Integrated control method for mobile composite robot

Abstract

An integrated control method and control apparatus for a mobile composite robot, and a computer-readable storage medium and a mobile composite robot. The integrated control method for a mobile composite robot is characterized in that the mobile composite robot is provided with a moving body (1), a robotic arm (2) and an end effector (3). The integrated control method comprises the following steps: S1, describing a moving body (1), a robotic arm (2), an end effector (3) and an operation object in a unified world coordinate system, constructing a description equation for dynamic characteristics of a mobile composite robot on the basis of the unified world coordinate system, so as to express the motion state and posture of the mobile composite robot, and on the basis of trajectory planning data and the current state data of the robot, describing and expressing a robot calculation model; S2, performing coupling calculation on the basis of the robot calculation model which is obtained in step S1, so as to generate an action instruction for the end effector (3) of the mobile composite robot; and S3, performing decoupling calculation on the basis of the action instruction for the end effector (3) that is obtained in step S2, so as to decouple and decompose the action instruction into a speed control instruction for the moving body (1) of the robot and torque control instructions for joints of the robotic arm (2), and also using dynamic real-time data of the moving body (1) and dynamic real-time data of the robotic arm (2) as feedback amounts and inputting same into the current state data of the robot in step S1.

Description

An integrated control method for a mobile composite robot Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an integrated control method for a mobile composite robot. Background Art

[0002] In the field of intelligent manufacturing, mobile composite robots are gradually entering production systems, becoming a part of the overall factory production system. For example, in the loading and unloading stages of automated production lines, mobile operating robots must coordinate with the production line's beat to complete specified tasks within a specified time and rhythm. This places high demands on the robots' operating efficiency and speed. Even if the speed can meet the beat requirements, operational precision must also be met.

[0003] Under existing technical conditions, most mobile operating robots generally use a control method that separates the control of the mobile chassis and the control of the robotic arm. This control method has low engineering implementation complexity and can generally meet the requirements of simple operating actions that do not require high complexity and accuracy. However, during the implementation process, the inventors found that there are at least the following problems in the existing technology: Typically, the mobile chassis moves to the destination and stops first, and then the robotic arm moves, resulting in low robot operation efficiency; in some special scenarios, after the robotic arm moves, it may be found that it cannot execute the operation object with sufficient degrees of freedom or redundant space, and the robot adjusts the posture of the mobile body again, which destroys the continuity of the operation action. The above situations are mostly due to the use of separate control by the robot, which often causes the robot to adjust its posture multiple times, resulting in reduced operating efficiency, and cannot meet the requirements in some industrial scenarios with high production rhythm requirements.

[0004] Therefore, there is an urgent need for an integrated control method that can simultaneously coordinate the movement of the robot body and the robotic arm, and simultaneously control the movement of the robot and the operation of the robotic arm as an organic whole, thereby improving the robot's movement efficiency and the continuity of the operation to meet the requirements of the production rhythm. Summary of the Invention

[0005] In view of this, one aspect of the embodiments of this specification provides an integrated control method for a mobile composite robot to improve the robot's motion efficiency and the continuity of its operating motions to meet the requirements of production rhythm.

[0006] The embodiments of this specification provide the following technical solutions:

[0007] An integrated control method for a mobile composite robot, wherein the mobile composite robot is provided with a mobile body, a robotic arm, and an end effector, the integrated control method comprising the following steps:

[0008] S1. Describe the mobile body, the robotic arm, the end effector, and the operation object in a unified world coordinate system, construct a description equation of the dynamic characteristics of the mobile composite robot based on the unified world coordinate system, and express the motion state and posture of the mobile composite robot; describe and express the robot computational model based on the trajectory planning data and the robot's current state data;

[0009] S2. Perform coupling calculation based on the robot calculation model obtained in step S1 to generate an action instruction for the end effector of the mobile composite robot;

[0010] S3. Decoupling calculation is performed based on the motion instructions of the end effector obtained in step S2, and the decoupling is decomposed into the speed control instructions of the mobile body and the torque control instructions of each joint of the robotic arm. At the same time, the dynamic real-time data of the mobile body and the robotic arm are input as feedback into the current state data of the robot in step S1.

[0011] Furthermore, in step S1, the trajectory planning data is derived from a robot scheduling system or calculated by the mobile composite robot: the robot scheduling system directly sends the trajectory planning data to the mobile composite robot in a wireless manner; or the robot scheduling system sends task data to the mobile composite robot, and the mobile composite robot calculates the trajectory of the mobile body and the motion path of the manipulator arm;

[0012] Furthermore, in step S2, the coupling calculation includes behavior data calculation, obstacle avoidance algorithm, end effector protection stop algorithm, and constraint condition algorithm; the behavior data calculation includes posture control calculation, compliance control calculation, and singularity avoidance calculation.

[0013] Furthermore, in step S2, the posture control calculation is to generate an optimized motion instruction for the end effector according to the position data of the operation object and the current state data of the robot during the movement of the mobile composite robot, and at the same time satisfy at least one of the following constraints: the robotic arm operates within the specified angle and arm span range; two priorities are divided according to the arm span range, with small arm span operations within a defined distance operation range that is less than the longest arm span length of the robotic arm as high priority; and large arm span operations within another defined distance operation range as low priority, processing the operation objects that cannot be processed by the small arm span.

[0014] Furthermore, in step S2, the compliance control calculation is to determine the torque size based on the force condition of the end effector and perform mobile operation control on the mobile body; the force condition is determined by a torque sensor installed on the end effector or the robotic arm or a real-time parameter of a joint on the robotic arm that reflects the force condition of the end effector; if the component value of the end dragging or pushing force in the force condition in the moving direction of the mobile compound robot is higher than the set threshold value and the current action attribute should be a dragging or pushing attribute, then the movement function of the mobile compound robot is calculated.

[0015] Furthermore, in step S2, the singularity avoidance calculation is when the mobile compound robot reaches the vicinity of the operation object, if the joints of the robotic arm and the end effector are located near the singularity, the trajectory of the mobile body and the motion path of the robotic arm are replanned to avoid entering the singularity interval.

[0016] Furthermore, in step S2, the calculation result of the overall behavior data of the robot is derived from the learning result of training and learning of the deep artificial intelligence algorithm, and the deep artificial intelligence algorithm integrates the posture control calculation, the compliance control calculation and the singularity avoidance calculation. The training model continuously optimizes the integrated calculation parameters, and outputs the result of the optimization calculation in the form of parameters to the result of the coupling calculation; the training model input parameters also include the main parameters that reflect the performance and motion characteristics of the mobile composite robot, including: the moving speed and acceleration of the mobile body, the speed, acceleration, angle, torque value of the end joint of the robotic arm, and the instruction error value of the trajectory planning data.

[0017] A mobile composite robot control device, capable of implementing any of the above methods, comprises: a unified world coordinate calculation unit, containing the unified world coordinate calculation method, for expressing the motion state and posture of the mobile composite robot; a coupling calculation unit, comprising the behavior data calculation module, the obstacle avoidance algorithm module, the end effector protection stop module, and the constraint condition module, for generating motion instructions for the end effector, wherein the behavior data calculation module comprises the posture control calculation module, the compliance control calculation module, and the singularity avoidance, for generating optimized motion instructions for the end effector; a decoupling calculation unit: comprising the decoupling calculation method, for generating speed control instructions for the mobile body and torque control instructions for each joint of the robotic arm.

[0018] A mobile composite robot comprises: the mobile body, the mechanical arm, the end effector, the mobile composite robot control device, the robot scheduling system, a CPU processor system for running a main control loop algorithm, and a memory for storing program instructions.

[0019] Furthermore, it also includes a GPU processor system for deep learning algorithms.

[0020] A computer-readable storage medium stores computer program instructions, wherein the computer program instructions implement any of the above methods when executed by a processor.

[0021] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0022] The unified world coordinate calculation module of the present invention describes the mobile body coordinate system, the robotic arm coordinate system, and the end effector coordinate system in a unified manner based on the world coordinate system. The unified mobile robot dynamic characteristic data facilitates the expression of the motion state and posture of each part of the mobile composite robot, reducing the calculation cost of the coupling calculation module.

[0023] The present invention performs coupled calculations on the robot calculation model, forming the control effects of each coupled module in the robot control, and can execute operations on the operation object in one go, thereby improving system efficiency and action continuity.

[0024] The posture control module in the present invention adjusts the movement posture of the robot's mobile body and mechanical arm while the robot is moving, optimizes the operating action, and has more flexible freedom space and precision guarantee in the operating area.

[0025] The attitude control module in the present invention allows the robot arm to operate within a specified angle and arm span range. When handling a large load, a high priority, i.e., a small arm span, is used to enhance operational stability to maintain maximum stability of the mobile body.

[0026] The posture control module in the present invention can freely define the optimal working range of the end of the robotic arm. When operating within this range, the robotic arm has better control performance and the robot body chassis has the best stable balance performance, which can ensure that the end of the robotic arm can perform high-precision movements and fast response capabilities.

[0027] The posture control module in the present invention can adapt to operations in narrower scenes. It can make advance judgments through real-time calculations when the robot moves towards the operation object, and independently adjust the walking posture to be more coherently adjusted.

[0028] The compliance control module in the present invention can control the robot body to move to a certain extent in the forward or backward direction in coordination with the end of the manipulator, thereby increasing the operational flexibility and compliance of the robot.

[0029] The singularity avoidance calculation module in the present invention pre-plans the robot trajectory and the manipulator motion path, and more accurately determines the motion trajectory within a certain range of the operating object to avoid entering the singularity interval.

[0030] The present invention adopts deep artificial intelligence algorithms to train and learn the real-time data of the robot and optimize the control, coupling the learning results into the control loop to improve system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] FIG1 is a control framework of an integrated control method for a mobile composite robot according to the present invention;

[0033] FIG2 is a flowchart of the steps of an integrated control method for a mobile composite robot according to the present invention;

[0034] 3 is a schematic diagram of a mobile operating robot and a world coordinate system of an integrated control method for a mobile composite robot according to the present invention;

[0035] 4 is a schematic diagram of the robot's top view of the working range of an integrated control method for a mobile composite robot according to the present invention;

[0036] FIG5 is a schematic diagram of posture control in a narrow scene with multiple obstacles according to an integrated control method of a mobile composite robot according to the present invention;

[0037] FIG6 is a schematic diagram of compliant control of an integrated control method for a mobile composite robot according to the present invention;

[0038] 7 is a compliant control block diagram of an integrated control method for a mobile composite robot according to the present invention;

[0039] FIG8 is a schematic diagram of singular point calculation of an integrated control method for a mobile composite robot according to the present invention;

[0040] FIG9 is a schematic diagram of a control loop of an integrated control method for a mobile composite robot according to the present invention after incorporating deep learning;

[0041] FIG10 is a schematic diagram of an integrated control device for a mobile composite robot according to the present invention.

[0042] As shown in the figure: 1. Mobile body; 2. Robotic arm; 3. End effector; 11. Unified world coordinate calculation module; 12. Coupling calculation module; 13. Decoupling calculation module. DETAILED DESCRIPTION

[0043] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0044] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0045] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present invention, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0046] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The illustrations only show components related to the present invention and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be changed at will, and the component layout form may also be more complicated.

[0047] Additionally, in the following description, specific details are provided to provide a thorough understanding of the examples, however, one skilled in the art will appreciate that the examples can be practiced without these specific details.

[0048] As shown in FIG1 , the embodiment of this specification proposes an integrated control method for a mobile composite robot, which is characterized by a control framework based on coupling and decoupling control.

[0049] In this control framework, the movements of the robot's mobile body 1 and the actions of its manipulator 2 are described in a unified world coordinate system. Based on trajectory planning data and the robot's current state data, the robot's computational model is described and expressed in this unified world coordinate system. Subsequently, a coupling computation module is used to couple the various algorithm modules into the control loop. These commands are then converted into torque and speed commands for the robot's end effector 3. A decoupling computation module then decomposes these commands into speed control commands for the robot's mobile body 1 and torque control commands for the joints of its manipulator 2, enabling corresponding control. In the figure, speed control refers to the speed of the mobile body 1; joint torque control refers to the control of the manipulator 2. Dynamic real-time data from both serves as feedback.

[0050] Through the coupling calculation of each functional module shown in Figure 1, the actual effect is that the control effect of each coupling module is formed in the robot control, such as the smooth control effect in the forward and backward directions of the robot; for example, the operating posture obtained by the robot based on the position information of the operation object, this posture has avoided the singular point position that may be generated by the robot during the movement of the mobile body 1 or the movement of the robotic arm 2, so there is no need to repeatedly adjust the posture, and the operation of the operation object can be performed in one go, thereby improving the system efficiency and the continuity of the action.

[0051] As shown in FIG2 , a flowchart of an integrated control method for a mobile composite robot includes:

[0052] S1. Describe the dynamic characteristics of the mobile body 1, the robotic arm 2, and the end effector 3 in a unified world coordinate system. Describe the robot computational model based on the trajectory planning data and the robot's current state data to express the motion state and posture of each part of the mobile composite robot.

[0053] S2. Perform coupling calculation based on the robot calculation model obtained in step S1 to generate a comprehensive control effect on the mobile composite robot, and convert it into torque and speed instructions for the end effector 3;

[0054] S3. Decouple the torque and speed instructions of the end effector 3 obtained in step S2 and perform calculations to decompose them into speed control instructions for the robot's mobile body 1 and torque control instructions for each joint of the robotic arm 2. At the same time, the dynamic real-time data of the mobile body 1 and the robotic arm 2 are input as feedback into the robot's current state data in step S1.

[0055] The trajectory planning data is derived from the robot scheduling system or the calculation of the mobile composite robot: the robot scheduling system directly sends the trajectory planning data to the mobile composite robot wirelessly; or the robot scheduling system sends the task data to the mobile composite robot, and the mobile composite robot calculates the trajectory of the mobile body 1 and the motion path of the robot arm 2 to generate the trajectory planning data;

[0056] As shown in Figure 3, XYZ represents the world coordinate system for the mobile manipulator. In this coordinate system, the coordinates of the robot's mobile body 1 are established on the mobile body 1, the coordinates of the robotic arm 2 (5 degrees of freedom) are established at the center point of the robotic arm 2 base, and the coordinates of the end effector 3 are established at the robotic arm joint where the end effector 3 is located. The coordinate systems for the mobile body 1, robotic arm 2, and end effector 3 are all based on the world coordinate system. When describing the dynamic characteristics of this mobile robot, all descriptive equations are based on the world coordinate system, thus first providing a unified mathematical description of the robot as a whole. The motion state and posture of each robot part / joint are expressed in this unified world coordinate system. The X or –X direction represents the forward or backward direction of the robot's mobile body 1.

[0057] As shown in Figure 4, a posture control module for a mobile composite robot is used to control the overall posture of the robot. This module primarily optimizes the posture of the robot's end effector 3 to achieve optimal operation, including more flexible degrees of freedom and guaranteed precision within the operating area.

[0058] Specifically, it means that before or before the robot operates on the object, it adjusts the posture of the robot's mobile body 1 and the robot arm 2 while moving, so as to achieve the operation of the object in a more optimal way. The constraints of this more optimal way are as follows:

[0059] Operate within the specified angle and arm span range to maintain maximum stability of the robot's mobile body 1, thereby ensuring operational accuracy;

[0060] The shorter robot arm 2 is used to perform the extension operation first;

[0061] 3) The small arm span operation range with r1 as radius is high priority, and the large arm span operation range with θ0 is low priority.

[0062] Point A represents the center of the base of robotic arm 2, and r1 represents the optimal operating range of the end effector 2, which is less than the maximum arm span of robotic arm 2. This optimal operating range can be freely defined, for example, as two-thirds of the maximum arm span of robotic arm 2. When operating within this range, robotic arm 2 exhibits excellent controllability and the chassis of the robot's mobile body 1 maintains optimal stability and balance, ensuring high-precision movement and rapid response of robotic arm 2's end effector 3.

[0063] When the robot cannot operate with a large payload within its limited reach, it performs a low-priority, extended reach operation. In this case, the robot's manipulator arm 2 is restricted to operating within the θ0 range, ensuring optimal stability during this extended reach and payload operation. This operating range requires consideration of multiple factors, including the specific location of manipulator arm 2's mounting point A on the robot chassis and the location of the robot chassis' center of gravity. This angle is definable and depends on the specific mechanical design of the robot. Within this posture constraint, the robot can optimally adjust its posture based on the identified scenario, even maintaining stability in response to extreme operational requirements.

[0064] As shown in Figure 5, posture control can adapt to operations in even narrower environments. In this technical solution, operations within a radius of r1 are prioritized. Therefore, the robot identifies obstacles and prioritizes high-priority action plans. It first flexibly adjusts its base posture to meet this operational requirement. If this requirement cannot be met, it will have to resort to low-priority posture control.

[0065] On the left side of Figure 5, when the robot mobile body 1 moves near the operation object O, it recognizes that there are multiple obstacles along the walking direction. If the current straight route is continued, the high-priority operation action cannot be adopted; therefore, under the action of the posture control module coupled into the control loop, the robot autonomously adjusts its walking posture. Specifically, it adjusts the walking direction of the mobile body 1 by a certain angle and moves the mobile body 1 a certain distance into the narrow channel (as shown on the right side of Figure 5) to meet the high-priority control requirements, that is, to make the operation object O fall into the high-priority operation range.

[0066] If the robot, through calculation and obstacle distance identification, determines that adjusting the position of Mobile Body 1 and Arm 2 is insufficient to meet the high-priority control requirement, it stops adjusting the position of Mobile Body 1 and executes the low-priority, extended reach operation. This judgment is based on real-time, advance calculations as the robot moves toward the target. Instead of the tentative or experimental, repeated position adjustments of traditional control, the robot performs continuous, real-time, and precise control, a fundamental difference from traditional, discrete control.

[0067] As shown in Figure 6, a compliance control module of a mobile composite robot is used. When the robot is performing an operation at the end of the manipulator 2 in the forward or backward direction, in certain special operation situations, such as requiring the operation object to be dragged, pushed, etc., in order to increase the operational flexibility and compliance of the robot, the robot's mobile body 1 is controlled to move to a certain extent in the forward or backward direction in cooperation with the end effector 3, rather than relying solely on the movement of the end of the manipulator 2 while the robot's mobile body 1 remains stationary.

[0068] When performing this operation, the robot end effector 3 must operate the operation object O1 within the specified operating angle range. If the process requires the operation object O1 to be dragged in the forward direction of the robot, then while the robotic arm 2 is dragging O1, the robot mobile body 1 will cooperate to perform a certain degree of walking action along the forward direction, thereby achieving an integrated dragging effect and making the system exhibit a certain degree of smooth control.

[0069] In this calculation scheme, when the end effector 3 performs an action, the system determines the magnitude of the torque based on the force conditions of the end effector 3, such as the torque sensor installed on the end effector 3, or the torque sensor installed on the joint of the robotic arm 2, or using parameters on the joint that can reflect the force conditions of the end, thereby performing a certain degree of mobile operation control on the mobile body 1.

[0070] Figure 7 illustrates the principle of a compliant control module for a mobile hybrid robot. Based on the real-time parameters of the dragging or pushing force applied by the module's end effector 3, the module determines whether the component of this force in the robot's walking or backward direction exceeds a threshold. Furthermore, the module verifies that the currently executing action is indeed a dragging or pushing operation. Once these two conditions are met, the robot's travel distance is calculated as a function of the X-direction force component, Tx, and time, t. The control variable for the movement of the mobile body 1 is labeled δL in the output data, allowing this component to be resolved and calculated in the subsequent decoupling step after passing through the coupling module.

[0071] Figure 8 shows a singularity avoidance calculation module for a mobile hybrid robot. This module calculates inaccessible operating points for the end effector 3 of the robot arm 2 and pre-plans the robot's movement and the motion paths of the robot arm 2 to avoid such inaccessible positions. By adjusting the posture of the robot's mobile body 1 and the robot arm 2, the inaccessible operating points become accessible.

[0072] When the robot reaches within a certain distance of the object being manipulated, it replans the trajectory of its end effector 3 to reach the coordinates of the object. This involves planning the trajectory of the mobile body 1 and the joint trajectories of the manipulator 2. The goal is to more accurately determine the trajectory within this small range and, using real-time status data, determine whether each joint and end effector 3 are currently in the vicinity of a singularity. If so, the robot's position is adjusted using increments of ±ΔL and ±Δθ of the mobile body 1 to avoid entering the singularity zone. If the robot is not in the vicinity of a singularity, the current trajectory planning results are processed to obtain an adjusted output value, which is then coupled into the main control loop.

[0073] As shown in Figure 9, the present invention utilizes a deep artificial intelligence algorithm to train, learn, and optimize control of the robot's overall behavioral data. Furthermore, in this technical solution, a deep artificial intelligence algorithm is used to train and learn the robot's real-time data, and the learning results are coupled into the control loop to improve system performance. Within the artificial intelligence algorithm, training, learning, and optimization control are primarily performed on the robot's overall behavioral data, such as compliance performance, singularity avoidance, and robot posture data, thereby replacing the separate algorithm modules in Figure 1.

[0074] As shown in Figure 10, the device of the integrated control method of a mobile composite robot of the present invention includes a unified world coordinate calculation module 11: describing the dynamic characteristics of the mobile body 1, the robotic arm 2 and the end effector 3 in a unified world coordinate system, describing the robot calculation model based on the trajectory planning data and the current state data of the robot, and expressing the motion state and posture of each part of the mobile composite robot; a coupling calculation module 12: performing coupling calculation according to the robot calculation model obtained by the unified world coordinate calculation module 11, forming a comprehensive control effect on the mobile composite robot, and converting it into torque and speed instructions for the end effector 3; a decoupling calculation module 13: performing decoupling calculation according to the torque and speed instructions of the end effector 3 obtained by the coupling calculation module 12, decoupling and decomposing them into speed control instructions for the robot mobile body 1 and torque control instructions for each joint of the robotic arm 2, and at the same time inputting the dynamic real-time data of the mobile body 1 and the robotic arm 2 as feedback into the current state data of the robot in the unified world coordinate calculation module 11.

[0075] In this specification, the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments described later, the description is relatively simple, and the relevant parts can be referred to the partial description of the previous embodiments.

[0076] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. An integrated control method for a mobile composite robot, characterized in that: The mobile composite robot is provided with a mobile body, a mechanical arm and an end effector, and the integrated control method comprises the following steps: S1. Describe the mobile body, the robotic arm, the end effector and the operation object in a unified world coordinate system, construct a description equation of the dynamic characteristics of the mobile composite robot based on the unified world coordinate system, and express the motion state and posture of the mobile composite robot; describe and express the robot calculation model based on the trajectory planning data and the robot current state data; S2, performing coupling calculation according to the robot calculation model obtained in step S1, and generating an action instruction for the end effector of the mobile composite robot; S3. Perform decoupling calculation based on the action instructions of the end effector obtained in step S2, and decouple them into speed control instructions of the mobile body of the robot and torque control instructions of each joint of the robotic arm. At the same time, the dynamic real-time data of the mobile body and the robotic arm are input as feedback to the current state data of the robot in step S1.

2. The integrated control method of the mobile composite robot according to claim 1, characterized in that: In step S1, the trajectory planning data is derived from a robot scheduling system or calculated by the mobile composite robot: the robot scheduling system directly sends the trajectory planning data to the mobile composite robot in a wireless manner; or the robot scheduling system sends task data to the mobile composite robot, and the mobile composite robot calculates and obtains the trajectory of the mobile body and the motion path of the robot arm; In the step S2, the coupling calculation includes behavior data calculation, obstacle avoidance algorithm, end effector protection stop algorithm, and constraint condition algorithm; the behavior data calculation includes posture control calculation, compliance control calculation, and singularity avoidance calculation.

3. The integrated control method of the mobile composite robot according to claim 2, characterized in that: In the step S2, the posture control calculation is performed during the movement of the mobile composite robot, based on the position data of the operation object and the current state data of the robot, to generate an optimized motion instruction for the end effector, while satisfying at least one of the following constraints: the robotic arm operates within a specified angle and arm span range; two priorities are divided according to the arm span range, with a small arm span operation within a defined distance operation range that is less than the longest arm span length of the robotic arm as a high priority; and a large arm span operation within another defined distance operation range as a low priority, to process the operation object that cannot be processed with a small arm span.

4. The integrated control method of the mobile composite robot according to claim 2, characterized in that: In step S2, the compliant control calculation is to determine the torque size according to the force condition of the end effector and perform mobile operation control on the mobile body; the force condition is determined by a torque sensor installed on the end effector or the robotic arm or a real-time parameter of a joint on the robotic arm that reflects the force condition of the end effector; if the component value of the end dragging or pushing force in the force condition in the moving direction of the mobile compound robot is higher than the set threshold value and the current action attribute should be a dragging or pushing attribute, then the moving distance function of the mobile compound robot is calculated.

5. The integrated control method of a mobile composite robot according to claim 2, characterized in that: In step S2, the singularity avoidance calculation is when the mobile compound robot reaches the vicinity of the operation object, if the joints of the robotic arm and the end effector are located near the singularity, the trajectory of the mobile body and the motion path of the robotic arm are replanned to avoid entering the singularity interval.

6. The integrated control method of the mobile composite robot according to claim 2, characterized in that: In the step S2, the calculation result of the behavior data of the robot as a whole is derived from the learning result of training and learning of the deep artificial intelligence algorithm, the deep artificial intelligence algorithm integrates the posture control calculation, the compliance control calculation and the singularity avoidance calculation, the training model continuously optimizes the integrated calculation parameters, and outputs the result of the optimization calculation in the form of parameters to the result of the coupling calculation; The training model input parameters also include the main parameters that reflect the performance and motion characteristics of the mobile compound robot, including: the moving speed and acceleration of the mobile body, the speed, acceleration, angle, and torque value of the end joint of the robotic arm, and the instruction error value of the trajectory planning data.

7. A mobile composite robot control device, characterized in that: The method of any one of claims 1 to 6 may be implemented, comprising: A unified world coordinate calculation unit, comprising the unified world coordinate calculation method, for expressing the motion state and posture of the mobile composite robot; A coupling calculation unit, including the behavior data calculation module, the obstacle avoidance algorithm module, the end effector protection stop module, and the constraint condition module, generates the action instructions of the end effector, wherein the behavior data calculation module includes the posture control calculation module, the compliance control calculation module and the singular point avoidance, and generates the optimization action instructions of the end effector; Decoupling calculation unit: includes the decoupling calculation method, generates speed control instructions for the mobile body and torque control instructions for each joint of the robotic arm.

8. A mobile composite robot, characterized in that: include: The mobile body, the robotic arm, the end effector, the mobile composite robot control device, the robot scheduling system, a CPU processor system for running a main control loop algorithm, and a memory for storing program instructions.

9. The mobile composite robot according to claim 8, further comprising a GPU processor system for deep learning algorithms.

10. A computer-readable storage medium, characterized in that: Computer program instructions are stored thereon, and when the computer program instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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