CN110442086A - A kind of robot and its method of movement switching - Google Patents
A kind of robot and its method of movement switching Download PDFInfo
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- CN110442086A CN110442086A CN201810410152.7A CN201810410152A CN110442086A CN 110442086 A CN110442086 A CN 110442086A CN 201810410152 A CN201810410152 A CN 201810410152A CN 110442086 A CN110442086 A CN 110442086A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
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- Microelectronics & Electronic Packaging (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
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Abstract
The present invention is suitable for automatic control technology field, provides the method and robot of a kind of robot motion switching, comprising: controls the robot and executes the first movement；Preload the second movement, next movement that second movement executes after the completion of acting for described first；When preloading the second movement completion, sends to preload and complete instruction；The instruction control robot, which is completed, according to the preloading switches to execution second movement.By preloading the next movement executed after the completion of the first movement when execution first acts, the calculation amount of the CPU floating number in movement handoff procedure is reduced, without in the case where improving cpu performance, the delay that movement switching can be reduced reaches the smooth switching between movement, improves user experience.Efficiently solving the rising of floating number calculation amount causes to act handoff delay, influences the fluency of robot motion, leads to the problem that user experience is bad.
Description
Technical field
The invention belongs to automatic control technology field more particularly to a kind of robot and its methods of movement switching.
Background technique
One is the automatic installations for executing work order for robot.It can work according to the commander of people,
It can also be operated according to the program of preparatory layout, the principle program that can also be formulated according to artificial intelligence technology carries out work
Make.Robot is generally made of executing agency, driving device, detection device and control system and complicated machinery device.In machine
When people's execution acts, need to carry out a large amount of CPU floating number by movement algorithm to calculate, thus there are a large amount of CPU to float
Points calculation amount, the CPU slightly lower for floating-point performance will lead to delay when movement switching when floating number calculation amount rises,
To influence the fluency of robot motion, cause user experience bad.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of robot and its methods of movement switching, to solve floating number
Calculation amount rising causes to act handoff delay, influences the fluency of robot motion, leads to the problem that user experience is bad.
The first aspect of the present invention provides a kind of method of robot motion switching, is applied to robot, comprising:
It controls the robot and executes the first movement；
Preload the second movement, next movement that second movement executes after the completion of acting for described first；
When preloading the second movement completion, sends to preload and complete instruction；
The instruction control robot, which is completed, according to the preloading switches to execution second movement.
The second aspect of the present invention provides a kind of robot, comprising:
First action executing module executes the first movement for controlling the robot；
Preloaded components, for preloading the second movement, described second acts to execute after the completion of first movement
Next movement；
Instruction sending module when completing for preloading second movement, sends to preload and completes instruction；
Switching module is acted, controlling the robot for completing instruction according to preloadings switches to execution described the
Two movements.
The third aspect of the present invention provides a kind of robot, including memory, processor and is stored in the storage
In device and the computer program that can run on the processor, the processor are realized following when executing the computer program
Step:
It controls the robot and executes the first movement；
Preload the second movement, next movement that second movement executes after the completion of acting for described first；
When preloading the second movement completion, sends to preload and complete instruction；
The instruction control robot, which is completed, according to the preloading switches to execution second movement.
The fourth aspect of the present invention provides a kind of computer readable storage medium, and the computer readable storage medium is deposited
Computer program is contained, the computer program performs the steps of when being executed by processor
It controls the robot and executes the first movement；
Preload the second movement, next movement that second movement executes after the completion of acting for described first；
When preloading the second movement completion, sends to preload and complete instruction；
The instruction control robot, which is completed, according to the preloading switches to execution second movement.
A kind of robot provided by the invention and its method of movement switching, by preloading when execution first acts
The next movement executed after the completion of first movement reduces the calculation amount of the CPU floating number in movement handoff procedure, without improving
In the case where cpu performance, it will be able to which the delay of reduction movement switching reaches the smooth switching between movement, improves user experience.Have
Solving to effect the rising of floating number calculation amount causes to act handoff delay, influences the fluency of robot motion, leads to user's body
Test bad problem.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of implementation process schematic diagram for robot motion switching method that the embodiment of the present invention one provides；
Fig. 2 is the implementation process schematic diagram of one step S102 of corresponding embodiment provided by Embodiment 2 of the present invention；
Fig. 3 is the implementation process schematic diagram for the one step S104 of corresponding embodiment that the embodiment of the present invention three provides；
Fig. 4 is a kind of structural schematic diagram for robot that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram of preloaded components 102 in the corresponding embodiment four of the offer of the embodiment of the present invention five；
Fig. 6 is the structural schematic diagram that switching module 104 is acted in the corresponding embodiment four of the offer of the embodiment of the present invention six；
Fig. 7 is the schematic diagram for the robot that the embodiment of the present invention seven provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
Cause to act handoff delay to solve the rising of floating number calculation amount, influences the fluency of robot motion, cause
The bad problem of user experience, the embodiment of the invention provides a kind of robot and its movement switching methods, by executing the
When one movement, the next movement executed after the completion of the first movement is preloaded, reduces the meter of the CPU floating number in movement handoff procedure
Calculation amount, without in the case where improving cpu performance, it will be able to the delay of reduction movement switching reaches the smooth switching between movement,
Improve user experience.Efficiently solving the rising of floating number calculation amount causes to act handoff delay, influences the stream of robot motion
Smooth property, leads to the problem that user experience is bad.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one:
As shown in Figure 1, present embodiments providing a kind of robot motion switching method, it is applied to robot, it is specific to wrap
It includes:
Step S101: it controls the robot and executes the first movement.
In a particular application, robot is controlled according to action command and executes the first movement.It should be noted that the first movement
Refer to the movement that current robot is carrying out.
In a particular application, the first movement is executed according to the movement algorithm control robot of the first movement.It needs to illustrate
It is that the movement algorithm of above-mentioned first movement includes the action datas such as motion profile and the target position of the first movement.
Step S102: preloading the second movement, and second movement is next dynamic to execute after the completion of first movement
Make.
In a particular application, the second movement is preloaded while execution first acts, it should be noted that the
The next movement for the movement that next movement that two movements execute after the completion for the first movement, i.e. current robot are carrying out,
Just wait for the movement executed.
In a particular application, the second movement is preloaded and is namely calculated previously according to the movement algorithm of the second movement
The action datas such as motion profile and target position when the robot the second movement of execution.
In a particular application, robot is calculated according to the movement algorithm of the first movement before the movement of execution first
The robot has executed the target position of the robot after above-mentioned first movement, and therefore, the preloading to the second movement is herein
On the basis of to the robot execute second movement when exercise data carry out operation.
Step S103: it when preloading the second movement completion, sends to preload and completes instruction.
In a particular application, when robot is after completing the preloading to the second movement, feedback, which preloads, completes instruction
To the robot, is preloaded and completed with prompt.
Step S104: the instruction control robot is completed according to the preloading and switches to execution second movement.
In a particular application, after instruction is completed in the preloading that robot receives feedback, robot is cut from the first movement
It shifts to and executes the second movement that preloading is completed, execution switching.Since the second movement has been completed to preload,
Handoff procedure does not need to generate a large amount of CPU floating number calculation amount, efficiently reduces the delay of movement handoff procedure.
Next movement of the second movement is then preloaded simultaneously after robot switches to the second movement of execution in concrete application
Above-mentioned steps S101 to step S104 is recycled, until everything is finished, then robot stopping is controlled and executes movement.
Robot motion switching method provided in this embodiment, by preloading the first movement when execution first acts
The next movement executed after the completion reduces the calculation amount of the CPU floating number in movement handoff procedure, without improving cpu performance
In the case where, it will be able to the delay of reduction movement switching reaches the smooth switching between movement, improves user experience.Effectively solve
The rising of floating number of having determined calculation amount causes to act handoff delay, influences the fluency of robot motion, causes user experience bad
The problem of.
Embodiment two:
As shown in Fig. 2, in the present embodiment, the step S102 in embodiment one is specifically included:
Step S201: the movement algorithm of second movement is read.
Step S202: movement operation is carried out according to the movement algorithm of second movement.
In a particular application, movement fortune is carried out according to the second movement algorithm after the movement algorithm for having read the second movement
Calculate, the exercise data of the second movement is calculated, it should be noted that above-mentioned exercise data include but is not limited to motion profile and
Target position.
In one embodiment, above-mentioned steps S202 is specifically included: being calculated according to the movement algorithm and is executed described second
The target position of the robot after the motion profile of the robot and execution described second act when movement.
In a particular application, the movement to the second action moment device people of execution is calculated by the movement algorithm of the second movement
Track, such as initial position, target position, the direction of motion, movement velocity, and execute the target position of robot after the second movement
It sets, such as coordinate, that is, target position direction of target position.
Embodiment three:
As shown in figure 3, in the present embodiment, the step S104 in embodiment one is specifically included:
Step S301: judge whether that receiving the preloading completes instruction.
In a particular application, after the completion of the movement algorithm operation of the second movement, preloading can be fed back and complete instruction.If connecing
It receives to preload to complete to instruct and then shows that the movement algorithm of the second movement at this time has calculated completion, that is to say, that execute at this time
Movement switching will not generate a large amount of CPU floating number calculation amount.
Step S302: if receiving the preloading completes instruction, judge whether first movement is completed.
In a particular application, it receives preloading and completes instruction and then show to carry out movement switching at this time will not to generate CPU floating
It counts calculation amount, it can smooth and switching action glibly.At this time, it may be necessary to determine whether the first movement has executed completion.
Step S303: it if first movement is completed, controls the robot and executes second movement.
In a particular application, the first movement is completed, and robot needs to switch to the second movement at this time, due to second dynamic
Preloading is completed, therefore directly controls robot after the completion of the first movement and executes the second movement, execution switching.
Example IV:
As shown in figure 4, for executing the method and step in embodiment one, being wrapped the present embodiment provides a kind of robot 100
It includes: the first action executing module 101, preloaded components 102, instruction sending module 103 and movement switching module 104.
First action executing module 101 executes the first movement for controlling the robot.
For preloading the second movement, described second acts to execute after the completion of first movement preloaded components 102
Next movement.
When instruction sending module 103 is completed for preloading second movement, sends to preload and complete instruction.
Movement switching module 104 is used to complete instruction according to the preloading to control the robot and switch to described in execution
Second movement.
It should be noted that robot provided in an embodiment of the present invention, as with embodiment of the method base shown in Fig. 1 of the present invention
In same design, bring technical effect is identical as embodiment of the method shown in Fig. 1 of the present invention, and particular content can be found in the present invention
Narration in embodiment of the method shown in Fig. 1, details are not described herein again.
Therefore, robot provided in this embodiment, equally can be by preloading the first movement when execution first acts
The next movement executed after the completion reduces the calculation amount of the CPU floating number in movement handoff procedure, without improving cpu performance
In the case where, it will be able to the delay of reduction movement switching reaches the smooth switching between movement, improves user experience.Effectively solve
The rising of floating number of having determined calculation amount causes to act handoff delay, influences the fluency of robot motion, causes user experience bad
The problem of.
Embodiment five:
As shown in figure 5, in the present embodiment, the preloaded components 102 in example IV include for executing corresponding to Fig. 2
Embodiment in method and step structure comprising: algorithm reading unit 201 and movement arithmetic element 202.
Algorithm reading unit 201 is used to read the movement algorithm of second movement.
Movement arithmetic element 202 is used to carry out movement operation according to the movement algorithm of second movement.
In one embodiment, above-mentioned movement arithmetic element 202, which is specifically used for being calculated according to the movement algorithm, executes institute
State the target position of the robot after the motion profile of the robot and execution described second act when the second movement.
Embodiment six:
As shown in fig. 6, in the present embodiment, the movement switching module 104 in example IV includes right for executing Fig. 3 institute
The structure for the method and step in embodiment answered comprising:
Embodiment seven:
Fig. 7 is the schematic diagram for the robot that the embodiment of the present invention seven provides.As shown in fig. 7, the robot 7 of the embodiment wraps
It includes: processor 70, memory 71 and being stored in the computer that can be run in the memory 71 and on the processor 70
Program 72, such as program.The processor 70 realizes above-mentioned each robot motion switching when executing the computer program 72
Step in embodiment of the method, such as step S101 to S104 shown in FIG. 1.Alternatively, the processor 70 executes the calculating
The function of each module/unit in the above system embodiment, such as the function of module 101 to 104 shown in Fig. 4 are realized when machine program 72
Energy.
Illustratively, the computer program 72 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 71, and are executed by the processor 70, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 72 in the robot 7 is described.For example, the computer program 72 can be divided
At the first action executing module, preloaded components, instruction sending module and movement switching module, each module concrete function is such as
Under:
First action executing module executes the first movement for controlling the robot；
Preloaded components, for preloading the second movement, described second acts to execute after the completion of first movement
Next movement；
Instruction sending module when completing for preloading second movement, sends to preload and completes instruction；
Switching module is acted, controlling the robot for completing instruction according to preloadings switches to execution described the
Two movements.
The robot 7 can be the calculating such as desktop PC, notebook, palm PC and cloud management server and set
It is standby.The robot may include, but be not limited only to, processor 70, memory 71.It will be understood by those skilled in the art that Fig. 7 is only
It is only the example of robot 7, does not constitute the restriction to robot 7, may include components more more or fewer than diagram, or
Certain components or different components are combined, such as the robot can also be set including input-output equipment, network insertion
Standby, bus etc..
Alleged processor 70 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 71 can be the internal storage unit of the robot 7, such as the hard disk or memory of robot 7.
The memory 71 is also possible to the External memory equipment of the robot 7, such as the plug-in type being equipped in the robot 7 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 71 can also both include the internal storage unit of the robot 7 or wrap
Include External memory equipment.The memory 71 is for other programs needed for storing the computer program and the robot
And data.The memory 71 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.It is above-mentioned wireless
The specific work process of unit in terminal, module, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device/robot and method, Ke Yitong
Other modes are crossed to realize.For example, device/robotic embodiment described above is only schematical, for example, the mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device or
The INDIRECT COUPLING or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated module/unit be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method.Wherein, the computer program includes computer program code, the computer program generation
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium
It may include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic that can carry the computer program code
Dish, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of robot motion switching method is applied to robot characterized by comprising
It controls the robot and executes the first movement；
Preload the second movement, next movement that second movement executes after the completion of acting for described first；
When preloading the second movement completion, sends to preload and complete instruction；
The instruction control robot, which is completed, according to the preloading switches to execution second movement.
2. robot motion switching method according to claim 1, which is characterized in that described to preload the second movement, packet
It includes:
Read the movement algorithm of second movement；
Movement operation is carried out according to the movement algorithm of second movement.
3. robot motion switching method according to claim 2, which is characterized in that it is described according to it is described second movement
Movement algorithm carries out movement operation, specifically includes:
The motion profile of the robot and execution described second when execution described second acts are calculated according to the algorithm that acts
The target position of the robot after movement.
4. robot motion switching method according to claim 1, which is characterized in that described to be completed according to the preloading
Instruction controls the robot and switches to execution second movement, comprising:
Judge whether that receiving the preloading completes instruction；
If receiving the preloading completes instruction, judge whether first movement is completed；
If first movement is completed, controls the robot and execute second movement.
5. a kind of robot, which is characterized in that the robot includes:
First action executing module executes the first movement for controlling the robot；
Preloaded components, for preloading the second movement, second movement is next to execute after the completion of first movement
Movement；
Instruction sending module when completing for preloading second movement, sends to preload and completes instruction；
Switching module is acted, it is dynamic for switching to execution described second according to the preloading completion instruction control robot
Make.
6. robot according to claim 5, which is characterized in that the preloaded components include:
Algorithm reading unit, for reading the movement algorithm of second movement；
Arithmetic element is acted, for carrying out movement operation according to the movement algorithm of second movement.
7. robot according to claim 6, which is characterized in that the movement arithmetic element is specifically used for according to described dynamic
Make algorithm to calculate the motion profile of robot when executing the described second movement and execute the machine after second movement
The target position of people.
8. robot according to claim 5, which is characterized in that the movement switching module includes:
First judging unit judges whether that receiving the preloading completes instruction；
Second judgment unit judges whether first movement is completed if receiving the preloading completes instruction；
Switch unit is acted, if first movement is completed, the robot is controlled and executes second movement.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes that Claims 1-4 such as is appointed when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as Claims 1-4 of realization the method.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112130483A (en) * | 2020-08-27 | 2020-12-25 | 深圳市优必选科技股份有限公司 | Robot control method and robot |
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| CN107368639A (en) * | 2017-07-10 | 2017-11-21 | 深圳市同川科技有限公司 | Speed planning method, apparatus, computer equipment and storage medium |
| CN107553487A (en) * | 2017-08-22 | 2018-01-09 | 广东美的智能机器人有限公司 | The mode switching method and its device of robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112130483A (en) * | 2020-08-27 | 2020-12-25 | 深圳市优必选科技股份有限公司 | Robot control method and robot |
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Application publication date: 20191112 |