CN110076778A - Robot control method, device, storage medium and processor - Google Patents
Robot control method, device, storage medium and processor Download PDFInfo
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- CN110076778A CN110076778A CN201910377415.3A CN201910377415A CN110076778A CN 110076778 A CN110076778 A CN 110076778A CN 201910377415 A CN201910377415 A CN 201910377415A CN 110076778 A CN110076778 A CN 110076778A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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Abstract
This application discloses a kind of robot control method, device, storage medium and processors.This method comprises: determining multiple default points, wherein multiple default points be when robot executes job task by way of multiple points；The operation program that robot is acted in each target point execution is determined respectively, wherein includes target point in multiple default points；Control robot advances between multiple default points according to preset order, and executes movement according to operation program in each target point, with the task of fulfiling assignment.By the application, solves the operation of the robot of control in the related technology and need to customize complicated control program, control program can not be multiplexed, and control the problem of program maintenance difficulty.
Description
Technical field
This application involves technical field of robot control, in particular to a kind of robot control method, device, deposit
Storage media and processor.
Background technique
With the development of science and technology, mobile robot is gradually applied in the side such as warehouse logistics, cleaning of keeping a public place clean, hotels
The industry in aspect face.Mobile robot is even unable to reach complete autonomy-oriented at present, it usually needs fixes for robot deployment
Operational process, then control mobile robot and run according to operational process, for the process of the fixed operational process of robot deployment
Referred to as teaching.
Mobile robot is many kinds of, and application scenarios and operating condition are also different, therefore the process of teaching is professional
It is relatively strong, it generally requires to be customized, it is very high for deployment personnel requirement.Meanwhile in order to guarantee the subsequent accurate operation of robot,
Teaching process needs to debug repeatedly, is during which related to a variety of professional contents, needs multiple professional's field adjustables, heavy workload,
Efficiency is very low, and achievement is difficult to be multiplexed, difficult in maintenance.In order to simplify robot site deployment process, have in the related technology
Restriction method reproduces method and simplified programming method etc..
For example, the method for restriction is to simplify deployment by limiting use environment or limiting certain freedom degrees of robot.Such as
Sweeping robot is limited to home environment working area smaller in this way, and several operation modes is specified to select for user；Storage two dimension
Code robot only allows all around to move and jack and puts down shelf operation, controls every robot by dispatch server.But
Restriction method is appropriate only for the scene that certain application environments are fixed and demand is big, higher to scene requirement, lacks flexibility ratio.
Reproduction method is overall flow of user's operation, and robot records simultaneously reproduce.It is soft using teaching such as industry mechanical arm
After part operating process, manipulator records and saves the process, repeats the operation at runtime；Automatic ground washing vehicle, it is artificial to drive to wash
Behind ground one time, automatic ground washing vehicle repeats the process.Reproduction method is easy to use, but is generally only suitable for simple operation, once show
Teach mistake, just must teaching again, in addition, work flow is slightly modified, it is necessary to teaching again, lack flexibility, workload
Greatly.
Needing to customize complicated control program for control robot operation in the related technology, control program can not be multiplexed,
The problem of program maintenance difficulty is controlled, currently no effective solution has been proposed.
Summary of the invention
The application provides a kind of robot control method, device, storage medium and processor, to solve to control in the related technology
Robot operation processed needs to customize complicated control program, and control program can not be multiplexed, and controls the problem of program maintenance difficulty.
According to the one aspect of the application, a kind of robot control method is provided.This method comprises: determining multiple default
Point, wherein multiple default points be robot execute job task when by way of multiple points；Determine robot each respectively
The operation program of a target point execution movement, wherein include target point in multiple default points；Robot is controlled according to pre-
If sequence is advanced between multiple default points, and executes movement according to operation program in each target point, to fulfil assignment
Task.
Further, it includes: suitable based on presetting that control robot advances between multiple default points according to preset order
Sequence navigates to robot between multiple default points, to realize traveling of the robot between multiple default points.
Further, before control robot advances between multiple default points according to preset order, this method is also
Include: selection target route in a plurality of default route between two neighboring default point respectively, obtain a plurality of target line,
Wherein, preset route be route present on map, preset route include constraint information, constraint information include at least it is following it
One: the driving direction of travel speed, route restriction that width, the route of route limit；Based on preset order and a plurality of score
Road determines passing road；Control robot advances between multiple default points according to preset order include: control robot by
It advances according to passing road.
Further, the class of the movement needed to be implemented in the movement that the second target point needs to be implemented with first object point
In the identical situation of type, determine that robot comprises determining that robot in the operation program that each target point execution acts respectively
In the operation program of first object point execution movement；The operation program acted based on robot in first object point execution is true
Determine the operation program that robot is acted in the second target point execution, wherein the second target point is the in multiple target points
Point other than one target point.
Further, this method further include: in the case where job task needs to change, redefine to be changed execute and move
Operation program in the target point of work, and/or, delete the operation program in the target point of movement to be cancelled, and/
Or, for the default site setting operation program of execution to be added movement, and/or, after redefining default point, control machine
Device people advances between the multiple default points redefined.
According to the another aspect of the application, a kind of robot controller is provided.The device includes: first determining single
Member, for determining multiple default points, wherein multiple default points be robot execute job task when by way of multiple points
Position；Second determination unit, the operation program acted for determining robot respectively in each target point execution, wherein multiple
It include target point in default point；Control unit, for controlling robot according to preset order between multiple default points
It advances, and executes movement according to operation program in each target point, with the task of fulfiling assignment.
Further, control unit includes: navigation module, for being based on preset order between multiple default points to machine
Device people navigates, to realize traveling of the robot between multiple default points.
Further, the device further include: selecting unit, for being preset according to preset order multiple in control robot
Before advancing between point, selection target route in a plurality of default route between two neighboring default point, is obtained respectively
A plurality of target line, wherein default route is route present on map, and presetting route includes constraint information, and constraint information is extremely
It less include following one: the driving direction of travel speed, route restriction that width, the route of route limit；Third determination unit,
For determining passing road based on preset order and a plurality of target line；Control unit includes: control module, for controlling machine
People advances according to passing road.
To achieve the goals above, according to the another aspect of the application, a kind of storage medium is provided, storage medium includes
The program of storage, wherein program executes any one of the above robot control method.
To achieve the goals above, according to the another aspect of the application, a kind of processor is provided, processor is for running
Program, wherein program executes any one of the above robot control method when running.
By the application, using following steps: determining multiple default points, wherein multiple default points are held for robot
When row job task by way of multiple points；The operation program that robot is acted in each target point execution is determined respectively,
In, it include target point in multiple default points；Control robot advances between multiple default points according to preset order, and
Movement is executed according to operation program in each target point, with the task of fulfiling assignment, solves and controls robot in the related technology
Operation needs to customize complicated control program, and control program can not be multiplexed, and controls the problem of program maintenance difficulty.By controlling machine
Device people advances between multiple default points according to preset order, and executes movement according to operation program in each target point,
And then the control program for having reached the operation of control robot can be multiplexed, and control the convenient and fast effect of program maintenance.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, the schematic reality of the application
Example and its explanation are applied for explaining the application, is not constituted an undue limitation on the present application.In the accompanying drawings:
Fig. 1 is the flow chart according to robot control method provided by the embodiments of the present application；
Fig. 2 is the schematic diagram applied according to robot control method provided by the embodiments of the present application in warehouse logistics scene；
Fig. 3 is the schematic diagram applied according to robot control method provided by the embodiments of the present application cleaning ground scene；
And
Fig. 4 is the schematic diagram according to robot controller provided by the embodiments of the present application.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
According to an embodiment of the present application, a kind of robot control method is provided.
Fig. 1 is the flow chart according to the robot control method of the embodiment of the present application.As shown in Figure 1, this method include with
Lower step:
Step S101 determines multiple default points, wherein multiple default points be robot execute job task when by way of
Multiple points.
For example, A point, B point, C point and D point are machine as shown in Fig. 2, applying in mobile robot in warehouse logistics scene
Device people execute when transporting cargo task by way of multiple points, determine that A point, B point, C point and D point are default point, and obtain A
Point, B point, C point and D point location information.
For another example as shown in figure 3, apply in mobile robot when cleaning surface flow scene, charging pile point A point
And the point where indoor each corner be when robot executes cleaning task by way of point, determine and obtain A point and room
Point where interior each corner is default point, and obtains the location information of the point where A point and indoor each corner.
It should be noted that the requirement according to job task to homework precision obtains the location information of default point at two kinds
Mode in select, for example, can be created with remote-controlled robot to target position for the handling goods task in warehouse logistics scene
Accurate point and the location information for obtaining point, and can also draw for cleaning indoor task directly on map to create
Rough point, and obtain the location information of point.In addition, point parameter can be needed to adjust according to scene, such as arrive a point precision.
Step S102 determines the operation program that robot is acted in each target point execution respectively, wherein multiple default
It include target point in point.
It should be noted that both comprising needing to be implemented the target point of subtask in default point, also comprising only need through
The point crossed specifically in the operation program of target point execution movement, can first determine the movement point of target point,
Sequence of movement when determining execution movement again between each movement point, determines movement journey based on movement point and sequence of movement
Sequence.
For example, as shown in Fig. 2, moving the robot on point B in warehouse logistics scene, using graphic programming
Tool editor's loaded material movement, as servo docking object glassware frame -> robot enters bottom shelf -> alignment jacking portion, robot
Position -> jacking shelf, debugging makes the point motion stability and saves as " feeding " movement repeatedly, and the movement " is linked into " B point,
Allow to run " feeding " movement in point B, in addition, it should be noted that, a point can be linked into multiple operation programs, but same
One moment only ran one of them.
Step S103, control robot advances between multiple default points according to preset order, and in each target point
Position executes movement according to operation program, with the task of fulfiling assignment.
It should be noted that a complicated robot manipulating task, usually it is moved to a little and the combination of Fixed Point Operation, wherein
The process control machine people for being moved to certain point advances between multiple default points according to preset order, executes certain in target point
The detailed process of a movement such as grabs object, can compile operation program, by operation program and is moved to control solution a little
Coupling facilitates the control to robot.
Robot control method provided by the embodiments of the present application passes through the multiple default points of determination, wherein multiple presets
Position be robot execute job task when by way of multiple points；Determine what robot was acted in each target point execution respectively
Operation program, wherein include target point in multiple default points；Robot is controlled according to preset order in multiple default points
Between advance, and execute movement according to operation program in each target point, with the task of fulfiling assignment, solve in the related technology
It controls robot operation and needs to customize complicated control program, control program can not be multiplexed, and control the problem of program maintenance difficulty.
It is advanced between multiple default points by control robot according to preset order, and in each target point according to operation program
Movement is executed, and then the control program for having reached the operation of control robot can be multiplexed, and control the convenient and fast effect of program maintenance.
Optionally, in robot control method provided by the embodiments of the present application, control robot exists according to preset order
Advancing between multiple default points includes: to be navigated between multiple default points to robot based on preset order, with reality
Existing traveling of the robot between multiple default points.
For example, as shown in Fig. 2, in warehouse logistics scene, job task are as follows: feeding action is executed to material area, to unloading
Expect that area executes discharging movement, arrive the rest area standby free time, preset order are as follows: B point [feeding]-D point [discharging]-A point [standby] ",
It navigates to robot, control robot is moved to B point, then is moved to D point from B point, is finally moved to A point from D point.
For example, as shown in figure 3, in sweeping the floor and applying cleanly, job task are as follows: first dust suction recharges, stop it is all clear
Charging, preset order after clean are as follows: B point [starting dust suction]-C point [terminating dust suction to start to mop floor]-...-B point [stopping all cleanings]-
A point [charging] ", navigates to robot, and control robot is moved to B point, then is moved to C point from B point, then respectively by way of room
Interior each corner eventually passes back to B point, then is moved to A point from B point.
Optionally, in robot control method provided by the embodiments of the present application, in control robot according to preset order
Before advancing between multiple default points, this method further include: a plurality of default between two neighboring default point respectively
Selection target route in route obtains a plurality of target line, wherein default route is route present on map, presets route
Comprising constraint information, constraint information includes at least following one: the width of route, the travel speed of route restriction, route are limited
Driving direction；Passing road is determined based on preset order and a plurality of target line；Robot is controlled according to preset order more
Advance between a default point includes: that control robot advances according to passing road.
For example, as shown in Fig. 2, in warehouse logistics scene, goal task are as follows: feeding action is executed to material area, to unloading
Expect that area executes discharging movement, arrive the rest area standby free time, preset order are as follows: B point [feeding]-D point [discharging]-A point [standby] ", B
Point on map to there is a plurality of route between D point, for D point to also there is a plurality of route between A point on map, every route has width
The constraint informations such as degree, speed limit, one-way trip, the selection target route in a plurality of route constitute colleague's road, further, it is also possible to
Constraint information is adjusted.
For example, as shown in figure 3, in sweeping the floor and applying cleanly, goal task are as follows: first dust suction recharges, stop it is all clear
Charging, preset order after clean are as follows: point B [starting dust suction]-point C [terminating dust suction to start to mop floor]-...-point B [stopping all cleanings]-
Point A [charging] ", B point to there is a plurality of route between C point on map, start after dust suction from an indoor corner to another
The cleaning route in corner also has a plurality of, and B point also has a plurality of route between A point, the selection target route in a plurality of route, constitutes
Colleague's road.
Optionally, it in robot control method provided by the embodiments of the present application, is needed to be implemented in the second target point
It acts in situation identical with the type for the movement that first object point needs to be implemented, determines robot in each target point respectively
The operation program of position execution movement comprises determining that the operation program that robot is acted in first object point execution；Based on machine
People determines the operation program that robot is acted in the second target point execution in the operation program that first object point execution acts,
Wherein, the second target point is the point in multiple target points other than first object point.
For example, as shown in Fig. 2, in warehouse logistics scene, if the feeding process of C point with the completely the same of B point, can
To be multiplexed " feeding " movement of B point, which is linked into C point.As inconsistent, " being linked into " that can replicate B point is acted, with
Editor's debugging is carried out based on this, after the completion, movement is saved and is linked into C point.In the case where subtask is entirely different, then need
It to be acted according to method editor's Task of Debugging of B point, save and be linked into point.
Optionally, in robot control method provided by the embodiments of the present application, this method further include: needed in job task
In the case where changing, the operation program in the target point of execution movement to be changed is redefined, and/or, it deletes wait cancel
Operation program in the target point of execution movement, and/or, it is the default site setting operation program of execution to be added movement,
And/or after redefining default point, control robot advances between the multiple default points redefined.
Specifically, when task needs to change, can mobile route and target point in change task operation program, mesh
The operation program editable of punctuation bit acts, and debugging saves again, or creates and act and be linked into point.
In addition, during control robot executes job task, if mistake occurs in some part, movement can be reset and laid equal stress on
It is new to execute, so as to improve whole operation success rate.For example, as shown in Fig. 2, pre-set programs are " to navigate to point B- and execute feeding
- navigating to point D- execution discharging to act-is acted to navigate to point A ", if failed in discharging action process, D point can be navigate to again,
It retries again and executes discharging movement.
Through this embodiment, robot manipulating task task is broken down into the group for being moved to the operation program a little and in target point
Sequence is closed, to improve the flexibility of control, improves the convenience of operation procedure debugging, program stability is improved and answers
Expenditure, while passing through the operation program that subtask is reset when operation, improve the stability of overall task operation.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
The embodiment of the present application also provides a kind of robot controllers, it should be noted that the machine of the embodiment of the present application
Device people's control device can be used for executing provided by the embodiment of the present application for robot control method.Below to the application reality
The robot controller for applying example offer is introduced.
Fig. 4 is the schematic diagram according to the robot controller of the embodiment of the present application.As shown in figure 4, the device includes:
One determination unit 10, the second determination unit 20 and control unit 30.
Specifically, the first determination unit 10, for determining multiple default points, wherein multiple default points are robot
Execute job task when by way of multiple points.
Second determination unit 20, the operation program acted for determining robot respectively in each target point execution,
In, it include target point in multiple default points.
Control unit 30 is advanced between multiple default points for controlling robot according to preset order, and each
Target point executes movement according to operation program, with the task of fulfiling assignment.
Optionally, in robot controller provided by the embodiments of the present application, control unit 30 includes: navigation module,
For being navigated between multiple default points to robot based on preset order, to realize robot in multiple default points
Between traveling.
Optionally, in robot controller provided by the embodiments of the present application, the device further include: selecting unit is used
In control robot advance between multiple default points according to preset order before, respectively two neighboring default point it
Between a plurality of default route in selection target route, obtain a plurality of target line, wherein default route is line present on map
Road, presetting route includes constraint information, and constraint information includes at least following one: the traveling speed that width, the route of route limit
The driving direction that degree, route limit；Third determination unit, for determining walkway based on preset order and a plurality of target line
Road；Control unit includes: control module, is advanced for controlling robot according to passing road.
Optionally, in robot controller provided by the embodiments of the present application, the second determination unit 20 includes: first true
Cover half block, the movement for needing to be implemented in the second target point are identical as the type for the movement that first object point needs to be implemented
In the case where, determine the operation program that robot is acted in first object point execution；Second determining module, for being based on machine
People determines the operation program that robot is acted in the second target point execution in the operation program that first object point execution acts,
Wherein, the second target point is the point in multiple target points other than first object point.
Optionally, in robot controller provided by the embodiments of the present application, the device further include: adjustment unit is used
Operation program in the target point in the case where job task needs to change, redefining execution movement to be changed, and/
Or, the operation program in the target point of movement to be cancelled is deleted, and/or, for the default point of execution to be added movement
Operation program is set, and/or, after redefining default point, robot is controlled in the multiple default points redefined
Between advance.
Robot controller provided by the embodiments of the present application determines multiple default points by the first determination unit 10,
Wherein, multiple default points be robot execute job task when by way of multiple points；Second determination unit 20 determines respectively
The operation program that robot is acted in each target point execution, wherein include target point in multiple default points；Control is single
Member 30 controls robot and advances between multiple default points according to preset order, and in each target point according to operation program
Movement is executed, with the task of fulfiling assignment, the operation of the robot of control in the related technology is solved and needs to customize complicated control program,
Control program can not be multiplexed, and control the problem of program maintenance difficulty, by control robot according to preset order multiple default
It advances between point, and executes movement according to operation program in each target point, and then reached the operation of control robot
Control program can be multiplexed, and control the convenient and fast effect of program maintenance.
The robot controller includes processor and memory, above-mentioned first determination unit 10, the second determination unit
20 and control unit 30 etc. store in memory as program unit, are executed by processor stored in memory above-mentioned
Program unit realizes corresponding function.
Include kernel in processor, is gone in memory to transfer corresponding program unit by kernel.Kernel can be set one
Or more, it needs to customize complicated control program to solve to control robot operation in the related technology by adjusting kernel parameter,
Control program can not be multiplexed, and control the problem of program maintenance difficulty.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, if read-only memory (ROM) or flash memory (flash RAM), memory include that at least one is deposited
Store up chip.
The embodiment of the invention provides a kind of storage mediums, are stored thereon with program, real when which is executed by processor
The existing robot control method.
The embodiment of the invention provides a kind of processor, the processor is for running program, wherein described program operation
Robot control method described in Shi Zhihang.
The embodiment of the invention provides a kind of equipment, equipment include processor, memory and storage on a memory and can
The program run on a processor, processor performs the steps of when executing program determines multiple default points, wherein multiple
Default point be when robot executes job task by way of multiple points；Determine that robot is executed in each target point respectively
The operation program of movement, wherein include target point in multiple default points；Robot is controlled according to preset order multiple pre-
It sets up an office and advances between position, and execute movement according to operation program in each target point, with the task of fulfiling assignment.
It includes: based on preset order multiple pre- that control robot advances between multiple default points according to preset order
It sets up an office and is navigated between position to robot, to realize traveling of the robot between multiple default points.
Before control robot advances between multiple default points according to preset order, this method further include: respectively
Selection target route in a plurality of default route between two neighboring default point, obtains a plurality of target line, wherein default
Route is route present on map, and presetting route includes constraint information, and constraint information includes at least following one: the width of route
The driving direction of travel speed, route restriction that degree, route limit；Walkway is determined based on preset order and a plurality of target line
Road；It includes: control robot according to passing road row that control robot advances between multiple default points according to preset order
Into.
It is identical with the type for the movement that first object point needs to be implemented in the movement that the second target point needs to be implemented
In the case of, determine that robot comprises determining that robot in the first mesh in the operation program that each target point execution acts respectively
The operation program of punctuation bit execution movement；Robot is determined in the operation program that first object point execution acts based on robot
In the operation program of the second target point execution movement, wherein the second target point is first object point in multiple target points
Point other than position.
This method further include: in the case where job task needs to change, redefine the target of execution movement to be changed
Operation program in point, and/or, the operation program in the target point of movement to be cancelled is deleted, and/or, for wait add
The default site setting operation program for adding execution to act, and/or, after redefining default point, control robot is in weight
It advances between the multiple default points newly determined.Equipment herein can be server, PC, PAD, mobile phone etc..
Present invention also provides a kind of computer program products, when executing on data processing equipment, are adapted for carrying out just
The program of beginningization there are as below methods step: multiple default points are determined, wherein multiple default points are that robot executes operation and appoints
When business by way of multiple points；The operation program that robot is acted in each target point execution is determined respectively, wherein multiple pre-
It sets up an office in position comprising target point；Control robot advances between multiple default points according to preset order, and in each mesh
Punctuation bit executes movement according to operation program, with the task of fulfiling assignment.
It includes: based on preset order multiple pre- that control robot advances between multiple default points according to preset order
It sets up an office and is navigated between position to robot, to realize traveling of the robot between multiple default points.
Before control robot advances between multiple default points according to preset order, this method further include: respectively
Selection target route in a plurality of default route between two neighboring default point, obtains a plurality of target line, wherein default
Route is route present on map, and presetting route includes constraint information, and constraint information includes at least following one: the width of route
The driving direction of travel speed, route restriction that degree, route limit；Walkway is determined based on preset order and a plurality of target line
Road；It includes: control robot according to passing road row that control robot advances between multiple default points according to preset order
Into.
It is identical with the type for the movement that first object point needs to be implemented in the movement that the second target point needs to be implemented
In the case of, determine that robot comprises determining that robot in the first mesh in the operation program that each target point execution acts respectively
The operation program of punctuation bit execution movement；Robot is determined in the operation program that first object point execution acts based on robot
In the operation program of the second target point execution movement, wherein the second target point is first object point in multiple target points
Point other than position.
This method further include: in the case where job task needs to change, redefine the target of execution movement to be changed
Operation program in point, and/or, the operation program in the target point of movement to be cancelled is deleted, and/or, for wait add
The default site setting operation program for adding execution to act, and/or, after redefining default point, control robot is in weight
It advances between the multiple default points newly determined.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (10)
1. a kind of robot control method characterized by comprising
Determine multiple default points, wherein the multiple default point be robot execute job task when by way of multiple points
Position；
The operation program that the robot is acted in each target point execution is determined respectively, wherein the multiple default point
In include the target point；
It controls the robot and advances between the multiple default point according to preset order, and in each target point
Movement is executed according to the operation program, to complete the job task.
2. the method according to claim 1, wherein controlling the robot according to preset order the multiple
It advances between default point and includes:
It is navigated between the multiple default point to the robot based on the preset order, to realize the machine
Traveling of the people between the multiple default point.
3. the method according to claim 1, wherein controlling the robot according to preset order described more
Before advancing between a default point, the method also includes:
Selection target route in a plurality of default route between two neighboring default point respectively, obtains a plurality of target line,
Wherein, the default route is route present on map, and the default route includes constraint information, and the constraint information is at least
Including following one: the driving direction of travel speed, route restriction that width, the route of route limit；
Passing road is determined based on the preset order and a plurality of target line；
Control the robot and advance between the multiple default point according to preset order include: the control robot by
It advances according to the passing road.
4. the method according to claim 1, wherein the movement needed to be implemented in the second target point and the first mesh
In the identical situation of the type for the movement that punctuation bit needs to be implemented, it is dynamic to determine that the robot is executed in each target point respectively
The operation program of work includes:
Determine the operation program that the robot is acted in the first object point execution；
Determine the robot described in the operation program that the first object point execution acts based on the robot
The operation program of two target point execution movement, wherein the second target point is the first mesh described in multiple target points
Point other than punctuation bit.
5. the method according to claim 1, wherein the method also includes:
In the case where the job task needs to change, the movement journey in the target point of execution movement to be changed is redefined
Sequence, and/or, the operation program in the target point of movement to be cancelled is deleted, and/or, for the pre- of execution to be added movement
If site setting operation program, and/or, after redefining default point, it is more what is redefined to control the robot
It advances between a default point.
6. a kind of robot controller characterized by comprising
First determination unit, for determining multiple default points, wherein the multiple default point is that robot executes operation times
When business by way of multiple points；
Second determination unit, the operation program acted for determining the robot respectively in each target point execution, wherein
It include the target point in the multiple default point；
Control unit is advanced between the multiple default point for controlling the robot according to preset order, and in institute
It states each target point and executes movement according to the operation program, to complete the job task.
7. device according to claim 6, which is characterized in that described control unit includes:
Navigation module, for being navigated between the multiple default point to the robot based on the preset order,
To realize traveling of the robot between the multiple default point.
8. device according to claim 6, which is characterized in that described device further include:
Selecting unit is used for before controlling the robot and advancing between the multiple default point according to preset order,
Selection target route in a plurality of default route between two neighboring default point respectively, obtains a plurality of target line, wherein
The default route is route present on map, and the default route includes constraint information, and the constraint information includes at least
Following one: the driving direction of travel speed, route restriction that width, the route of route limit；
Third determination unit, for determining passing road based on the preset order and a plurality of target line；
Described control unit includes: control module, is advanced for controlling the robot according to the passing road.
9. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 7 described in robot control method.
10. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 7 described in robot control method.
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| CN115847394A (en) * | 2022-10-21 | 2023-03-28 | 圣名科技(广州)有限责任公司 | Method and device for controlling mechanical arm to grab object, electronic equipment and storage medium |
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