CN110076778B - Robot control method, device, storage medium and processor - Google Patents
Robot control method, device, storage medium and processor Download PDFInfo
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- CN110076778B CN110076778B CN201910377415.3A CN201910377415A CN110076778B CN 110076778 B CN110076778 B CN 110076778B CN 201910377415 A CN201910377415 A CN 201910377415A CN 110076778 B CN110076778 B CN 110076778B
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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
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- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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Abstract
The application discloses a robot control method, a robot control device, a storage medium and a processor. The method comprises the following steps: determining a plurality of preset point positions, wherein the preset point positions are points through which the robot executes the operation task; respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point positions; and controlling the robot to advance among the plurality of preset point positions according to a preset sequence, and executing actions at each target point position according to an action program so as to complete the operation task. By the method and the device, the problems that a complex control program needs to be customized for controlling the operation of the robot, the control program cannot be reused and the control program is difficult to maintain in the related technology are solved.
Description
Technical Field
The present application relates to the field of robot control technologies, and in particular, to a robot control method, apparatus, storage medium, and processor.
Background
With the development of science and technology, mobile robots are gradually applied to industries in aspects of warehouse logistics, cleaning, restaurants, hotels and the like. At present, a mobile robot cannot achieve complete autonomy, a fixed operation flow is generally required to be deployed for the robot, then the mobile robot is controlled to operate according to the operation flow, and the process of deploying the fixed operation flow for the robot is called teaching.
The mobile robots are various in types, and application scenes and operation conditions are different from each other, so that the teaching process is high in professional performance, often needs to be customized, and has high requirements on deployment personnel. Meanwhile, in order to guarantee the follow-up accurate operation of the robot, the teaching process needs to be debugged repeatedly, various professional contents are involved in the teaching process, a plurality of professionals are needed to carry out field debugging, the workload is high, the efficiency is low, the work result is difficult to reuse, and the maintenance is difficult. In order to simplify the robot field deployment process, a definition method, a reproduction method, a simplified programming method and the like are provided in the related art.
For example, the definition method simplifies deployment by defining the use environment or defining certain degrees of freedom of the robot. For example, a sweeping robot limits a small operation area in a family environment, and specifies several operation modes for a user to select; the warehousing two-dimensional code robot only allows the operation of moving front and back, left and right and jacking and placing the goods shelf, and each robot is controlled by the dispatching server. However, the limiting method is only suitable for certain scenes with fixed application environments and large demands, and has high demands on the scenes and lacks of flexibility.
The reproduction method is an overall flow of one-time operation by a user, and the robot records and reproduces data. For example, after the industrial manipulator uses teaching software to operate the process, the manipulator records and stores the process, and repeats the operation during operation; and after the automatic floor cleaning vehicle is manually driven to clean the floor, the automatic floor cleaning vehicle repeats the process. The reproduction method is convenient to use, but is usually only suitable for simple operation, and once the teaching is wrong, the teaching must be repeated.
Aiming at the problems that in the related art, a complex control program needs to be customized for controlling the operation of a robot, the control program cannot be reused, and the control program is difficult to maintain, an effective solution is not provided at present.
Disclosure of Invention
The application provides a robot control method, a robot control device, a storage medium and a processor, and aims to solve the problems that in the related art, the robot is controlled to operate, a complex control program needs to be customized, the control program cannot be reused, and the control program is difficult to maintain.
According to an aspect of the present application, a robot control method is provided. The method comprises the following steps: determining a plurality of preset point positions, wherein the preset point positions are points through which the robot executes the operation task; respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point positions; and controlling the robot to advance among the plurality of preset point positions according to a preset sequence, and executing actions at each target point position according to an action program so as to complete the operation task.
Further, controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: the robot is navigated among the plurality of preset point locations based on the preset sequence to realize the advance of the robot among the plurality of preset point locations.
Further, before controlling the robot to travel between the plurality of preset points in the preset sequence, the method further comprises: respectively selecting a target line from a plurality of preset lines between two adjacent preset point positions to obtain a plurality of target lines, wherein the preset lines are lines existing on a map, the preset lines contain constraint information, and the constraint information at least comprises one of the following: the width of the route, the travel speed defined by the route, the travel direction defined by the route; determining a passing road based on a preset sequence and a plurality of target lines; controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: and controlling the robot to advance according to the passing road.
Further, when the type of the action to be performed by the second target point is the same as the type of the action to be performed by the first target point, the action program for determining that the robot performs the action at each target point respectively includes: determining an action program of the robot executing the action at the first target point; and determining an action program of the robot to execute actions at a second target point based on the action program of the robot to execute actions at the first target point, wherein the second target point is a point other than the first target point in the plurality of target points.
Further, the method further comprises: and under the condition that the job task needs to be changed, re-determining the action program on the target point position of the execution action to be changed, and/or deleting the action program on the target point position of the execution action to be cancelled, and/or setting the action program for the preset point position of the execution action to be added, and/or controlling the robot to travel among the re-determined preset point positions after the preset point position is re-determined.
According to another aspect of the present application, a robot control apparatus is provided. The device includes: the robot comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining a plurality of preset point positions, and the preset point positions are a plurality of point positions passed by the robot when the robot executes a task; the second determining unit is used for respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point position; and the control unit is used for controlling the robot to advance among the plurality of preset point positions according to a preset sequence and executing actions at each target point position according to the action program so as to complete the operation task.
Further, the control unit includes: and the navigation module is used for navigating the robot among the plurality of preset point positions based on the preset sequence so as to realize the advancing of the robot among the plurality of preset point positions.
Further, the apparatus further comprises: the selection unit is used for selecting a target line from a plurality of preset lines between two adjacent preset point locations respectively before the robot is controlled to advance between the preset point locations according to a preset sequence to obtain a plurality of target lines, wherein the preset lines are lines existing on a map, the preset lines contain constraint information, and the constraint information at least comprises one of the following: the width of the route, the travel speed defined by the route, the travel direction defined by the route; a third determination unit for determining a passing road based on a preset order and a plurality of target routes; the control unit includes: and the control module is used for controlling the robot to advance according to the passing road.
In order to achieve the above object, according to another aspect of the present application, there is provided a storage medium including a stored program, wherein the program executes any one of the robot control methods described above.
In order to achieve the above object, according to another aspect of the present application, there is provided a processor for executing a program, wherein the program executes to perform any one of the robot control methods described above.
Through the application, the following steps are adopted: determining a plurality of preset point positions, wherein the preset point positions are points through which the robot executes the operation task; respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point positions; the control robot advances between a plurality of preset points according to the preset sequence, and acts at each target point according to the action program to complete the operation task, thereby solving the problems that the control robot needs to customize a complex control program in the related art, the control program can not be reused, and the control program is difficult to maintain. The robot is controlled to advance among the preset point positions according to the preset sequence, and the action is executed at each target point position according to the action program, so that the effects that the control program for controlling the operation of the robot can be reused and the control program is convenient to maintain are achieved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. In the drawings:
fig. 1 is a flowchart of a robot control method provided according to an embodiment of the present application;
fig. 2 is a schematic diagram of a robot control method applied to a warehouse logistics scenario according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a robot control method applied to a ground cleaning scene according to an embodiment of the present application; and
fig. 4 is a schematic diagram of a robot control device provided according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, a robot control method is provided.
Fig. 1 is a flowchart of a robot control method according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, determining a plurality of preset point positions, wherein the preset point positions are a plurality of point positions passed by the robot when the robot executes the operation task.
For example, as shown in fig. 2, when the mobile robot is applied to a warehouse logistics scene, points a, B, C, and D are multiple points that the robot passes through when executing a cargo transporting task, the points a, B, C, and D are determined to be preset points, and position information of the points a, B, C, and D is obtained.
For another example, as shown in fig. 3, when the mobile robot is applied to a scene of cleaning floor surface flow, the point location a where the charging pile is located and the point location where each indoor corner is located are point locations through which the robot performs a cleaning task, it is determined that the point location where the point location a and each indoor corner are located are preset point locations, and position information of the point location a and each indoor corner is obtained.
It should be noted that, the method is selected from two manners of obtaining the location information of the preset point location according to the requirement of the operation task on the operation precision, for example, for a loading and unloading task in a warehouse logistics scene, the robot may be remotely controlled to create an accurate point location to a target location and obtain the location information of the point location, and for a task in a cleaning room, the robot may also be directly drawn on a map to create a rough point location and obtain the location information of the point location. In addition, point location parameters such as point arrival accuracy and the like can be adjusted according to field requirements.
Step S102, respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point position.
It should be noted that the preset point locations include both a target point location that needs to execute a subtask and a point location that only needs to pass through, and specifically, when the target point location executes an action program of an action, the action point location of the target point location may be determined first, then an action sequence between the action point locations when the action is executed may be determined, and the action program may be determined based on the action point location and the action sequence.
For example, as shown in fig. 2, in a warehouse logistics scene, a robot is moved to point B, a graphical programming tool is used to edit a material loading action, such as servo butt joint of a material shelf- > the robot enters the bottom of the shelf- > the robot aligns with a jacking position- > jacking the shelf, repeated debugging stabilizes the point action and saves the point action as a "material taking" action, and the action is "hung" to point B, that is, the "material taking" action is allowed to be run at point B.
And S103, controlling the robot to travel among a plurality of preset point positions according to a preset sequence, and executing actions at each target point position according to an action program to complete the operation task.
It should be noted that a complex robot operation is usually a combination of a move-to-point operation and a fixed-point operation, where a process moving to a certain point controls the robot to travel among a plurality of preset point locations according to a preset sequence, and a specific process of performing a certain action at a target point location, such as grabbing an object, may be edited into an action program, and the action program and the move-to-point control are decoupled, thereby facilitating control of the robot.
According to the robot control method provided by the embodiment of the application, a plurality of preset point positions are determined, wherein the preset point positions are points through which the robot passes when the robot executes a task; respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point positions; the control robot advances between a plurality of preset points according to the preset sequence, and acts at each target point according to the action program to complete the operation task, thereby solving the problems that the control robot needs to customize a complex control program in the related art, the control program can not be reused, and the control program is difficult to maintain. The robot is controlled to advance among the preset point positions according to the preset sequence, and the action is executed at each target point position according to the action program, so that the effects that the control program for controlling the operation of the robot can be reused and the control program is convenient to maintain are achieved.
Optionally, in the robot control method provided in the embodiment of the present application, controlling the robot to travel between the plurality of preset points according to a preset sequence includes: the robot is navigated among the plurality of preset point locations based on the preset sequence to realize the advance of the robot among the plurality of preset point locations.
For example, as shown in fig. 2, in a warehouse logistics scenario, the job tasks are: get the material action to the material district execution, carry out the action of unloading to the district of unloading, stand by idle to the rest district, the preset order is: and B point [ material taking ] -D point [ material unloading ] -A point [ standby ] ", navigating the robot, controlling the robot to move to the B point, then moving from the B point to the D point, and finally moving from the D point to the A point.
For example, as shown in fig. 3, in a floor sweeping application, the work tasks are: firstly, dust absorption and recharging, and after all cleaning is stopped, recharging, wherein the preset sequence is as follows: point B [ start dust collection ] -point C [ end dust collection start mopping ] - … -point B [ stop all cleaning ] -point A [ charge ] ", navigating the robot, controlling the robot to move to point B, then moving from point B to point C, then respectively passing through each corner in the room, finally returning to point B, and then moving from point B to point A.
Optionally, in the robot control method provided in this embodiment of the present application, before controlling the robot to travel between the plurality of preset point locations according to the preset sequence, the method further includes: respectively selecting a target line from a plurality of preset lines between two adjacent preset point positions to obtain a plurality of target lines, wherein the preset lines are lines existing on a map, the preset lines contain constraint information, and the constraint information at least comprises one of the following: the width of the route, the travel speed defined by the route, the travel direction defined by the route; determining a passing road based on a preset sequence and a plurality of target lines; controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: and controlling the robot to advance according to the passing road.
For example, as shown in fig. 2, in a warehouse logistics scenario, the target tasks are: get the material action to the material district execution, carry out the action of unloading to the district of unloading, stand by idle to the rest district, the preset order is: the method comprises the following steps that point B [ material taking ] -point D [ material unloading ] -point A [ standby ] ", a plurality of lines are arranged between the point B and the point D on a map, a plurality of lines are also arranged between the point D and the point A on the map, each line has constraint information such as width, speed limit and one-way traffic, a target line is selected from the plurality of lines to form a same-row road, and in addition, the constraint information can be adjusted.
For example, as shown in fig. 3, in a floor sweeping application, the objective tasks are: firstly, dust absorption and recharging, and after all cleaning is stopped, recharging, wherein the preset sequence is as follows: the method comprises the following steps of A, starting dust collection at a point B, starting dust collection at a point C, starting dust collection at the point C, mopping at the point C, …, stopping all cleaning at the point B, starting charging at the point A, wherein a plurality of lines are arranged on a map from the point B to the point C, a plurality of cleaning lines are arranged from one corner to the other corner of a room after dust collection is started, a plurality of lines are arranged from the point B to the point A, and a target line is selected from the plurality of lines to form a same-way road.
Optionally, in the robot control method provided in the embodiment of the present application, in a case that the type of the action that needs to be performed by the second target point is the same as the type of the action that needs to be performed by the first target point, the action program that respectively determines that the robot performs the action at each target point includes: determining an action program of the robot executing the action at the first target point; and determining an action program of the robot to execute actions at a second target point based on the action program of the robot to execute actions at the first target point, wherein the second target point is a point other than the first target point in the plurality of target points.
For example, as shown in fig. 2, in a warehouse logistics scene, if the material taking flow at point C is completely consistent with that at point B, the "material taking" action at point B may be multiplexed, and the action may be hung on point C. If the actions are inconsistent, the 'hanging' action of the point B can be copied, the editing and debugging are carried out on the basis of the action, and after the action is finished, the action is saved and hung in the point C. And under the condition that the subtasks are completely different, the debugging operation action needs to be edited according to the method of the point B, and the point location is stored and hung.
Optionally, in the robot control method provided in the embodiment of the present application, the method further includes: and under the condition that the job task needs to be changed, re-determining the action program on the target point position of the execution action to be changed, and/or deleting the action program on the target point position of the execution action to be cancelled, and/or setting the action program for the preset point position of the execution action to be added, and/or controlling the robot to travel among the re-determined preset point positions after the preset point position is re-determined.
Specifically, when the task needs to be changed, the movement route and the action program of the target point in the task can be changed, and the action program of the target point can edit the action, re-debug and save, or newly create the action and hang in the point.
In addition, in the process of controlling the robot to execute the operation task, if a certain link has errors, actions can be reset and executed again, so that the integral operation success rate is improved. For example, as shown in fig. 2, the preset program is "navigate to point B-execute a material taking action-navigate to point D-execute a material discharging action-navigate to point a", and if the discharging action fails, the preset program can re-navigate to point D and retry to execute the material discharging action.
According to the embodiment, the robot work task is decomposed into the combined sequence of the action programs moving to the point and at the target point, so that the control flexibility is improved, the convenience of work program debugging is improved, the program stability and the reusability are improved, and meanwhile, the action programs of the subtasks are reset during running, and the running stability of the whole task is improved.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
The embodiment of the present application further provides a robot control device, and it should be noted that the robot control device according to the embodiment of the present application may be used to execute the method for controlling a robot according to the embodiment of the present application. The following describes a robot control device according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a robot control device according to an embodiment of the present application. As shown in fig. 4, the apparatus includes: a first determination unit 10, a second determination unit 20 and a control unit 30.
Specifically, the first determining unit 10 is configured to determine a plurality of preset point locations, where the plurality of preset point locations are a plurality of point locations through which the robot passes when executing the task.
The second determining unit 20 is configured to determine an action program of the robot performing an action at each target point, where the plurality of preset point locations include the target point.
And the control unit 30 is used for controlling the robot to travel among the plurality of preset point locations according to a preset sequence, and executing actions at each target point location according to the action program so as to complete the operation task.
Alternatively, in the robot control device provided in the embodiment of the present application, the control unit 30 includes: and the navigation module is used for navigating the robot among the plurality of preset point positions based on the preset sequence so as to realize the advancing of the robot among the plurality of preset point positions.
Optionally, in the robot control device provided in the embodiment of the present application, the device further includes: the selection unit is used for selecting a target line from a plurality of preset lines between two adjacent preset point locations respectively before the robot is controlled to advance between the preset point locations according to a preset sequence to obtain a plurality of target lines, wherein the preset lines are lines existing on a map, the preset lines contain constraint information, and the constraint information at least comprises one of the following: the width of the route, the travel speed defined by the route, the travel direction defined by the route; a third determination unit for determining a passing road based on a preset order and a plurality of target routes; the control unit includes: and the control module is used for controlling the robot to advance according to the passing road.
Alternatively, in the robot control device provided in the embodiment of the present application, the second determination unit 20 includes: the first determining module is used for determining an action program of the robot for executing the action at the first target point under the condition that the action needing to be executed at the second target point is the same as the type of the action needing to be executed at the first target point; and the second determining module is used for determining an action program of the robot for executing the action at a second target point position based on the action program of the robot for executing the action at the first target point position, wherein the second target point position is a point position other than the first target point position in the plurality of target point positions.
Optionally, in the robot control device provided in the embodiment of the present application, the device further includes: the adjusting unit is used for re-determining the action program on the target point position of the execution action to be changed and/or deleting the action program on the target point position of the execution action to be cancelled under the condition that the job task needs to be changed, and/or setting the action program for the preset point position of the execution action to be added, and/or controlling the robot to move among the re-determined preset point positions after the preset point positions are re-determined.
The robot control device provided by the embodiment of the application determines a plurality of preset point locations through the first determining unit 10, wherein the plurality of preset point locations are a plurality of point locations through which the robot passes when executing a task; the second determining unit 20 determines an action program of the robot performing an action at each target point, wherein the plurality of preset point locations include the target point location; the control unit 30 controls the robot to advance among a plurality of preset point locations according to a preset sequence, and executes actions at each target point location according to action programs to complete operation tasks, so that the problems that the robot is controlled to operate in the related art, complex control programs need to be customized, the control programs cannot be reused, and the control programs are difficult to maintain are solved.
The robot control device comprises a processor and a memory, wherein the first determining unit 10, the second determining unit 20, the control unit 30 and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the problems that in the related technology, a complicated control program needs to be customized for controlling the operation of the robot, the control program cannot be reused, and the control program is difficult to maintain are solved by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a storage medium having a program stored thereon, the program implementing the robot control method when executed by a processor.
The embodiment of the invention provides a processor, which is used for running a program, wherein the robot control method is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program and realizes the following steps: determining a plurality of preset point positions, wherein the preset point positions are points through which the robot executes the operation task; respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point positions; and controlling the robot to advance among the plurality of preset point positions according to a preset sequence, and executing actions at each target point position according to an action program so as to complete the operation task.
Controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: the robot is navigated among the plurality of preset point locations based on the preset sequence to realize the advance of the robot among the plurality of preset point locations.
Before controlling the robot to travel between the plurality of preset points in the preset order, the method further comprises: respectively selecting a target line from a plurality of preset lines between two adjacent preset point positions to obtain a plurality of target lines, wherein the preset lines are lines existing on a map, the preset lines contain constraint information, and the constraint information at least comprises one of the following: the width of the route, the travel speed defined by the route, the travel direction defined by the route; determining a passing road based on a preset sequence and a plurality of target lines; controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: and controlling the robot to advance according to the passing road.
When the type of the action to be executed by the second target point is the same as that of the action to be executed by the first target point, the action program for respectively determining that the robot executes the action at each target point comprises: determining an action program of the robot executing the action at the first target point; and determining an action program of the robot to execute actions at a second target point based on the action program of the robot to execute actions at the first target point, wherein the second target point is a point other than the first target point in the plurality of target points.
The method further comprises the following steps: and under the condition that the job task needs to be changed, re-determining the action program on the target point position of the execution action to be changed, and/or deleting the action program on the target point position of the execution action to be cancelled, and/or setting the action program for the preset point position of the execution action to be added, and/or controlling the robot to travel among the re-determined preset point positions after the preset point position is re-determined. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: determining a plurality of preset point positions, wherein the preset point positions are points through which the robot executes the operation task; respectively determining action programs of the robot for executing actions at each target point, wherein the plurality of preset point positions comprise the target point positions; and controlling the robot to advance among the plurality of preset point positions according to a preset sequence, and executing actions at each target point position according to an action program so as to complete the operation task.
Controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: the robot is navigated among the plurality of preset point locations based on the preset sequence to realize the advance of the robot among the plurality of preset point locations.
Before controlling the robot to travel between the plurality of preset points in the preset order, the method further comprises: respectively selecting a target line from a plurality of preset lines between two adjacent preset point positions to obtain a plurality of target lines, wherein the preset lines are lines existing on a map, the preset lines contain constraint information, and the constraint information at least comprises one of the following: the width of the route, the travel speed defined by the route, the travel direction defined by the route; determining a passing road based on a preset sequence and a plurality of target lines; controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: and controlling the robot to advance according to the passing road.
When the type of the action to be executed by the second target point is the same as that of the action to be executed by the first target point, the action program for respectively determining that the robot executes the action at each target point comprises: determining an action program of the robot executing the action at the first target point; and determining an action program of the robot to execute actions at a second target point based on the action program of the robot to execute actions at the first target point, wherein the second target point is a point other than the first target point in the plurality of target points.
The method further comprises the following steps: and under the condition that the job task needs to be changed, re-determining the action program on the target point position of the execution action to be changed, and/or deleting the action program on the target point position of the execution action to be cancelled, and/or setting the action program for the preset point position of the execution action to be added, and/or controlling the robot to travel among the re-determined preset point positions after the preset point position is re-determined.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (9)
1. A robot control method, comprising:
determining a plurality of preset point positions, wherein the preset point positions are a plurality of point positions passed by the robot when the robot executes a task;
respectively determining action programs of the robot for executing actions at each target point, wherein the preset point comprises the target point, and the action program of the robot for executing the actions at the target point is one of the action programs hung at the target point;
controlling the robot to travel among the plurality of preset point locations according to a preset sequence, and executing actions at each target point location according to the action program to complete the operation task, wherein the operation task is a combined sequence of moving to the preset point locations and executing the action program at the target point location;
before controlling the robot to travel between the plurality of preset points in a preset order, the method further comprises: respectively selecting a target line from a plurality of preset lines between two adjacent preset point positions to obtain a plurality of target lines, wherein the preset lines are lines existing on a map; determining a passing road based on the preset sequence and the plurality of target lines; controlling the robot to travel between the plurality of preset points according to a preset sequence comprises: controlling the robot to advance according to the passing road, wherein the target lines forming the passing road comprise constraint information;
when the operation task needs to be changed, changing the operation task by changing the action programs of the passing road and the target point position in the operation task;
wherein changing the job task by changing the movement program of the traffic road and the target point location in the job task includes: the method comprises the steps of re-determining an action program on a target point position of an execution action to be changed, and/or deleting the action program on the target point position of the execution action to be cancelled, and/or setting the action program for a preset point position of the execution action to be added, and/or controlling the robot to travel among the re-determined preset point positions after the preset point position is re-determined.
2. The method of claim 1, wherein controlling the robot to travel between the plurality of preset points in a preset order comprises:
navigating the robot among the plurality of preset point locations based on the preset sequence to realize the advancing of the robot among the plurality of preset point locations.
3. The method of claim 1, wherein the predetermined line contains constraint information, the constraint information comprising at least one of: the width of the route, the travel speed defined by the route, the travel direction defined by the route.
4. The method of claim 1, wherein in the case that the type of the action to be performed by the second target point is the same as the type of the action to be performed by the first target point, the action program for determining that the robot performs the action at each target point respectively comprises:
determining an action program of the robot for executing actions at the first target point;
and determining an action program of the robot for executing actions at the second target point position based on the action program of the robot for executing actions at the first target point position, wherein the second target point position is a point position other than the first target point position in the plurality of target point positions.
5. A robot control apparatus, comprising:
the robot comprises a first determining unit, a second determining unit and a control unit, wherein the first determining unit is used for determining a plurality of preset point positions, and the preset point positions are a plurality of point positions passed by the robot when the robot executes a work task;
a second determining unit, configured to determine an action program for the robot to perform an action at each target point, where the plurality of preset point locations include the target point, and the action program for the robot to perform an action at the target point is one of the plurality of action programs hung at the target point;
the control unit is used for controlling the robot to travel among the plurality of preset point locations according to a preset sequence and executing actions according to the action programs at all the target point locations so as to complete the operation tasks, wherein the operation tasks are combined sequences of moving to the preset point locations and executing the action programs at the target point locations;
the selecting unit is used for respectively selecting a target line from a plurality of preset lines between two adjacent preset point locations before controlling the robot to travel between the preset point locations according to a preset sequence to obtain a plurality of target lines, wherein the preset lines are lines existing on a map;
a third determination unit configured to determine a passing road based on the preset order and the plurality of target routes;
the control unit includes: the control module is used for controlling the robot to move along the passing road, wherein the target lines forming the passing road comprise constraint information;
when the operation task needs to be changed, changing the operation task by changing the action programs of the passing road and the target point position in the operation task;
wherein changing the job task by changing the movement program of the traffic road and the target point location in the job task includes: the method comprises the steps of re-determining an action program on a target point position of an execution action to be changed, and/or deleting the action program on the target point position of the execution action to be cancelled, and/or setting the action program for a preset point position of the execution action to be added, and/or controlling the robot to travel among the re-determined preset point positions after the preset point position is re-determined.
6. The apparatus of claim 5, wherein the control unit comprises:
and the navigation module is used for navigating the robot among the plurality of preset point positions based on the preset sequence so as to realize the advancing of the robot among the plurality of preset point positions.
7. The apparatus of claim 5, wherein the predetermined line contains constraint information, the constraint information comprising at least one of: the width of the route, the travel speed defined by the route, the travel direction defined by the route.
8. A storage medium characterized by comprising a stored program, wherein the program executes the robot control method according to any one of claims 1 to 4.
9. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the robot control method of any one of claims 1 to 4.
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| CN111325499A (en) * | 2020-01-22 | 2020-06-23 | 上海擎朗智能科技有限公司 | Article delivery method and device, robot and storage medium |
| CN112207824B (en) * | 2020-09-22 | 2022-07-01 | 慧灵科技（深圳）有限公司 | Method, system, device and storage medium for controlling multiple single-axis modules |
| CN113568611B (en) * | 2020-10-12 | 2024-03-08 | 宁波舜宇智能科技有限公司 | Logistics path graphical generation method, equipment, electronic device and storage medium |
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| CN114131599B (en) * | 2021-11-30 | 2023-08-29 | 珠海格力电器股份有限公司 | Robot programming control method and device, storage medium and demonstrator |
| CN114740837A (en) * | 2022-03-08 | 2022-07-12 | 上海景吾酷租科技发展有限公司 | Method and system for deploying and controlling walking path of cleaning robot |
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