-CNN, to infer the category of the target product from the images acquired by the camera 131, such as different models of workpieces or products with different packaging, and output a product type signal.

[0039] The product type is identified by the target recognition unit, which provides a basis for the subsequent differentiated operation of the robotic arm 12, enabling the robot to adapt to the needs of multi-variety mixed production and improving the flexibility of the production line.

[0040] For example, when production line 200 is a mobile phone assembly line, the target products include mobile phone frames of different colors and types. When the target recognition unit identifies the target product as a black standard version frame, the controller drives the robotic arm 12 to pick up a standard capacity battery and perform the corresponding dispensing and assembly operations; when the target product is identified as a silver high-end version frame, the controller switches the program to drive the robotic arm 12 to pick up a high-capacity battery and adjust the dispensing trajectory and pressing parameters; when the target product is identified as a yellow rugged version frame, the controller drives the robotic arm 12 to perform a waterproof-specific assembly process. Through this method, the robot can automatically adapt to the differentiated assembly needs of different models of products on a mixed-flow production line without stopping for model changes, significantly improving the flexibility of the production line.

[0041] It should be noted that the specific embodiments described above are merely illustrative and are not intended to limit the present invention. Those skilled in the art, within the scope of the technology disclosed in this invention, can make adaptive adjustments to the product type, identification features, and corresponding operations according to actual needs, as long as the objectives of this invention can be achieved.

[0042] Furthermore, the controller also includes a reset control unit. The reset control unit is used to control the first rotary joint 21 and the second rotary joint 22 to rotate to a preset initial posture after the robotic arm 12 has completed its work. Specifically, the preset initial posture can be a posture in which the head 13 faces the far end of the assembly line 200, ready to search for the next target product, or a posture in which the head 13 is raised to avoid the movement space of the robotic arm 12.

[0043] By setting a reset control unit, the robot can automatically return to standby mode after completing a work cycle, ready for the next inspection, thus achieving full automation and improving the system's continuous operation capability.

[0044] In this embodiment, the neck joint module 20 also includes a damping shaft. The head 13 is rotatably connected to the torso 11 via the damping shaft. The damping shaft has a damping structure inside, such as friction pads or viscous fluid, which can provide appropriate resistance when the head 13 rotates, preventing the head 13 from swaying due to gravity or inertia and improving movement stability. At the same time, the damping shaft can also maintain the posture of the head 13 when power is off, preventing accidental drooping.

[0045] In other embodiments, the damping shaft can be replaced with other types of damping elements, such as rotary dampers, magnetorheological fluid dampers, etc., as long as they can provide appropriate damping effects.

[0046] Specifically, the first rotational joint 21 and the second rotational joint 22 are connected vertically. In this embodiment, the first rotational joint 21 is located below the second rotational joint 22, that is, the left-right rotational joint is below and the pitch joint is above. This arrangement is beneficial for optimizing the center of gravity distribution. In another embodiment, the first rotational joint 21 is located above the second rotational joint 22, that is, the left-right rotational joint is above and the pitch joint is below. This arrangement is beneficial for reducing the overall height of the neck. Both arrangements can achieve two degrees of freedom of movement for the head 13, and the specific choice can be determined according to the actual spatial layout and movement requirements.

[0047] It should be noted that the first rotary joint 21 and the second rotary joint 22 can use a servo motor, a stepper motor or a direct drive motor as the power source, and are equipped with an encoder for position feedback to achieve precise position control.

[0048] This invention also provides a robot control method applied to the robot 100 described in the foregoing embodiments. The method includes the following steps: Step S101: Capture continuous image frames of the target product on the production line 200 using camera 131. Specifically, camera 131 continuously captures images at a fixed frame rate, such as 30fps or 60fps.

[0049] Step S102: Based on the image information acquired by camera 131, determine the image location and product type of the target product. Using a target detection algorithm, locate the bounding box or feature points of the target product in the image and obtain the coordinates of the bounding box or feature points in the image coordinate system. Simultaneously, identify the product type label using a classification algorithm.

[0050] Step S103: Determine the motion speed of the target product based on the changes in its image position in consecutive image frames. By comparing the position differences of the same feature point in consecutive image frames and combining the time interval, the motion speed of the target on the image plane is calculated and converted into actual spatial velocity using the calibration parameters of camera 131.

[0051] Step S104: Based on the movement speed and the current image position of the target product, drive the first rotary joint 21 and the second rotary joint 22 to keep the field of view of the camera 131 following the target product. A joint drive command is generated through a control algorithm to ensure that the optical axis of the camera 131 is always aligned with the target product, achieving dynamic tracking.

[0052] Step S105: When the target product enters the working range of the robotic arm 12, based on the target product's position information and product type acquired in real time by the camera 131, the robotic arm 12 is driven to perform operations corresponding to the target product type. For example, a grasping operation is performed for the first type of product, an assembly operation is performed for the second type of product, and an inspection operation is performed for the third type of product.

[0053] The above methods achieve decoupling and parallel execution of visual tracking and robotic arm 12 operations, improving production efficiency; differentiated operations are achieved through product type recognition, adapting to the needs of multi-variety production; and dynamic tracking ensures the accuracy and reliability of operations.

[0054] Furthermore, determining the movement speed of the target product in step S103 includes: Step S1031: Extract the coordinates of the same feature point of the target product in consecutive image frames. The feature point can be the geometric center, corner point, or specific texture feature point of the target product.

[0055] Step S1032: Calculate spatial displacement based on the coordinate difference between adjacent image frames. First, perform distortion correction on the pixel coordinates. Then, use camera calibration parameters, such as the homography matrix, to convert the pixel coordinates into spatial coordinates. Next, calculate the spatial coordinate difference between adjacent image frames and then calculate the spatial displacement based on the spatial coordinates.

[0056] Step S1033: Calculate the motion velocity vector based on the spatial displacement and the time interval between adjacent image frames. The velocity vector V = (ΔX / Δt, ΔY / Δt), where ΔX and ΔY are the spatial displacements, and Δt is the time interval.

[0057] In other embodiments, alternative methods such as optical flow and correlation filtering can be used to calculate the motion speed, as long as the speed information of the target can be obtained.

[0058] Further, driving the first rotary joint 21 and the second rotary joint 22 in step S104 includes: Step S1041: Calculate the optical axis direction of camera 131 based on the movement speed and the current image position of the target product. Considering the current position and movement trend of the target product, determine the desired optical axis direction of camera 131 to keep the target centered in the field of view.

[0059] Step S1042: Calculate the target angles of the first rotary joint 21 and the second rotary joint 22 based on the optical axis pointing of the camera 131. The desired camera 131 pointing direction is converted into target angles in joint space using inverse kinematics of the robot.

[0060] Step S1043: Calculate the target angular velocity of the first rotational joint 21 and the second rotational joint 22 based on the motion speed and the current attitude of the camera 131. Specifically, a direct calculation method based on imaging geometry is adopted, the core idea of ​​which is to convert the motion speed of the target product in space into the joint rotational angular velocity required to maintain the target at the center of the field of view of the camera 131.

[0061] Specifically, establish a spatial coordinate system with the assembly line 200 plane as the XY plane, the X-axis along the direction of movement of the assembly line 200, the Y-axis perpendicular to the assembly line 200, and the Z-axis vertically upward.

[0062] The camera 131 is mounted on the robot head 13, and its optical axis direction is determined by two joint angles: the angle θ1 of the first rotation joint 21, which is the horizontal azimuth angle, i.e., the angle between the projection of the optical axis in the horizontal plane and the X-axis; and the angle θ2 of the second rotation joint 22, which is the pitch angle, i.e., the angle between the optical axis and the horizontal plane.

[0063] The spatial coordinates of the target product at the current moment are P=(X, Y, Z), where Z is a constant, i.e., the height of the production line 200. The velocity vector of the target product is V=(Vx, Vy, 0).

[0064] The spatial distance D from the target product to camera 131 can be obtained through binocular vision or monocular ranging.

[0065] To ensure the target product remains centered in the image of camera 131, the optical axis of camera 131 must always be aligned with the target. When the target moves, the direction of the optical axis needs to be adjusted accordingly, and the angular velocity of the adjustment is related to the relative motion of the target.

[0066] The target velocity is decomposed into two components relative to the optical axis of the camera 131: the horizontal component, which is the component perpendicular to the projection direction of the optical axis in the horizontal plane, causing the target to shift horizontally in the image; and the vertical component, which is the component along the optical axis, causing the target distance to change, thus affecting the size and vertical position of the target in the image. If the pitch angle is fixed, the change in distance will cause a vertical shift.

[0067] For the first rotary joint 21, its target angular velocity ω1 should counteract the target's lateral motion in the horizontal direction. This lateral velocity... for: .

[0068] Because the optical axis has a pitch angle The effective linear velocity of the target product's lateral motion in the horizontal plane, perpendicular to the optical axis, needs to be divided by the projection of the distance onto the horizontal plane to convert it into angular velocity. Therefore, the required first joint angular velocity is: .

[0069] in, The projection distance from the target product to camera 131 on the horizontal plane.

[0070] For the second rotary joint 22, its target angular velocity ω2 should compensate for the relative motion of the target product in the vertical direction and the vertical offset caused by distance changes. The velocity component of the target product in the direction perpendicular to the optical axis is: In the pipeline 200 scenario, the target height remains unchanged. ,but: ; This component represents the offset effect in the vertical direction caused by the target's motion along the optical axis. The required second joint angular velocity is: .

[0071] Step S1044: Generate drive signals based on the target angle and target angular velocity to control the rotation of the first rotary joint 21 and the second rotary joint 22. The servo driver achieves precise closed-loop control based on the target position and speed commands, combined with encoder feedback.

[0072] Furthermore, the method also includes a correction step: Step S106: Generate joint angle correction amount based on the deviation between the actual image position of the target product and the preset image position in the image acquired in real time by camera 131.

[0073] Step S107: Adjust the drive signals of the first rotary joint 21 and the second rotary joint 22 according to the joint angle correction amount. The correction amount is superimposed on the drive signal generated in step S104 to form a closed-loop control based on visual feedback, eliminating the influence of accumulated errors and external disturbances.

[0074] By correcting the steps, high-precision visual servo control was achieved, ensuring that the target product remained near the center of the camera's field of view, thus improving the stability and accuracy of tracking.

[0075] It should be noted that the above steps do not necessarily have to be performed in strict order. Some steps can be performed in parallel or in a different order, as long as the purpose of this invention can be achieved. For example, target identification and position determination in step S102 can be performed simultaneously, and tracking control in step S104 can be performed in parallel with steps S102 and S103.

[0076] Furthermore, the controller units in the embodiments of the present invention can be independent hardware modules or integrated into the same processor; they can be centralized control or distributed control. Those skilled in the art can select and configure them according to actual needs.

[0077] In some implementations, the robot may also include a communication module for data interaction with a host computer or other robots to enable multi-robot collaborative operation.

[0078] It is easy to understand that the robot 100 and its control method provided in the embodiments of the present invention are not only applicable to traditional manufacturing production lines 200, but can also be applied to multiple fields such as logistics sorting, food packaging, and pharmaceutical production, and have good versatility and promotional value.

[0079] In summary, the robot 100 provided by this invention, by setting a neck joint module 20 that is decoupled from the movement of the robotic arm 12, allows the camera 131 to obtain independent degrees of freedom of movement. This enables visual detection and robotic arm 12 operation to be performed in parallel without interference, improving equipment utilization and production efficiency. The controller drives the first rotary joint 21 and the second rotary joint 22 based on the images captured by the camera 131, allowing the camera 131's field of view to follow the target product. This achieves dynamic visual tracking of continuously moving products on the production line 200, expanding the perception range and reserving sufficient reaction time for subsequent operations. By controlling the robotic arm 12 to perform operations based on the target product position information fed back by the camera 131, a closed-loop operation process from visual perception to mechanical operation is realized, ensuring the accuracy and reliability of the operation.

[0080] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention 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 the present invention should be included within the scope of protection of the present invention.

Claims

1. A robot, characterized in that, include: The robot body includes a torso, at least one robotic arm, and a head, with the robotic arm mounted on the torso. A neck joint module is installed on the torso and connected to the head drive. The neck joint module includes a first rotary joint and a second rotary joint connected in series. The first rotary joint is used to drive the head to swing left and right, and the second rotary joint is used to drive the head to swing up and down. A visual inspection device, comprising a camera mounted on the head and a controller, wherein the controller is electrically connected to the camera, the first rotary joint, the second rotary joint and the robotic arm respectively; The controller is used to drive the first rotary joint and the second rotary joint according to the image captured by the camera so that the camera's field of view follows the moving target product, and to control the robotic arm to perform operations on the target product according to the image information captured by the camera.

2. The robot according to claim 1, characterized in that, The controller includes: A speed calculation unit is used to generate motion speed information of the target product based on the positional changes of the target product in continuous image frames captured by the camera. A trajectory prediction unit is configured to generate predicted position information of the target product based on the motion speed information and the current position of the target product. A joint driving unit is used to generate driving signals for the first rotary joint and the second rotary joint based on the predicted position information.

3. The robot according to claim 1, characterized in that, The controller further includes a target recognition unit, which is used to identify the type of the target product based on the image information from the camera.

4. The robot according to claim 1, characterized in that, The controller also includes a reset control unit, which is used to control the first rotary joint and the second rotary joint to rotate to a preset initial posture after the robotic arm has completed its operation.

5. The robot according to claim 1, characterized in that, The neck joint module also includes a damping pivot, through which the head is rotatably connected to the torso.

6. The robot according to claim 1, characterized in that, The first rotary joint and the second rotary joint are connected in series, with the first rotary joint located above the second rotary joint, or the second rotary joint located above the first rotary joint.

7. A method for controlling a robot, characterized in that, Applied to the robot as described in any one of claims 1-6, the method comprises: The camera captures continuous image frames of the moving target product; Based on the image information captured by the camera, determine the image location and product type of the target product; The movement speed of the target product is determined based on the change in the image position of the target product in the consecutive image frames; Based on the movement speed and the current image position of the target product, drive the first rotary joint and the second rotary joint to keep the camera's field of view following the target product; When the target product enters the working range of the robotic arm, the robotic arm is driven to perform a work operation corresponding to the target product type based on the real-time location information of the target product and the product type acquired by the camera.

8. The robot control method according to claim 7, characterized in that, Determining the speed of the target product includes: Extract the coordinates of the same feature point of the target product in the consecutive image frames; Calculate spatial displacement based on the coordinate difference between adjacent image frames; The motion velocity vector is calculated based on the spatial displacement and the time interval between adjacent image frames.

9. The robot control method according to claim 7, characterized in that, The driving mechanism for the first rotary joint and the second rotary joint includes: The camera optical axis direction is calculated based on the movement speed and the current image position of the target product; Calculate the target angles of the first and second rotary joints based on the direction of the camera's optical axis; Calculate the target angular velocities of the first and second rotary joints based on the motion speed and the current camera orientation. A drive signal is generated based on the target angle and the target angular velocity to control the rotation of the first rotary joint and the second rotary joint.

10. The robot control method according to claim 7, characterized in that, It also includes correction steps: Based on the deviation between the actual image position of the target product and the preset image position in the real-time images captured by the camera, a joint angle correction amount is generated; The drive signals of the first rotary joint and the second rotary joint are adjusted according to the joint angle correction amount.

Images