CN111230876A

CN111230876A - Method and device for moving article, intelligent equipment and storage medium

Info

Publication number: CN111230876A
Application number: CN202010081793.XA
Authority: CN
Inventors: 李强; 赵龙飞; 向灵竹; 戴媛; 黄碧丹; 迟万超; 杨思成; 张正友
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-02-06
Filing date: 2020-02-06
Publication date: 2020-06-05
Anticipated expiration: 2040-02-06
Also published as: CN111230876B

Abstract

The embodiment of the application discloses a method and a device for moving articles, intelligent equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: determining a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object; controlling the gripper to move from the first position to the initial position according to the moving path and then gripping the target object; determining a first target position of the gripper in the moving path according to the initial position of the gripper, and controlling the gripper to move from the initial position to the first target position; the method comprises the steps of determining a second target position of the gripper in the moving path according to the first position of the gripper, controlling the gripper to move from the first target position to the second target position until the target position of the gripper in the moving path is determined to be an end position, and controlling the gripper to move a target article to the end position.

Description

Method and device for moving article, intelligent equipment and storage medium

Technical Field

The present application relates to the field of computer technologies, and in particular, to a method and an apparatus for moving an object, an intelligent device, and a storage medium.

Background

With the continuous development of computer equipment, various intelligent devices are present in people's daily life. The intelligent device can provide the function of moving objects, and brings convenience to the life of people. For example, an express robot that transports articles, a chess playing robot that plays chess with a user, and the like.

By taking the chess playing robot as an example, the chess playing robot can move the target chess pieces from the initial position to the final position according to the current state on the chessboard, so as to realize chess playing with the user.

In the scheme, the intelligent device moves the target chess piece from the initial position to the end position at one time, if an emergency occurs in the moving process, the intelligent device cannot cope with the emergency, and the flexibility of the intelligent device is poor.

Disclosure of Invention

The embodiment of the application provides a method and a device for moving an article, intelligent equipment and a storage medium, and can improve the flexibility of the intelligent equipment. The technical scheme is as follows:

in one aspect, a method for moving an object is provided, and the method is applied to a smart device, and the smart device is provided with a holder, and the method comprises the following steps:

determining a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved;

controlling the gripper to move from the first position to the initial position according to the moving path and then grip the target object;

determining a first target position of the gripper in the moving path according to the second position of the gripper, and controlling the gripper to move from the second position to the first target position;

determining a second target position of the gripper in the movement path according to the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the movement path is determined to be the end position, and controlling the gripper to move the target item to the end position.

In one possible implementation, the determining a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved includes:

determining a first moving path from the first position to the initial position according to the first position and the initial position;

and determining a second moving path from the initial position to the end position according to the initial position and the end position.

determining a manner of movement of the target item by the gripper based on whether an obstruction exists between the initial position and the end position;

determining a movement path of the gripper according to the movement pattern, the first position, the initial position, and the end position.

In one possible implementation, the determining a movement pattern of the gripper with respect to the target object according to whether an obstacle exists between the initial position and the end position includes:

if an obstacle exists between the initial position and the termination position, determining that the moving mode of the gripper is a first moving mode, wherein the first moving mode indicates that the target object is moved after being lifted after the target object is gripped at the initial position, and the target object is placed at the termination position;

if no obstacle exists between the initial position and the termination position, determining that the moving mode of the clamp is a second moving mode, wherein the second moving mode indicates that the target object is pushed to the termination position after the target object is clamped at the initial position.

In one possible implementation, the determining a moving path of the gripper according to the moving pattern, the first position, the initial position, and the end position includes:

if the moving mode is the first moving mode, determining, according to the first position, the initial position and the end position:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a fifth movement path from the initial position to the first hover position;

a sixth movement path from the first flying position to the second flying position;

a seventh movement path from the second flying position to the termination position;

the first suspension position is a position above the initial position and at a first preset distance from the initial position, and the second suspension position is a position above the termination position and at a first preset distance from the termination position.

if the moving mode is the second moving mode, determining, according to the first position, the initial position and the end position:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a seventh movement path from the initial position to the end position;

the first suspension position is a position above the initial position and at a first preset distance from the initial position.

In one possible implementation, the controlling the gripper to grip the target object after moving from the first position to the initial position according to the moving path includes:

determining a third target position of the gripper in the moving path according to the first position, and controlling the gripper to move from the first position to the third target position;

determining a fourth target position of the gripper in the moving path according to the fourth position of the gripper, controlling the gripper to move from the fourth position to the fourth target position until the target position of the gripper in the moving path is determined to be the initial position, and controlling the gripper to clamp the target object after moving to the initial position.

In one possible implementation, the smart device is configured with a plurality of grippers, and before determining the moving path of the grippers according to the first position of the grippers, the initial position and the end position of the target object to be moved, the method further comprises:

determining a gripper of the plurality of grippers that is in an idle state;

acquiring a first position of the gripper.

In one possible implementation, the determining a holder of the plurality of holders that is in an idle state includes:

if the plurality of grippers comprise a plurality of grippers in an idle state, acquiring the distance between the position of the plurality of grippers in the idle state and the initial position;

and determining a gripper corresponding to the minimum distance in the acquired plurality of distances.

In one possible implementation, the determining a first target position of the gripper in the moving path according to the second position of the gripper includes:

determining a target speed of the gripper according to a distance between the second position and the end position, the target speed having a positive correlation with the distance;

determining a first target position of the gripper in the movement path based on the target speed and the second position.

In one possible implementation, the determining a target speed of the gripper based on the distance between the second position and the end position includes:

if the distance between the second position and the termination position is greater than a second preset distance, determining a target speed corresponding to the distance by adopting a first mapping function;

if the distance between the second position and the termination position is not greater than the second preset distance, determining a target speed corresponding to the distance by adopting a second mapping function;

and the target speed corresponding to the second preset distance determined by adopting the first mapping function is equal to the target speed corresponding to the second preset distance determined by adopting the second mapping function.

In one possible implementation, the smart device includes a mobile device, the mobile device being connected with the holder; the controlling the gripper to move from the second position to the first target position comprises:

and controlling the moving device to move to drive the clamp holder to move from the second position to the first target position.

In one possible implementation, the moving device is a robot arm, one end of the robot arm is connected with the gripper, and the robot arm comprises a plurality of joints; the determining a first target position of the gripper in the movement path according to the second position of the gripper comprises:

determining a target linear velocity of the gripper according to a distance between the second position and the end position, the target linear velocity being in a positive correlation with the distance;

converting the target linear velocity into a corresponding target angular velocity by adopting a target conversion function;

determining target angles of the plurality of joints according to the target angular speed, the current angles of the plurality of joints and a target time length, wherein the target angles of the plurality of joints are used for indicating the first target position;

the controlling the moving device to move to drive the gripper to move from the second position to the first target position comprises:

controlling each of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the second position to the first target position.

In one possible implementation, the target linear velocity is related to the target angles of the plurality of joints by:

wherein y is the distance between the position where the gripper is located and the end position, b is a third predetermined distance,

k is any parameter greater than 0 for the target linear velocity,

is the target angular velocity, J^-1Is the inverse of the Jacobian matrix, q_desIs a target angle of the plurality of joints, q_curΔ t is the target duration for the current angles of the plurality of joints.

In one possible implementation, after controlling each of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the second position to the first target position, the method further includes:

obtaining a current angle of each of the plurality of joints;

determining the third position at which the gripper is located based on the current angle of each joint.

In one possible implementation, after the controlling the gripper to move from the second position to the first target position, the method further includes:

if a first target event is detected, suspending the step of determining a second target position of the gripper in the moving path according to the third position of the gripper;

after the first target event disappears, the step of determining a second target position of the gripper in the movement path according to the third position of the gripper is performed.

In one possible implementation, the first target event includes an event of other items entering an operating space of the smart device.

if a second target event is detected, stopping executing the step of determining a second target position of the gripper in the moving path according to the third position of the gripper;

controlling the gripper to move from the end position to a preset position of the gripper.

In one possible implementation, the second target event includes an event in which the target item falls from the gripper.

In one possible implementation, the method further includes:

controlling the gripper to move from the end position to a preset position of the gripper after the gripper moves the target item to the end position.

In one possible implementation, the controlling the gripper to move from the end position to a preset position of the gripper includes:

taking the preset position of the gripper as an updated end position, and updating the moving path of the gripper according to the fifth position of the gripper and the updated end position;

determining a fifth target position of the gripper in the updated moving path according to the fifth position, and controlling the gripper to move from the fifth position to the fifth target position;

and determining a sixth target position of the gripper in the moving path according to the sixth position of the gripper until the target position of the gripper in the moving path is determined to be the updated end position, and controlling the gripper to move to the updated end position.

In one aspect, a method for moving an article is provided, and is applied to a smart device, wherein the smart device is provided with a controller and a holder, and the controller is electrically connected with the holder; the method comprises the following steps:

the controller determines a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved;

the controller controls the gripper to move from the first position to the initial position according to the moving path and then grip the target object;

the controller determines a first target position of the gripper in the moving path according to a second position of the gripper, and controls the gripper to move from the second position to the first target position;

the controller determines a second target position of the gripper in the moving path according to the third position of the gripper, controls the gripper to move from the third position to the second target position until the target position of the gripper in the moving path is determined to be the end position, and controls the gripper to move the target item to the end position.

In one possible implementation, the controller includes a semantic analysis controller; the controller determines a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved, and comprises the following steps:

the semantic analysis controller determines a first moving path from the first position to the initial position according to the first position and the initial position;

and the semantic analysis controller determines a second moving path from the initial position to the end position according to the initial position and the end position.

In one possible implementation, the controller further comprises a motion controller and a clamping controller, and the semantic analysis controller is electrically connected with the motion controller and the clamping controller; the controller controls the gripper to grip the target object after moving from the first position to the initial position according to the moving path, and the method comprises the following steps:

after determining the first moving path, the semantic analysis controller sends the first moving path to the motion controller;

the motion controller controls the clamper to move from the first position to the initial position according to the first moving path, and sends a first completion message to the semantic analysis controller;

after receiving the first completion message, the semantic analysis controller sends the clamping instruction to the clamping controller;

and the clamping controller controls the clamp to clamp the target object according to the clamping instruction.

In one possible implementation, the controller determines a first target position of the gripper in the moving path according to a second position of the gripper, and controls the gripper to move from the second position to the first target position, including:

after the semantic analysis controller sends the clamping instruction to the clamp, the semantic analysis controller sends the second moving path to the motion controller;

the motion controller determines a first target position of the gripper in the second moving path according to a second position of the gripper, and controls the gripper to move from the second position to the first target position;

the motion controller determines a second target position of the gripper in the movement path based on the third position of the gripper, controls the gripper to move from the third position to the second target position until the target position of the gripper in the movement path is determined to be the end position, controls the gripper to move the target item to the end position, and includes:

the motion controller determines a second target position of the gripper in the second moving path according to the third position of the gripper, controls the gripper to move from the third position to the second target position until the target position of the gripper in the moving path is determined to be the end position, controls the gripper to move the target object to the end position, and sends a second completion message to the semantic analysis controller.

In one possible implementation, the controller determines the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved, including:

the controller determines the moving mode of the gripper to the target object according to whether an obstacle exists between the initial position and the final position;

the controller determines a movement path of the gripper according to the movement pattern, the first position, the initial position, and the end position.

In one possible implementation, the controller determines the moving manner of the target object by the gripper according to whether an obstacle exists between the initial position and the end position, including:

if an obstacle exists between the initial position and the end position, the controller determines that the movement mode of the gripper is a first movement mode, the first movement mode indicates that the target object is moved after the target object is gripped by the initial position, and the target object is placed at the end position;

if no obstacle exists between the initial position and the end position, the controller determines that the moving mode of the gripper is a second moving mode, and the second moving mode indicates that the target object is pushed to the end position after the target object is gripped by the initial position.

In one possible implementation, the controller determines a moving path of the gripper according to the moving pattern, the first position, the initial position, and the end position, including:

if the moving mode is the first moving mode, the controller determines, according to the first position, the initial position, and the end position:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a fifth movement path from the initial position to the first hover position;

if the moving mode is the second moving mode, the controller determines, according to the first position, the initial position, and the end position:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a seventh movement path from the initial position to the end position;

the controller determines a third target position of the gripper in the moving path according to the first position, and controls the gripper to move from the first position to the third target position;

the controller determines a fourth target position of the gripper in the moving path according to the fourth position of the gripper, controls the gripper to move from the fourth position to the fourth target position until the target position of the gripper in the moving path is determined to be the initial position, and controls the gripper to move to the initial position;

the controller controls the gripper to grip the target item.

In one possible implementation, the smart device is configured with a plurality of grippers, and before the controller determines the moving path of the grippers according to the first position of the grippers, the initial position and the end position of the target object to be moved, the method further comprises:

the controller determines a gripper in an idle state among the plurality of grippers, and acquires a first position at which the gripper is located.

In one possible implementation, the controller determines a gripper of the plurality of grippers that is in an idle state, and obtains a first position of the gripper, including:

if the plurality of grippers are in an idle state, the controller acquires the distance between the position where the plurality of grippers are in the idle state and the initial position;

the controller determines a first position at which the gripper is located corresponding to a minimum distance of the acquired plurality of distances.

In one possible implementation, the controller determines a first target position of the gripper in the moving path according to the second position of the gripper, including:

the controller determines a target speed of the gripper according to a distance between the second position and the end position, the target speed having a positive correlation with the distance;

the controller determines a first target position of the gripper in the path of movement based on the target speed and the second position.

if the distance between the second position and the termination position is greater than a second preset distance, the controller determines a target speed corresponding to the distance by adopting a first mapping function;

if the distance between the second position and the termination position is not greater than the second preset distance, the controller determines a target speed corresponding to the distance by using a second mapping function;

In one possible implementation, the smart device includes a mobile device, the mobile device is connected to the holder, and the mobile device is electrically connected to the controller; the controlling the gripper to move from the second position to the first target position comprises:

the controller controls the moving device to move to drive the clamp holder to move from the second position to the first target position.

In one possible implementation, the moving device is a robot arm, the gripper is connected to one end of the robot arm, the robot arm is electrically connected to the controller, and the robot arm includes a plurality of joints; the controller determines a first target position of the gripper in the movement path according to the second position of the gripper, including:

the controller determines a target linear velocity of the gripper according to a distance between the second position and the end position, the target linear velocity having a positive correlation with the distance;

the controller converts the target linear velocity into a corresponding target angular velocity by adopting a target conversion function;

the controller determines target angles of the plurality of joints according to the target angular speed, the current angles of the plurality of joints and a target time length, wherein the target angles of the plurality of joints are used for indicating the first target position;

the controller controls the moving device to move to drive the gripper to move from the second position to the first target position, and the method comprises the following steps:

the controller controls each of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the second position to the first target position.

In one possible implementation, the controller includes a motion controller and a plurality of joint controllers electrically connected to the motion controller, the plurality of joint controllers being respectively connected to each joint of the robot arm, and the controller controls each joint of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the second position to the first target position, including:

after determining the target angles of the plurality of joints, the motion controller sends the target angles of the corresponding joints to the plurality of joint controllers;

and each joint controller bends the corresponding joint from the current angle to the target angle according to the received target angle.

In one possible implementation, after each joint controller bends the corresponding joint from the current angle to the target angle according to the received target angle, the method further includes:

the controller obtains a current angle of each of the plurality of joints;

the controller determines a third position of the gripper according to the current angle of each joint;

the controller determines a second target position of the gripper in the movement path according to the third position of the gripper, including:

the controller determines a second target position of the gripper in the movement path based on the third position of the gripper.

if the controller detects a first target event, suspending the step of determining a second target position of the gripper in the moving path according to a third position of the gripper;

after the first target event disappears, the controller performs the step of determining a second target position of the gripper in the movement path according to a third position at which the gripper is located.

if the controller detects a second target event, stopping executing the step of determining a second target position of the gripper in the moving path according to the third position of the gripper;

the controller controls the gripper to move from the end position to a preset position of the gripper.

In one possible implementation, the method further includes:

after the gripper moves the target item to the end position, the controller controls the gripper to move from the end position to a preset position of the gripper.

In one possible implementation, the controller controls the gripper to move from the end position to a preset position of the gripper, including:

the controller takes the preset position of the gripper as an updated end position, and updates the moving path of the gripper according to the fifth position of the gripper and the updated end position;

the controller determines a fifth target position of the gripper in the updated moving path according to the fifth position, and controls the gripper to move from the fifth position to the fifth target position;

and the controller determines a sixth target position of the gripper in the moving path according to the sixth position of the gripper until the target position of the gripper in the moving path is determined to be the updated end position, and controls the gripper to move to the updated end position.

In one possible implementation, the method further includes:

after the gripper moves the target item to the end position, the controller sends a release instruction to the gripper;

the gripper releases the target item according to the release instruction.

In one aspect, an apparatus for moving an object is provided, which is applied to a smart device, the smart device being configured with a holder, the apparatus comprising:

the moving path determining module is used for determining a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved;

the control module is used for controlling the gripper to move from the first position to the initial position according to the moving path and then gripping the target object;

the control module is used for determining a first target position of the gripper in the moving path according to the second position of the gripper, and controlling the gripper to move from the second position to the first target position;

the control module is used for determining a second target position of the gripper in the moving path according to the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the moving path is determined to be the end position, and controlling the gripper to move the target object to the end position.

In one possible implementation, the moving path determining module includes:

a moving path determining unit, configured to determine a first moving path from the first position to the initial position according to the first position and the initial position;

and the moving path determining unit is used for determining a second moving path from the initial position to the termination position according to the initial position and the termination position.

In one possible implementation, the moving path determining module includes:

a moving mode determining unit for determining a moving mode of the gripper to the target object according to whether an obstacle exists between the initial position and the end position;

a moving path determining unit for determining a moving path of the gripper according to the moving manner, the first position, the initial position, and the end position.

In a possible implementation manner, the moving manner determining unit is configured to determine, if there is an obstacle between the initial position and the end position, that the moving manner of the gripper is a first moving manner, where the first moving manner indicates that the target item is moved after the target item is picked up after the initial position grips the target item, and the target item is placed at the end position;

the moving manner determining unit is configured to determine that the moving manner of the gripper is a second moving manner if no obstacle exists between the initial position and the end position, and the second moving manner indicates that the target item is pushed to the end position after the target item is gripped at the initial position.

In a possible implementation manner, the moving path determining unit is configured to determine, if the moving manner is the first moving manner, according to the first position, the initial position, and the end position:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a fifth movement path from the initial position to the first hover position;

In a possible implementation manner, the moving path determining unit is configured to determine, if the moving manner is the second moving manner, according to the first position, the initial position, and the end position:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a seventh movement path from the initial position to the end position;

In a possible implementation, the control module is configured to determine a third target position of the gripper in the moving path according to the first position, and control the gripper to move from the first position to the third target position;

the control module is used for determining a fourth target position of the gripper in the moving path according to the fourth position of the gripper, controlling the gripper to move from the fourth position to the fourth target position until the target position of the gripper in the moving path is determined to be the initial position, and controlling the gripper to clamp the target object after moving to the initial position.

In one possible implementation, the smart device is configured with a plurality of holders, and the apparatus further includes:

a determining module for determining a gripper of the plurality of grippers that is in an idle state;

and the acquisition module is used for acquiring the first position of the gripper.

In one possible implementation, the determining module includes:

an obtaining unit, configured to obtain, if the plurality of grippers include a plurality of grippers in an idle state, a distance between a position where the plurality of grippers in the idle state are located and the initial position;

and a determination unit for determining a gripper corresponding to a minimum distance among the acquired plurality of distances.

In one possible implementation, the control module includes:

a speed determination unit for determining a target speed of the gripper according to a distance between the second position and the end position, the target speed having a positive correlation with the distance;

a position determining unit for determining a first target position of the gripper in the movement path based on the target speed and the second position.

In a possible implementation manner, the speed determining unit is configured to determine, by using a first mapping function, a target speed corresponding to the distance if the distance between the second position and the end position is greater than a second preset distance;

the speed determining unit is configured to determine, by using a second mapping function, a target speed corresponding to the distance if the distance between the second position and the end position is not greater than the second preset distance;

In a possible implementation manner, the smart device includes a moving device, the moving device is connected to the holder, and the control module is configured to control the moving device to move so as to move the holder from the second position to the first target position.

In one possible implementation, the moving device is a robot arm, one end of the robot arm is connected with the gripper, and the robot arm comprises a plurality of joints; the control module includes:

a speed determination unit for determining a target linear speed of the gripper according to a distance between the second position and the end position, the target linear speed having a positive correlation with the distance;

the conversion unit is used for converting the target linear velocity into a corresponding target angular velocity by adopting a target conversion function;

a position determining unit, configured to determine target angles of the plurality of joints according to the target angular velocity, current angles of the plurality of joints, and a target time length, where the target angles of the plurality of joints are used to indicate the first target position;

a control unit for controlling each of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the initial position to the first target position.

k is any parameter greater than 0 for the target linear velocity,

In one possible implementation, the apparatus further includes:

an obtaining module for obtaining a current angle of each of the plurality of joints;

a determination module for determining the third position of the gripper according to the current angle of each joint.

In a possible implementation manner, the control module is configured to suspend, if a first target event is detected, the step of determining a second target position of the gripper in the moving path according to a third position where the gripper is located;

the control module is configured to execute the step of determining a second target position of the gripper in the moving path according to the third position of the gripper after the first target event disappears.

In one possible implementation, the apparatus further includes:

the control module is used for stopping executing the step of determining the second target position of the gripper in the moving path according to the third position of the gripper if a second target event is detected;

the control module is used for controlling the clamp to move from the termination position to a preset position of the clamp.

In one possible implementation, the control module is configured to control the gripper to move from the end position to a preset position of the gripper after the gripper moves the target object to the end position.

In a possible implementation manner, the moving path determining unit is configured to take the preset position of the gripper as an updated end position, and update the moving path of the gripper according to the fifth position of the gripper and the updated end position;

a control unit, configured to determine a fifth target position of the gripper in the updated moving path according to the fifth position, and control the gripper to move from the fifth position to the fifth target position;

the control unit is used for determining a sixth target position of the gripper in the moving path according to the sixth position of the gripper until the target position of the gripper in the moving path is determined to be the updated end position, and controlling the gripper to move to the updated end position.

In one aspect, a smart device is provided that is configured with a controller and a holder, the controller being electrically connected to the holder;

the controller is used for determining a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved;

the controller is used for controlling the gripper to move from the first position to the initial position according to the moving path and then gripping the target object;

the controller is used for determining a first target position of the gripper in the moving path according to the second position of the gripper, and controlling the gripper to move from the second position to the first target position;

the controller is used for determining a second target position of the gripper in the moving path according to the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the moving path is determined to be the end position, and controlling the gripper to move the target object to the end position.

In one possible implementation, the controller includes a semantic analysis controller;

the semantic analysis controller is used for determining a first moving path from the first position to the initial position according to the first position and the initial position;

and the semantic analysis controller is used for determining a second moving path from the initial position to the end position according to the initial position and the end position.

In one possible implementation, the controller further comprises a motion controller and a clamping controller, and the semantic analysis controller is electrically connected with the motion controller and the clamping controller;

the semantic analysis controller is used for sending the first moving path to the motion controller after the first moving path is determined;

the motion controller is used for controlling the gripper to move from the first position to the initial position according to the first moving path, and sending a first completion message to the semantic analysis controller;

the semantic analysis controller is used for sending the clamping instruction to the clamping controller after receiving the first completion message;

and the clamping controller is used for controlling the clamp to clamp the target object according to the clamping instruction.

In one possible implementation, after the semantic analysis controller is configured to send the clamping instruction to the clamp, the semantic analysis controller sends the second moving path to the motion controller;

the motion controller is used for determining a first target position of the gripper in the second moving path according to the second position of the gripper, and controlling the gripper to move from the second position to the first target position;

the motion controller is configured to determine a second target position of the gripper in the second moving path according to the third position of the gripper, control the gripper to move from the third position to the second target position until the target position of the gripper in the moving path is determined to be the end position, control the gripper to move the target item to the end position, and send a second completion message to the semantic analysis controller.

In one possible implementation, the controller is configured to determine a movement pattern of the gripper with respect to the target object according to whether an obstacle exists between the initial position and the end position;

the controller is used for determining the moving path of the gripper according to the moving mode, the first position, the initial position and the termination position.

In a possible implementation manner, the controller is configured to determine, if there is an obstacle between the initial position and the end position, that the moving manner of the gripper is a first moving manner, where the first moving manner indicates that the target item is moved after the target item is gripped by the initial position, and the target item is placed at the end position;

the controller is configured to determine that a moving manner of the gripper is a second moving manner if no obstacle exists between the initial position and the end position, where the second moving manner indicates that the target item is pushed to the end position after being gripped by the initial position.

In a possible implementation manner, the controller is configured to determine, according to the first position, the initial position, and the end position, if the moving manner is the first moving manner:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a fifth movement path from the initial position to the first hover position;

In a possible implementation manner, the controller is configured to determine, according to the first position, the initial position, and the end position, if the moving manner is the second moving manner:

a third movement path from the first position to the first hover position;

a fourth movement path from the first hover position to the initial position;

a seventh movement path from the initial position to the end position;

In one possible implementation, the controller is configured to determine a third target position of the gripper in the moving path according to the first position, and control the gripper to move from the first position to the third target position;

the controller is used for determining a fourth target position of the gripper in the moving path according to the fourth position of the gripper, controlling the gripper to move from the fourth position to the fourth target position until the target position of the gripper in the moving path is determined to be the initial position, and controlling the gripper to move to the initial position;

the controller is used for controlling the gripper to clamp the target object.

In one possible implementation, the smart device is configured with a plurality of holders;

the controller is used for determining a gripper in an idle state in the plurality of grippers and acquiring a first position of the gripper.

In a possible implementation manner, the controller is configured to, if a plurality of grippers in an idle state are included in the plurality of grippers, acquire a distance between a first position where the plurality of grippers in the idle state are located and the initial position;

the controller is configured to determine a first position at which the gripper is located corresponding to a minimum distance of the acquired plurality of distances.

In one possible implementation, the controller is configured to determine a target speed of the gripper according to a distance between the second position and the end position, the target speed being in a positive correlation with the distance;

the controller is configured to determine a first target position of the gripper in the movement path based on the target speed and the second position.

In a possible implementation manner, the controller is configured to determine, by using a first mapping function, a target speed corresponding to the distance if the distance between the second position and the end position is greater than a second preset distance;

the controller is configured to determine, by using a second mapping function, a target speed corresponding to the distance if the distance between the second position and the termination position is not greater than the second preset distance;

In one possible implementation, the smart device includes a mobile device, the mobile device is connected to the holder, and the mobile device is electrically connected to the controller;

the controller is used for controlling the moving device to move and driving the clamp to move from the second position to the first target position.

In one possible implementation, the moving device is a robot arm, the gripper is connected to one end of the robot arm, the robot arm is electrically connected to the controller, and the robot arm includes a plurality of joints;

the controller is used for determining a target linear velocity of the clamper according to the distance between the second position and the termination position, and the target linear velocity is in positive correlation with the distance;

the controller is used for converting the target linear velocity into a corresponding target angular velocity by adopting a target conversion function;

the controller is used for determining target angles of the joints according to the target angular speed, the current angles of the joints and target time lengths, and the target angles of the joints are used for indicating the first target position;

the controller is used for controlling each joint in the plurality of joints to bend from a current angle to a corresponding target angle so as to enable the clamp to move from the second position to the first target position.

In one possible implementation, the controller includes a motion controller and a plurality of joint controllers electrically connected to the motion controller, the plurality of joint controllers being respectively connected to each joint of the robot arm;

the motion controller is used for sending the target angles of the corresponding joints to the plurality of joint controllers after determining the target angles of the plurality of joints;

each joint controller is used for bending the corresponding joint from the current angle to the target angle according to the received target angle.

In one possible implementation, the controller is configured to obtain a current angle of each of the plurality of joints;

the controller is used for determining a third position of the clamp according to the current angle of each joint;

the controller is used for determining a second target position of the gripper in the moving path according to the third position of the gripper.

In a possible implementation manner, the controller is configured to suspend the step of determining a second target position of the gripper in the moving path according to a third position of the gripper if a first target event is detected;

the controller is configured to execute the step of determining a second target position of the gripper in the moving path according to a third position of the gripper after the first target event disappears.

In a possible implementation manner, the controller is configured to stop executing the step of determining the second target position of the gripper in the moving path according to the third position of the gripper if the second target event is detected.

In one possible implementation, the controller is configured to control the gripper to move from the end position to a preset position of the gripper after the gripper moves the target object to the end position.

In a possible implementation manner, the controller is configured to take the preset position of the gripper as an updated end position, and update the moving path of the gripper according to the fifth position of the gripper and the updated end position;

the controller is used for determining a fifth target position of the gripper in the updated moving path according to the fifth position, and controlling the gripper to move from the fifth position to the fifth target position;

the controller is used for determining a sixth target position of the gripper in the moving path according to the sixth position of the gripper until the target position of the gripper in the moving path is determined to be the updated end position, and controlling the gripper to move to the updated end position.

In one possible implementation, the controller is configured to send a release instruction to the gripper after the gripper moves the target item to the end position;

the gripper is used for releasing the target object according to the release instruction.

In yet another aspect, a computer device is provided, which includes a holder, a processor, and a memory, the holder being electrically connected to the processor, the memory having at least one instruction stored therein, the instruction being loaded by the processor and performing the operations performed in the method of moving an article according to the above aspects.

In yet another aspect, a computer-readable storage medium having at least one instruction stored therein is provided, which is loaded and executed by a processor to implement the operations performed in the method for moving an article as described.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

according to the method, the device, the intelligent device and the storage medium for moving the object, the intelligent device determines the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the object to be moved, and controls the gripper to move from the first position to the initial position and then grip the object according to the moving path; then, according to the second position of the gripper, determining a first target position of the gripper in the moving path, controlling the gripper to move from the second position to the first target position, determining a second target position of the gripper in the movement path according to the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the movement path is determined to be an end position, controlling the gripper to move the target object to the end position, gradually moving the target object from the initial position to the end position in a staged moving manner, if an emergency occurs in the process, the intelligent device can determine the position of the holder and the target position, lays a foundation for the intelligent device to deal with emergency, and improves the flexibility of the intelligent device.

In addition, in the embodiment of the application, the target position can be calculated in real time according to the position of the gripper and the end position on the moving path based on a method of instantaneous inverse solution in the process of controlling the movement of the gripper, the movement of the gripper is controlled step by step, and the staged movement of the gripper is realized.

In addition, in consideration of the low timeliness of point-to-point motion at the final convergence node, the convergence domain is determined according to the characteristics of the convergence attractor, and the moving speed of the gripper in the convergence domain is increased, so that the speed of the gripper moving articles is increased, and the moving efficiency is improved.

In addition, the embodiment of the application further provides intelligent equipment with double grippers, when the target object is moved, the other gripper can be used for gripping the obstacle through the double grippers, and compared with the method that the obstacle is moved to the object storage position first and then the target object is moved to the termination position, the moving path is reduced, the time for moving the object is reduced, and the object moving efficiency is improved.

In addition, the embodiment of the application can also detect whether the target event occurs, and take different measures according to different target events. The first target event may be an event affecting gripper movement, the smart device stopping controlling gripper movement when the smart device detects the first target event, and continuing to control gripper movement when the smart device detects the disappearance of the first target event. And when the intelligent device stops controlling the clamp holder to move, the intelligent device stops determining the target position of the clamp holder, and cannot control the clamp holder to move to the target position due to the fact that the target position is not determined.

In addition, when the target object falls, the clamp holder can be retracted to the preset position, a solution is provided for the target object to fall, and the clamp holder is prevented from still moving the object after the target object falls.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 6 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a chess robot according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an express delivery robot provided in an embodiment of the present application;

FIG. 9 is a flow chart of a method of moving an item provided by an embodiment of the present application;

FIG. 10 is a flow chart of a method of moving an article according to an embodiment of the present application;

FIG. 11 is a flow chart of a method of moving an article according to an embodiment of the present application;

FIG. 12 is a schematic structural diagram of an apparatus for moving an object according to an embodiment of the present disclosure;

FIG. 13 is a schematic structural diagram of another apparatus for moving objects according to an embodiment of the present disclosure;

fig. 14 is a schematic structural diagram of an intelligent device provided in an embodiment of the present application;

fig. 15 is a block diagram of a terminal according to an embodiment of the present disclosure;

fig. 16 is a schematic structural diagram of a server according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

It will be understood that the terms "first," "second," and the like as used herein may be used herein to describe various concepts, which are not limited by these terms unless otherwise specified. These terms are only used to distinguish one concept from another. For example, the first preset distance may be referred to as a second preset distance, and similarly, the second preset distance may be referred to as a first preset distance, without departing from the scope of the present application.

Artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.

The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.

The embodiment of the application can adopt the artificial intelligence technology to determine the target object to be moved and the termination position of the target object, and use the method for moving the object provided by the application to realize the movement of the target object from the initial position to the termination position. The method for moving objects of the present application is illustrated in detail by the following examples:

the method for moving the article can be applied to intelligent equipment, and the intelligent equipment is equipment with the capability of moving the article. The intelligent device can be a chess playing robot playing chess with the user, such as a chess robot, a go robot, a Chinese checkers robot and the like; the intelligent equipment can also be a robot for transporting articles, such as an express robot, a meal delivery robot and the like; the intelligent device can also be other devices with the capability of moving objects, such as industrial mechanical arms on a production line, and the embodiment of the application does not limit the intelligent device.

The method for moving the article provided by the embodiment of the application can be applied to any scene of moving the article:

the chess playing process of the chess robot and the user is taken as an example for explanation:

the chess robot can generate corresponding control information according to the current battle condition on the chessboard, and the control information can comprise target chess pieces to be moved and the termination positions of the target chess pieces. The intelligent equipment determines the moving path of the holder according to the first position of the holder, the initial position and the end position of the target chess piece to be moved. The intelligent equipment controls the holder to move from the first position to the initial position and then holds the target chess piece according to the moving path; then, determining a first target position of the gripper in the moving path according to the second position of the gripper; at the moment, the second position of the clamp is the initial position; the intelligent device controls the holder to move from the initial position to the first target position, then determines the second target position of the holder in the moving path according to the third position of the holder, controls the holder to move from the third position to the second target position until the target position of the holder in the moving path is determined to be the end position, controls the holder to move the target chess piece to the end position, and gradually moves the target chess piece from the initial position to the end position in a staged moving mode.

The method for moving the object provided by the embodiment of the application can also be applied to the express robot to move the express object or other scenes, and the embodiment of the application is not limited to this.

The following embodiments illustrate the structure of the smart device:

in one possible implementation, as shown in fig. 1, the smart device may include a controller 101 and a gripper 102, wherein the controller 101 is electrically connected to the gripper 102, and the smart device determines a moving path of the gripper 102 through the controller 101 and controls the gripper 102 to move the target object to the end position according to the moving path through the controller 101.

In another possible implementation manner, as shown in fig. 2, the smart device may further include a moving device 103, where the moving device 103 is connected to the holder 102, the moving device 103 is electrically connected to the controller 101, and the controller 101 controls the moving device 103 to move the holder 102.

As shown in fig. 3, in one possible implementation, the moving device 103 is a robotic arm 1031, and the gripper 102 is connected to one end of the robotic arm 1031. It should be noted that fig. 3 only illustrates the robot arm including 2 joints, but the robot arm may include a plurality of joints, that is, the robot arm may include any number of joints of 2 and 2 or more, and fig. 3 does not limit the robot arm. The controller 101 controls the moving device to move, and the driving the clamper 102 to move to the target position includes: a target angle of a plurality of joints is determined, and the controller 101 controls each joint of the plurality of joints to bend from the current angle to the corresponding target angle to move the clamper 102 from the present position to the target position.

In one possible implementation, the smart device may include a controller and a plurality of grippers, the controller being connected to each of the plurality of grippers, fig. 4 illustrates that the smart device includes two grippers as an example, as shown in fig. 4, the smart device may include a controller 101 and two grippers 102, wherein the controller 101 is connected to the two grippers 102 respectively, and can control any gripper to move from one position to another position.

In one possible implementation, as shown in fig. 5, the smart device may further include a sensor 104, and the sensor 104 is electrically connected to the controller 101. The sensor 104 is configured to detect sensing information in the smart device operating space, so as to detect an event occurring in the operating space, and optionally, the sensor 104 may be a thermosensitive biosensor (e.g., an infrared sensor, etc.), an optical biosensor, etc., and the embodiment of the present application is not limited to the type of the sensor.

In a possible implementation manner, as shown in fig. 6, the smart device may further include a camera 105, where the camera 105 is electrically connected to the controller 102, and the camera 105 captures an image, where the image includes the target object, and the initial position of the target object may be obtained by analyzing the image.

In one possible implementation, the smart device is a chess robot, which may be as shown in fig. 7, comprising: a controller 701, a first gripper 702, a second gripper 703, and a robotic arm 704. The controller 701 is arranged inside the robot arm, the controller 701 is electrically connected with the first gripper 702, the second gripper 703 and the robot arm 704, and the first gripper 702 and the second gripper 703 are connected with one end of the robot arm 704. Fig. 7 is only an example in which the controller 701 is disposed inside the robot arm, in other embodiments, the chess robot shown in fig. 7 may be electrically connected to a computer device, the controller 701 may be disposed in the computer device, and the embodiment of the present application does not limit the position of the controller.

As shown in fig. 7, the joint between the first gripper 702, the second gripper 703 and the robot 704 is a circular joint that can be rotated so that the first gripper 702 and the second gripper 703 are upside down. This application realizes grabbing and changing of chess piece through the chess robot of a two holders.

In one possible implementation, the chess robot may further include a sensor 705, the sensor 705 being electrically connected to the controller 701, the sensor may be used to detect the presence of other objects in the operation space of the chess robot, such as the presence of a human hand in the operation space of the chess robot. The sensor 705 may send the detection result to the controller 701, and the controller 701 may take corresponding measures according to the detection result.

In one possible implementation, as shown in fig. 7, the chess robot may also include a camera 706. The camera 706 is electrically connected to the controller 701, and the camera 706 collects an image including a chessboard 707 and chess pieces 708, transmits the image to the controller 701, analyzes the image by the controller 701, determines a strategy for playing next step, and controls the gripper to move the target chess pieces according to the strategy.

The chessboard 707 and the chess pieces 708 are arranged in the shooting range of the camera 706, the chessboard 707 and the chess pieces 708 can be a part of the chess robot, or any chessboard 707 and chess pieces 708, before the user plays a game with the chess robot, the chessboard 707 and the chess pieces 708 can be arranged in the shooting range of the camera 706, and the embodiment of the invention does not limit whether the chess robot comprises the chessboard 707 and the chess pieces 708.

In addition, during the playing process of the user and the chess robot, the chess pieces of the other side can be eaten by the chess pieces of the other side, so that in a possible implementation mode, the chess robot can further comprise a discarded sub-slot 709, and the eaten chess pieces can be placed in the discarded sub-slot. In addition, the discarded sub-slot 709 may be any discarded sub-slot, and the discarded sub-slot 709 may be placed at a specific position before the user plays the chess with the chess robot, which is not limited in the embodiment of the present application.

In one possible implementation, as shown in fig. 7, the chess robot may further include: a first control button 710 and a second control button 711, wherein the first control button 710 may be used to start and shut down the chess robot, and the second control button 711 may be used to pause the chess game or resume the game.

Before the user starts playing with the chess robot, the user can control the chess robot to start and stop through the first control button 710, and during playing, the chess robot can also be controlled to pause or restart. The first control button 710 and the second control button 711 may also be used to provide other functions, and the number of the control buttons and the functions of the control buttons of the chess robot in the embodiment of the present application are not limited.

In one possible implementation, as shown in fig. 7, the chess robot may further include a sound box 712, the sound box 712 is electrically connected to the controller 701, the sound box 712 may be used to broadcast the playing situation, and may also instruct the user how to deal with the emergency situation when the emergency situation occurs, for example, the target chess piece falls from the holder, the sound box 712 may instruct the user to place the dropped chess piece at a specified position by broadcasting the voice, and the position of the instruction may be the end position of the target chess piece in the strategy determined by the controller.

In one possible implementation, as shown in fig. 7, the chess robot may also include a light bar 713, and during play of the user with the chess robot, the light bar 713 lights up to indicate that the user is playing with the chess robot. Optionally, the user may perform chess in a different color from that of the chess robot, and the current side may be determined according to the color of the light bar 713.

The chess robot also comprises a support 714 and a base 715, wherein the base 715 is used for placing the chessboard 707 and the mechanical arm 704, the support 714 is arranged on one side of the surface of the base 715, a sensor 705 and a camera 706 are arranged on the support 714, and the sensor 705 and the camera 706 are arranged on the support 714, so that the sensor 705 can detect the objects in the space above the base 715 and the camera 706 can shoot the objects in the space above the base 715.

It should be noted that fig. 7 is only an example of the intelligent device by using chess robots, and does not limit the appearance of the controller, the clamper, and the intelligent device, and in another embodiment, the intelligent device can also be shown in fig. 8.

As shown in fig. 8, the smart device may also be a courier robot, which includes a controller 801, a gripper 802, and a moving device 803, wherein the controller 801 is electrically connected to the gripper 802 and the moving device 803, and the moving device 803 is connected to the gripper 802. The controller 802 may control the gripper 802 to grip or release the courier item, and may control the hub of the moving device 803 to rotate, so as to move the gripper 802 from one position to another position, and the gripper 802 grips the courier item, so as to move the courier item from one position to another position.

The intelligent equipment is only explained by taking the chess robot and the express robot as examples, the intelligent equipment is not limited, the intelligent equipment can also be other equipment with the function of moving articles such as a meal delivery robot, and the like, and the intelligent equipment is not limited by the embodiment of the application. In addition, fig. 7 and 8 are only exemplary illustrations of the object chess robot and the express delivery robot, and the structures of the object chess robot and the express delivery robot are not limited.

Fig. 9 is a flowchart of a method for moving an article according to an embodiment of the present application. An execution subject of the embodiment of the present application is any one of the intelligent devices shown in fig. 1 to 8, and the embodiment of the present application describes a process of moving an article, with reference to fig. 9, where the method includes:

901. the initial position and the end position of the target object to be moved are acquired.

The target object to be moved is an object to be moved by the intelligent equipment, and the object can be chess pieces such as Chinese chess pieces, Chinese checkers pieces, go pieces, gobang pieces and the like; the article may also be any other article that can be moved, such as an express article, and the embodiment of the present application does not limit this.

The initial position of the target object to be moved refers to the current position of the target object, and the final position refers to the position to be reached after the target object is moved. The target object and the termination location of the target object may be determined by the smart device, or may be obtained by the smart device by reading other data, which is not limited herein.

In one possible implementation manner, the intelligent device may be a chess playing robot, and the chess playing robot generates a corresponding chess playing strategy according to the current battle conditions on the chessboard, wherein the chess playing strategy comprises a target chess piece to be moved and an end position of the target chess piece. Therefore, the target item to be moved and the termination position of the target item can be determined according to the policy generated by the smart device.

For example, the intelligent device is a chess robot, the chess robot determines that the current strategy is ' cannon two-in-five ', that is, ' cannons on the second line of my party are translated to the fifth line ', the target chess pieces to be moved in the chess playing strategy are ' cannons on the second line of my party ', the end positions of the target chess pieces are ' longitudinal positions are the fifth line of my party ', and the transverse positions are the same as the transverse positions of the current cannons on the second line '.

In another possible implementation manner, the intelligent device may be an express robot, when a person sends an express item, the person fills in a sender address and a recipient address, the sender address and the recipient address are recorded in the system, the express robot can determine an initial position and an end position of a target item to be moved by reading data in the system, the express robot moves to the initial position of the target item, checks information such as a logistics single number on the item located at the initial position, and determines whether the item is the target item to be moved; or, the express delivery robot does not need to identify the target object to be moved, and directly confirms the object located at the initial position as the target object to be moved, which is not limited in the embodiment of the present application.

For example, the intelligent device is an express delivery robot, the express delivery robot reads a piece of recorded express delivery data in the system, the express delivery data comprises a logistics list number, a sender address and a receiver address, the express delivery robot confirms the express delivery item carrying the logistics list number as a target item to be moved, confirms the sender address as an initial position of the target item, and confirms the receiver address as an end position of the target item.

902. The moving path of the gripper is determined according to the first position of the gripper, the initial position and the end position of the target object to be moved.

Wherein the first position of the gripper is the current position of the gripper, and the first position can be any position within the movable range of the gripper, such as a preset position, an end position after the last article movement, an article storage position, and the like. Wherein the preset position may be a return position after the gripper has moved one target item at a time.

The holder is used for holding a target object, is a device for holding the object to operate the object, can hold or release the object while performing certain operations, imitates the motion of a hand, and can be regarded as the operation of the hand on the target object. Since the target object needs to be moved using the gripper, the moving path of the gripper needs to be determined according to the first position where the gripper is located, the initial position and the end position of the target object to be moved.

The gripper needs to grip the target item at its initial position, move to its end position where it is released, i.e. release it. In a first possible implementation manner, the determining a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved may include: determining a first moving path from the first position to the initial position according to the first position of the gripper and the initial position; and determining a second moving path from the initial position to the end position according to the initial position and the end position.

Considering that there are other objects in the moving space of the clamper in some scenes, for example, in a scene that the clamper moves the target chess piece from the initial position to the target position on the chessboard, there are more chess pieces on the chessboard, therefore, it is also necessary to determine the moving mode of the target chess piece according to whether there are other chess pieces between the initial position and the end position of the target chess piece, and determine the moving path of the clamper according to the moving mode of the target chess piece.

Thus, in a second possible implementation, determining a movement path of the gripper according to the first position in which the gripper is located, the initial position and the end position of the target item to be moved comprises: determining the moving mode of the gripper to the target object according to whether an obstacle exists between the initial position and the termination position; and determining the moving path of the gripper according to the moving mode, the first position of the gripper, the initial position and the end position.

If an obstacle exists between the initial position and the final position of the target object, the gripper moves directly from the initial position to the final position, which may cause the gripper to collide with the obstacle, which may cause various problems such as damage to the gripper, change in position of the obstacle, and the like. When no obstacle exists between the initial position and the end position of the target object, the gripper moves directly from the initial position to the end position without causing other influences.

Thus, determining the manner in which the gripper moves the target item based on whether an obstruction exists between the initial position and the final position comprises: if an obstacle exists between the initial position and the termination position, determining that the moving mode of the holder is a first moving mode, wherein the first moving mode indicates that the target object is moved after the target object is held at the initial position and then is moved, and the target object is placed at the termination position; if no obstacle exists between the initial position and the ending position, determining the moving mode of the clamp as a second moving mode, wherein the second moving mode indicates that the target object is pushed to the ending position after the target object is clamped at the initial position.

For example, when the chess robot moves the chess piece A from the position 1 to the position 2, if no barrier exists between the position 1 and the position 2, the clamp is controlled to push the chess piece A from the position 1 to the position 2, when the barrier exists between the position 1 and the position 2, the clamp is controlled to take the chess piece A up from the position 1 and put down at the position 2 so as to avoid influencing the positions of other chess pieces between the position 1 and the position 2, and the mode of moving the chess pieces is similar to the mode of moving the chess pieces when a person plays chess, so that the chess robot can better simulate the action of a person, and the experience of the user playing chess with the person can be enhanced when the user plays chess with the chess robot.

Wherein, the moving modes are different, and the determined moving paths of the clamper are also different. If an obstacle exists between the initial position and the final position of the target object, the gripper moves directly from the initial position to the final position, which may cause the gripper to collide with the obstacle, which may cause the gripper to be damaged, the position of the obstacle to change, and so on. In one possible implementation, determining a moving path of the gripper according to the moving pattern, the first position where the gripper is located, the initial position, and the end position includes: if the moving mode is the first moving mode, determining according to the current position, the initial position and the end position of the gripper:

a third moving path from the first position to the first suspension position;

a fourth moving path from the first suspension position to the initial position;

a fifth moving path from the initial position to the first suspension position;

a sixth moving path from the first suspension position to the second suspension position;

a seventh moving path from the second suspended position to the terminating position;

the first suspension position is a position above the initial position and at a first preset distance from the initial position, and the second suspension position is a position above the termination position and at a first preset distance from the termination position. The first preset distance may be any preset distance, for example, any distance such as 1 cm, 2 cm, 5 cm, and the size of the first preset distance may be set according to different application scenarios; or the first preset distance is determined according to the height of the obstacle, and the first preset distance needs to be larger than the height of the obstacle; or determine the first preset distance according to other manners, which is not limited herein.

In this manner, the movement path of the gripper from the first position until the target item is moved to the end position includes: a third movement path, a fourth movement path, a fifth movement path, a sixth movement path, and a seventh movement path.

In addition, when there is no obstacle between the initial position and the end position of the target item, determining a moving path of the gripper according to the moving manner, the first position where the gripper is located, the initial position, and the end position, further comprising: if the moving mode is the second moving mode, determining, according to the first position, the initial position and the end position of the gripper:

a third moving path from the first position to the first suspension position;

a seventh moving path from the initial position to the end position;

the first suspension position is a position above the initial position and at a first preset distance from the initial position. In this manner, the movement path of the gripper from the first position until the target item is moved to the end position includes: a third movement path, a fourth movement path, and a seventh movement path.

For example, if the chess robot determines that the current strategy is that the 'phase' chess piece moves from the position 1 to the position 2 according to the battle conditions on the current chessboard, the chess robot determines whether other chess pieces exist between the position 1 and the position 2, and when no other chess piece exists between the position 1 and the position 2, the chess robot controls the clamp holder to reach the position above the position 1, then controls the clamp holder to fall to the position 1, and pushes the 'phase' chess piece from the position 1 to the position 2 on the chessboard; when other chess pieces exist between the position 1 and the position 2, the chess robot controls the clamp holder to reach the position above the position 1, then controls the clamp holder to fall down, clamps the 'phase' chess pieces at the position 1, then controls the clamp holder to clamp the 'phase' chess pieces to rise, moves above the chessboard, controls the clamp holder to move the 'phase' chess pieces to the position above the position 2, then controls the clamp holder to fall down, and places the 'phase' chess pieces at the position 2.

In addition, it should be noted that the position of the gripper, the initial position and the end position of the target object may not be the same spatial position, i.e. the position of the gripper and the position of the target object are determined according to different coordinate systems. For example, the position of the gripper is (0, 0, 3), which represents the position of the gripper in a spatial coordinate system, the spatial coordinate system may be a coordinate system with any point on the chessboard as the origin, the initial position of the target chess piece is (2, 5), which represents the position of the target chess piece on the number 2 horizontal line and the number 5 vertical line of the chessboard, i.e. the position of the target chess piece in the semantic coordinate system of the chess. Therefore, in a possible implementation manner, before determining the moving path of the gripper according to the current position of the gripper, the initial position and the end position of the target object to be moved, the first position of the gripper or the initial position and the end position of the target object to be moved may be further subjected to spatial coordinate system conversion, that is, the position of the target chess piece in the spatial coordinate system is determined according to the position of the target chess piece in the Chinese chess semantic coordinate system, and the moving path of the gripper is determined according to the first position of the gripper, the initial position and the end position of the target chess piece in the spatial coordinate system.

Wherein, according to the position of target chess piece in the chinese chess semantic coordinate system, confirm the position of target chess piece in the space coordinate system can include: the intelligent equipment comprises a camera device, the image which is shot by the camera device and comprises the target chess piece is obtained, the position of the target chess piece on the chessboard is obtained, and the position of the clamp is determined according to a space coordinate system with any point on the chessboard as an original point, so that the position of the target chess piece in the space coordinate system can be determined according to the position of the target chess piece on the chessboard and the position of the original point of the space coordinate system on the chessboard.

When the target object is other objects, the manner of determining the position of the target object in the space coordinate system is similar to the manner of determining the position of the target chess piece in the space coordinate system, and is not described herein again.

In addition, the smart device may further include a plurality of holders, where a plurality refers to any number of two or more, such as 2, 3, 4, and any integer greater than or equal to 2. Thus, the smart device may select a holder from a plurality of holders when moving the target pawn, and use the selected holder to move the target item.

When the gripper is currently gripping another object, it is no longer able to grip the object, and therefore, to grip the object, it is necessary to select a gripper that is not gripping the object. In one possible implementation, before determining the movement path of the gripper according to the first position of the gripper, the initial position and the end position of the target item to be moved, it is also possible to: determining a gripper of the plurality of grippers that is in an idle state; the first position of the gripper is obtained. Wherein the gripper in the idle state is a gripper which does not grip the article.

If the intelligent device has a plurality of holders in an idle state, a holder is determined from the plurality of holders in the idle state. Since the path of the gripper between the initial position and the end position is constant, the gripper can be selected by the distance of the first position at which the gripper is located from the initial position. In one possible implementation, determining a holder of the plurality of holders that is in an idle state includes: if the plurality of grippers are in an idle state, acquiring the distance between a first position and an initial position where the plurality of grippers are in the idle state, and determining the gripper corresponding to the minimum distance in the acquired plurality of distances. The smaller the distance between the gripper and the initial position is, the shorter the moving path of the gripper is, and by determining the gripper corresponding to the minimum distance in the plurality of distances, the moving path of the gripper is shortened as much as possible, the time for the gripper to move the target object is reduced, and the moving efficiency is improved.

It should be noted that when the smart device moves the target item from the initial position to the end position, other items may be placed at the end position of the target item. For example, the strategy determined by the chess robot according to the battle conditions on the chessboard is "horse" chess pieces, the target chess pieces are "horse" chess pieces, and the ending position of the "horse" chess pieces is the current position of the "gun" chess pieces, so that the "gun" chess pieces need to be moved away from the current position before the "horse" chess pieces are placed at the current position of the "gun" chess pieces.

The intelligent equipment completes the operation of 'eating cannon by horse', and can complete the operation in any one of the following two ways:

the first mode is as follows: the intelligent equipment firstly moves the 'cannon' chessman from the position to the position of the abandoned chessman and then moves the 'horse' chessman from the position to the initial position of the 'cannon' chessman. Wherein the initial position of the "cannon" pawn is the position of the "cannon" pawn before the "cannon" pawn is moved.

The second way is: the intelligent equipment controls the first clamp holder to move the 'horse' chess pieces to the suspension positions of the 'cannon' chess pieces, controls the second clamp holder to clamp the 'cannon' chess pieces, controls the first clamp holder to place the 'cannon' chess pieces at the initial positions of the 'cannon' chess pieces, and then controls the second clamp holder to move the 'cannon' chess pieces to the position of abandoning the chess pieces.

Wherein the first gripper and the second gripper may be any two grippers determined according to whether the grippers are in an idle state; or the first holder is used for holding the chess of our party, the second holder is used for holding the chess of the opposite party, and the like.

For the first way, the determining, by the smart device, the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target item to be moved may include: determining the moving mode of the gripper to the target object according to whether an obstacle exists between the initial position and the final position; and determining the moving path of the gripper according to the moving mode, the first position of the gripper, the initial position and the end position.

Wherein, determining the moving manner of the gripper to the target object according to whether the obstacle exists between the initial position and the end position may include: and if the end position has an obstacle, determining that the moving mode of the clamp is a third moving mode, wherein the third moving mode indicates that the clamp moves from the first position to the end position, moves the obstacle after clamping the obstacle at the end position, moves the obstacle to an article storage position, moves the obstacle from the article storage position to an initial position, clamps the target article at the initial position, moves the target article after clamping the target article, and places the target article at the end position.

Therefore, determining the moving path of the gripper according to the moving manner, the first position where the gripper is located, the initial position, and the end position may include: if the moving mode is the third moving mode, determining, according to the first position, the initial position and the end position of the gripper:

an eighth moving path from the first position to the second suspended position;

a seventh movement path from the second flying position to the end position;

a ninth movement path from the termination position to the second flying position;

a tenth movement path from the second flying position to the third flying position;

an eleventh travel path from the third hover position to the item storage position;

a twelfth path of travel from the item storage location to the third hangoff location;

a thirteenth movement path from the third flying position to the first flying position;

a fourth movement path from the first hover position to the initial position;

a fifth movement path from the initial position to the first hover position;

a seventh travel path from the second hover position to the end position.

The article storage position is a position for placing an obstacle, for example, when the obstacle is a piece "eaten" by one's party, the article storage position is a position where the piece abandoning slot is located. The third suspension position is a position above the article storage position and at a first preset distance from the article storage position.

When the third moving mode determines the moving path, the moving path is to move the obstacle above the terminating position and the article storage position, that is, the intelligent device controls the gripper to reach above the terminating position, then controls the gripper to fall to the terminating position, grips the obstacle at the terminating position, controls the gripper to grip the obstacle to rise, moves the obstacle above the terminating position and the article storage position, controls the gripper to move the obstacle above the article storage position, and then controls the gripper to fall, and places the obstacle at the article storage position.

It should be noted that, when the moving path from the ending position to the article storage position is determined according to the third moving manner, the moving path may be determined according to whether there is another obstacle between the ending position and the article storage position, which is similar to the manner of determining the moving path according to whether there is another obstacle between the initial position and the ending position, that is, when there is no other obstacle between the ending position and the article storage position, the obstacle may be pushed from the ending position to the article storage position, and when there is another obstacle between the ending position and the article storage position, the obstacle may be moved from above the plane where the ending position and the article storage position are located, to the article storage position, that is, the target article may be moved above the obstacle. The determination method is similar to the method of determining the moving path according to whether there is another obstacle between the initial position and the end position, and is not described in detail here.

For the second way, the determining, by the smart device, the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target item to be moved may include: determining the moving mode of the gripper to the target object according to whether an obstacle exists between the initial position and the final position; and determining a moving path of the first gripper and a moving path of the second gripper according to the moving mode, the position of the first gripper, the position of the second gripper, the initial position and the end position.

When other articles are placed at the termination position of the target article to be moved, the article placed at the termination position needs to be moved, that is, two articles need to be moved, for convenience of distinguishing, the article at the initial position is referred to as a first target article, and the article at the termination position is referred to as a second target article in the embodiment of the present application; the gripper that grips the first target item is referred to as the first gripper and the gripper that grips the second target item is referred to as the second gripper.

Wherein determining the moving manner of the holder with respect to the target object according to whether there is an obstacle between the initial position and the final position may include: and if the second target object exists at the termination position, determining that the moving mode of the gripper is a fourth moving mode, wherein the fourth moving mode indicates that the first gripper clamps the first target object at the initial position, moves the first target object after lifting the first target object, reaches a fourth suspension position of the termination position, clamps the second target object at the termination position, lifts the second target object to move to the fourth suspension position of the termination position, and places the first target object at the termination position by the first gripper.

The first holder and the second holder can be two holders connected with each other, so that when the position of the first holder changes, the position of the second holder also changes, but the relative positions of the first holder and the second holder do not change, and the fourth suspension position is the position of one holder when the other holder is at the second suspension position. Thus, the movement of the first gripper or the second gripper may be alternately controlled, so that the path of movement of the gripper is determined according to the movement pattern, the first position where the gripper is located, the initial position and the end position, and may include: if the moving mode is the fourth moving mode, determining according to the first position, the initial position and the end position of the first clamper:

a third moving path of the first clamper from the first position to the first suspension position;

the first clamp reaches a fourth moving path of the initial position from the first suspension position;

a fifth moving path of the first clamper from the initial position to the first suspension position;

the first clamp reaches a sixth moving path of the second suspension position from the first suspension position;

a fourteenth moving path of the second gripper from the fourth suspension position to the second suspension position;

a seventh moving path of the second gripper from the second flying position to the end position;

a ninth movement path of the second gripper from the end position to the second flying position;

a fourteenth moving path of the first gripper from the fourth suspension position to the second suspension position;

a seventh movement path of the first gripper from the second flying position to the ending position.

For example, as shown in fig. 7, if the execution policy generated by the chess robot is "horse eating cannon", the chess robot may control the first gripper 702 to grip the "horse" chess piece and move it above the "cannon" chess piece, rotate the joints on the mechanical arm 704 connected to the first gripper 702 and the second gripper 703, so that the first gripper 702 is on top and the second gripper 703 is on bottom, control the second gripper 703 to grip the "cannon" chess piece, rotate the joints on the mechanical arm 704 connected to the first gripper 702 and the second gripper 703 again, so that the first gripper 702 is on top and the second gripper 703 is on top, control the first gripper 702 to place the "horse" chess piece at the initial position of the "cannon" chess piece, and then control the second gripper 703 to place the "cannon" chess piece in the cannon slot 709.

The embodiment of the application provides a two holders's chess robot realizes snatching and changing of chess piece, because the chess piece is great, consequently uses the holder chess piece that the holder can be more firm, avoids the chess piece to drop from the holder as far as possible. And when the chess pieces are replaced (eating chess), the chess pieces of one party can be clamped by one clamp, and the chess pieces of the other party can be clamped by one clamp, so that the chess pieces are replaced, the clamp does not need to move back and forth twice, the action of replacing the chess pieces by the chess robot is more anthropomorphic, and the playing experience of a user is improved.

In some embodiments, the smart device may further include 3 holders, 4 holders, 5 holders, and the like, and may move 3 target objects, 4 target objects, 5 target objects, and the like, in a manner similar to that in the embodiment of the present application, the two holders are controlled to move the two target objects, and details are not repeated here.

903. And controlling the gripper to move from the first position to the initial position according to the moving path and then gripping the target object.

The method for controlling the gripper to move from the first position to the initial position and then grip the target object comprises the following two steps of: (1) controlling the gripper to move from a first position to an initial position; (2) and controlling the gripper to grip the target object at the initial position.

For the step (1), the smart device controls the gripper to move from the first position to the initial position, and may be a smart device that controls the gripper to move from the first position to the initial position at a time; it is also possible that the smart device controls the gripper a number of times to move the gripper from the first position to the initial position.

In one possible implementation, the smart device controlling the gripper to move from the first position to the initial position may include: the smart device directly moves the gripper from the initial position to the end position in one go. The clamp holder is controlled to move at one time, so that the workload of the controller is reduced, and the system resources of the intelligent equipment are saved.

In another possible implementation, the smart device controlling the gripper to move from the first position to the initial position may include: the intelligent device determines a moving path according to the first position and the initial position of the gripper, and controls the gripper to move from a third position to a target position according to a third target position of the gripper in the moving path; and determining a fourth target position of the gripper in the moving path according to the fourth position of the gripper, controlling the gripper to move from the fourth position to the fourth target position until the target position of the gripper in the moving path is determined to be the initial position, and controlling the gripper to move to the initial position. The intelligent device controls the holder for many times, so that the holder gradually moves from the first position to the initial position, and in the moving process, the intelligent device can acquire the position of the holder and the target position to which the holder is to move, a foundation is laid for the intelligent device to deal with emergency, and the flexibility of the intelligent device is improved.

Wherein, according to the first position of the gripper, determining a third target position of the gripper on the moving path may include: determining a target speed of the gripper according to the distance between the first position of the gripper and the end position on the moving path, wherein the target speed and the distance are in positive correlation; a third target position of the gripper in the path of travel is determined based on the target speed and the first position.

If the moving path is a moving path from the first position to the initial position, the end position on the moving path is the initial position of the target object, if the moving path comprises a third moving path from the first position to the first suspended position and a fourth moving path from the first suspended position to the initial position, the end position on the moving path is two, when the gripper is on the third moving path, the end position on the moving path is the first suspended position, and when the gripper is on the fourth moving path, the end position on the moving path is the initial position of the target object.

Determining the target position of the gripper in the movement path based on the target speed and the current position means: and acquiring the moving distance moving at the target speed in the target time length, and accumulating the moving distance on the basis of the first position to obtain the target position of the gripper in the moving path.

In addition, since the target speed is in a positive correlation with the distance, when the gripper approaches the end position on the moving path, the moving speed of the gripper is caused to be slow, thereby decreasing the efficiency of moving the target object, and therefore, the speed of the gripper is adjusted when the gripper approaches the end position on the moving path. In one possible implementation, determining a target velocity of the gripper based on a distance between the first position of the gripper and the end position on the movement path may include: if the distance between the first position and the end position of the gripper is greater than a second preset distance, determining a target speed corresponding to the distance by adopting a first mapping function; and if the distance between the first position and the end position of the gripper is not greater than a second preset distance, determining a target speed corresponding to the distance by adopting a second mapping function.

When the distance between the first position and the end position of the gripper is smaller than a second preset distance, the target speed determined by adopting the first mapping function is smaller than the target speed determined by adopting the second mapping function.

The first mapping function and the second mapping function can be regarded as two functions corresponding to different value ranges of the input value in the piecewise function. Considering that the gripper simulates human actions in some scenarios, for example, in a scenario where the gripper grips a chess piece, the first mapping function and the second mapping function may further satisfy the following relationship: and the target speed corresponding to the second preset distance determined by adopting the first mapping function is equal to the target speed corresponding to the second preset distance determined by adopting the second mapping function. If the distance between the position of the gripper and the end position is smaller than the second preset distance, the gripper is transited to be equal to the second preset distance, and then the gripper is transited to be larger than the second preset distance, the speed of the gripper is continuously changed according to the change of the distance, sudden change is avoided, and the action of moving the object by a real user can be better simulated.

For example, the first mapping function is y ═ kx, the second mapping function is y + b ═ wx, where y is a distance between the position of the gripper and the end position on the moving path, k is a proportionality coefficient of the target speed to the distance in the first mapping function, k may be any parameter greater than 0, and b is a third preset distance, which may be any distance considered to be set, and the size of the third preset distance is not limited in the embodiments of the present application. w is a scaling coefficient of the target speed and the distance in the second mapping function, and w can be any parameter greater than 0 and less than k.

The low timeliness of the point-to-point movement of the intelligent equipment in the final convergence stage is considered, the intelligent equipment behaviors in the convergence domain are designed according to the characteristics of the convergence attractor, the overall time of moving the target object by the intelligent equipment is reduced, and the execution track of movement control is optimized.

In the step (1), when the holder is controlled by the smart device to move from the position to the initial position, the holder may be directly controlled by the smart device to move, or the other devices may be controlled by the smart device to move, so as to drive the holder to move.

In one possible implementation, the gripper has a moving function, and the smart device directly controls the gripper to move from the home position to the home position. The clamp holder has a moving function, namely a hub is arranged on the clamp holder, and the clamp holder moves through the hub; the clamp can also be arranged on the track, and the clamp can move along the track; the gripper may also implement the moving function in other ways, and the embodiments of the present application are not limited herein.

In another possible implementation manner, the smart device includes a moving device, the moving device is connected to the holder, the moving device can drive the holder to move when moving, and the smart device controls the holder to move from the located position to the initial position according to the moving path, which may include: the intelligent equipment controls the mobile device to move to drive the clamp holder to move from the position to the initial position.

Wherein the moving device has a moving function, for example, the moving device may include a hub, through which the moving function is implemented; for another example, the moving device is a mechanical arm, and the clamp holder is connected with one end of the mechanical arm; the movement of the gripper is controlled by controlling the bending of the joints on the mechanical arm. It should be noted that the moving device includes a hub and the holder is provided with a hub, and the difference is that: the moving device comprises a hub, the moving device controls the hub to rotate, the holder is provided with the hub, the holder moves, and the hub is driven to rotate.

In one possible implementation, the moving device is a robotic arm, one end of the robotic arm is connected to the gripper, the robotic arm includes a plurality of joints; determining a third target position of the gripper in the movement path based on the first position of the gripper may include: determining a target linear velocity of the gripper according to a distance between a first position where the gripper is located and an end position on a moving path, wherein the target linear velocity is in positive correlation with the distance; converting the target linear velocity into a corresponding target angular velocity by adopting a target conversion function; and determining target angles of the plurality of joints according to the target angular speed, the current angles of the plurality of joints and the target time length, wherein the target angles of the plurality of joints are used for indicating the third target position. The controlling the moving device to move to drive the holder to move from the first position to the third target position includes: and controlling each joint in the plurality of joints to bend from a current angle to a corresponding target angle so as to move the clamp from the first position to the third target position. And the gripper is driven to move from the first position to the initial position through the multi-time needle bending mechanical arm.

Wherein, the relation between the target linear velocity and the target angular velocity is as follows:

wherein q is_desA vector formed by the target angles of the plurality of joints, q_curA vector constructed for the current angles of the plurality of joints,

at the target angular velocity, at is the target time period,

to the target linear velocity, J^-1The matrix is a first-order partial derivative matrix of a mapping function of the pose and the joint angle, y is the distance between the current position and the ending position of the gripper, b is a third preset distance, and k is any parameter larger than 0, wherein k can be set according to an application scene or determined according to the experimental result of multiple experiments.

q_desAnd q is_curMay be a multi-dimensional vector, wherein the number of dimensions of the vector is the same as the number of joints of the plurality of joints.

For example, when the smart device includes 6 joints,

wherein (x, y, z, phi, theta,

) The spatial coordinates of the gripper are respectively indicated by coordinates on a horizontal axis, coordinates on a vertical axis, an angle of rotation about the horizontal axis, an angle of rotation about the vertical axis, and an angle of rotation about the vertical axis. q1 to q6 represent the angles of 6 joint angles, respectively.

Considering that when the intelligent device controls each of the plurality of joints to bend from the current angle to the corresponding target angle, some joints may not bend to the corresponding target angle due to friction of the joints or other reasons, and therefore, the position where the clamp is temporarily not confirmed is the last determined target position, but after controlling each of the plurality of joints to bend from the current angle to the corresponding target angle, the current angle of each of the plurality of joints is obtained, the position where the clamp is located is determined according to the current angle of each joint, and the step of determining the target position of the clamp in the moving path according to the position where the clamp is located is performed.

In step (2), the gripper may grip the target object like a "finger" when gripping the target object, or may grip the target object in other manners. For example, when the clamp holder clamps the chess pieces, the posture of a person holding the chess pieces can be simulated, and the chess pieces are clamped on two sides of the chess pieces; for another example, when the clamp holds the go piece, because the go piece is smaller and flat, if the clamp holds the two sides of the go piece, the clamp cannot hold the target piece stably, therefore, the clamp can include a magnetic device, and a magnet can be arranged in the go piece.

The way in which the gripper grips the target object may be set according to a specific scenario, which is not limited in the embodiment of the present application.

904. And determining a first target position of the gripper in the moving path according to the second position of the gripper, and controlling the gripper to move from the second position to the first target position.

The second position may be the initial position, or a position where the gripper reaches a position near the initial position when the gripper is controlled to move to the initial position.

The movement path may be a second movement path from the initial position to the end position, or may include any one of a fifth movement path, a sixth movement path, and a seventh movement path.

In addition, when determining the second position of the gripper in step 904, the position may be determined according to the current angle of each joint on the robot arm in step 903, and details are not repeated here.

The manner of determining the first target position of the gripper in the moving path according to the second position of the gripper in step 904 is similar to the manner of determining the third target position of the gripper in the moving path according to the first position of the gripper in step 903, and the manner of controlling the gripper to move from the second position to the first target position is similar to the manner of controlling the gripper to move from the first position to the third target position in step 903, and is not repeated here.

905. Determining a second target position of the gripper in the movement path based on the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the movement path is determined to be the end position, and controlling the gripper to move the target item to the end position.

The second position may be the first target position, or a position where the gripper reaches a position near the first target position when the gripper is controlled to move to the first target position.

Step 904 and step 905 are similar to the process of controlling the gripper to move from the first position to the initial position in step 903, and are not described in detail herein.

906. After the gripper moves the target object to the termination position, the gripper is controlled to release the target object.

Wherein, controlling the gripper to release the target object means controlling the gripper to release the target object. For example, when the gripper grips both sides of the target object by two jaws, the two jaws are controlled to open, thereby releasing the target object; as another example, when the gripper grips the target article by the suction force, the target article is released by releasing the suction force. The embodiment of the present application does not limit the manner in which the target object is released by the gripper.

907. After the gripper releases the target object, the gripper is controlled to move from the end position to a preset position.

When people play chess, after the target chess piece is placed on the termination position, the hands are retracted, similarly, the intelligent device can retract the clamp after the clamp is controlled to place the target object on the termination position, wherein the preset position can be the returning position of the clamp after the operation is performed. That is, after the intelligent device moves the target chess piece to the end position, the intelligent device also controls the holder to return to the preset position, and when the intelligent device executes the next operation, the holder is controlled to start from the preset position to move the object.

Wherein controlling the gripper to move from the end position to the preset position may be: the intelligent equipment directly controls the clamper to move from the termination position to the preset position at one time; or the intelligent device controls the clamp to move for multiple times until the clamp is controlled to move to the preset position.

In addition, before the gripper is controlled to move from the end position to the preset position, a moving path from the end position to the preset position can be determined, and the gripper can be controlled to move from the end position to the preset position according to the moving path. In one possible implementation, controlling the gripper to move from the end position to a preset position of the gripper may include: taking the preset position of the gripper as an updated end position, and updating the moving path of the gripper according to the fifth position of the gripper and the updated end position; determining a fifth target position of the gripper in the updated moving path according to the fifth position, and controlling the gripper to move from the fifth position to the fifth target position; and determining the next target position of the gripper in the moving path according to the position of the gripper at the moment until the target position of the gripper in the moving path is determined to be the updated end position, and controlling the gripper to move to the updated end position.

It should be noted that the manner of controlling the gripper to move from the end position to the preset position is similar to the manner of controlling the gripper to move from the first position to the initial position, and the manner of controlling the gripper to move from the second position to the end position, and therefore, the description thereof is omitted.

Step 906 and step 907 are optional steps in the embodiment of the present application, and may or may not be executed. If step 907 is executed, the current position of the gripper is the preset position before the smart device performs the operation each time.

In addition, it should be noted that, in the process of controlling the gripper, various unexpected situations may occur, such as other objects entering the operation space of the smart device, the gripped target object falling, and the like. In view of these problems, the smart device may also detect a currently occurring event, and thus take different measures according to different events.

In one possible implementation, the method of moving an article further includes: if a first target event is detected, suspending the step of determining the target position of the gripper in the moving path according to the position of the gripper; after the first target event disappears, the step of determining the target position of the gripper in the moving path according to the position of the gripper is performed.

Wherein the first target event may be an event affecting gripper movement, the smart device notifies the control gripper to move when the first target event is detected, and the smart device controls gripper movement when the first target event disappears is detected. And, the smart device stops determining the target position of the gripper when stopping controlling the movement of the gripper, and the smart device cannot control the gripper to move to the target position because the target position is not determined, that is, the smart device stops controlling the movement of the gripper.

In one possible implementation, the first target event includes an event of other items entering the movement path. When another article appears on the moving path, the holder and the other article may collide, which may cause damage to the other article, the holder, and the like, and may cause a problem that the target article falls off, and the like. Thus, the smart device may pause the gripper movement until the first target event disappears, i.e., other items leave the path of movement, and the smart device may resume the gripper movement.

In one possible implementation, the first target event includes an event of entry of another item into an operating space of the smart device. When other objects appear in the operation space of the smart device, the other objects may prevent the smart device from controlling the movement of the holder, the holder and the other objects may collide, and thus the other objects, the holder may be damaged, and the target object may be dropped. Thus, the smart device may pause controlling gripper movement until the first target event disappears, i.e., other items leave the operating space of the smart device, and the smart device may resume controlling gripper movement.

The intelligent device may also detect other events and take measures corresponding to the other events, and in a possible implementation manner, the method for moving an article further includes: if a second target event is detected, stopping executing the step of determining the target position of the gripper in the moving path according to the position of the gripper; controlling the gripper to move from the end position to a preset position of the gripper.

In a possible implementation, when controlling the gripper to move to the end position, if the gripper is at the fifth position at this time, controlling the gripper to move from the end position to the preset position of the gripper may include: taking the preset position of the gripper as an updated end position, and updating the moving path of the gripper according to the fifth position of the gripper and the updated end position; determining a fifth target position of the gripper in the updated moving path according to the fifth position, and controlling the gripper to move from the fifth position to the fifth target position; and determining the target position of the gripper in the moving path according to the position of the gripper at the moment until the target position of the gripper in the moving path is determined to be the updated end position, and controlling the gripper to move to the updated end position.

According to the method for moving the object, the intelligent device determines the moving path of the holder according to the first position of the holder, the initial position and the end position of the target object to be moved, and controls the holder to move from the first position to the initial position and then clamp the target object according to the moving path; then, according to the second position of the gripper, determining a first target position of the gripper in the moving path, controlling the gripper to move from the second position to the first target position, determining a second target position of the gripper in the movement path according to the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the movement path is determined to be the end position, controlling the gripper to move the target object to the end position, gradually moving the target object from the initial position to the end position in a staged moving manner, if an emergency occurs in the process, the intelligent device can determine the current position of the holder and the target position, lays a foundation for the intelligent device to deal with emergency situations, and improves the flexibility of the intelligent device.

In addition, the embodiment of the application can also detect whether the target event occurs, and take different measures according to different target events. The first target event may be an event affecting gripper movement, the smart device notifying the controlling gripper movement when the smart device detects the first target event, the smart device controlling gripper movement when the first target event disappears is detected. And when the intelligent device stops controlling the clamp holder to move, the intelligent device stops determining the target position of the clamp holder, and cannot control the clamp holder to move to the target position due to the fact that the target position is not determined.

Fig. 10 is a flowchart of a method for moving an article according to an embodiment of the present application. The execution subject of the embodiment of the present application is any one of the smart devices shown in fig. 1 to 8, the smart device is configured with a controller and a holder, the controller and the holder are electrically connected, the embodiment of the present application describes a process of moving an object by the smart device, referring to fig. 10, the method includes:

1001. the controller acquires an initial position and an end position of a target item to be moved.

The controller is a device in the smart device for controlling the smart device to perform operations, the controller is electrically connected to the gripper, and can control the gripper to grip or release an article, or move from one position to another position, or perform other operations.

The initial position of the target object to be moved refers to the current position of the target object, and the end position refers to the position to be reached after the target object is moved. The target item to be moved and the termination position of the target item may be determined by an AI layer of the smart device, or may be obtained by the smart device by reading other data, which is not limited herein.

In one possible implementation, before the controller determines the moving path of the gripper according to the first position where the gripper is located, the initial position and the end position of the target item to be moved, the method may further include: the controller obtains the execution strategy, analyzes the execution strategy and obtains the target object to be moved and the termination position of the target object.

Taking the example that the AI layer of the intelligent device determines the target item to be moved and the termination position of the target item as an example, the following steps are performed: the AI layer of the intelligent device acquires target information, analyzes the target information to obtain an execution strategy, the execution strategy comprises a target object to be moved and an end position of the target object, the execution strategy is input into the controller, the controller determines the target object to be moved and the end position of the target object to be moved according to the execution strategy, an initial position of the target object is acquired according to the moved target object, and the subsequent controller controls the intelligent device to execute an operation of moving the target object from the initial position to the end position according to the execution strategy. The target information may be information required for making an execution strategy, for example, the chess robot determines that the execution strategy needs to acquire a current game situation on the chessboard.

In addition, the position of the holder of the smart device, the initial position and the end position of the target object may not be the same spatial position, i.e. the position of the holder and the position of the target object are determined according to different coordinate systems. For example, the position of the gripper is (0, 0, 3), which represents the position of the gripper in a spatial coordinate system, the spatial coordinate system may be a coordinate system with any point on the chessboard as the origin, the initial position of the target chess piece is (2, 5), which represents the position of the target chess piece on the number 2 horizontal line and the number 5 vertical line of the chessboard, i.e. the position of the target chess piece in the semantic coordinate system of the chess. Therefore, in a possible implementation manner, before determining the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved, the first position of the gripper or the initial position and the end position of the target object to be moved may be further subjected to spatial coordinate system conversion, that is, the position of the target chess piece in the spatial coordinate system is determined according to the position of the target chess piece in the Chinese chess semantic coordinate system, and the moving path of the gripper is determined according to the first position of the gripper, the initial position and the end position of the target chess piece in the spatial coordinate system.

In addition, in a possible implementation manner, the controller includes a semantic analysis controller, and the acquiring of the initial position and the end position of the target object to be moved by the controller may include: the semantic analysis controller acquires an initial position and an end position of a target item to be moved.

In one possible implementation, the smart device is configured with a plurality of grippers, and before the controller determines the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved, the method for moving the object further comprises: the controller determines a gripper in an idle state among the plurality of grippers, and acquires a first position at which the gripper is located.

In one possible implementation, the controller determining a gripper of the plurality of grippers that is in an idle state, acquiring the first position of the gripper, may include: if the plurality of grippers comprise a plurality of grippers in an idle state, the controller acquires the distance between the position where the plurality of grippers in the idle state are located and the initial position; the controller determines a first position of the gripper corresponding to a minimum distance of the acquired plurality of distances.

Step 1001 is similar to step 901, and step 901 may be referred to for the same part in step 1001 and step 901, which is not described in detail here.

1002. The controller determines a movement path of the gripper based on the first position at which the gripper is located, the initial position and the end position of the target item to be moved.

Step 1002 is similar to step 902, and reference may be made to step 902 for the same portions in step 1002 and step 902, which are not described in detail herein. The following explains a difference between step 1002 and step 902:

in one possible implementation, the controller includes a semantic analysis controller; the controller determines a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved, and comprises the following steps: the semantic analysis controller determines a first moving path from the first position to the initial position according to the first position and the initial position; the semantic analysis controller determines a second movement path from the initial position to the end position based on the initial position and the end position. Thus, the controller controls the gripper to move to the initial position of the target object, and then moves from the initial position of the target object to the end position of the target object, so that the target object is moved from the initial position to the end position.

However, in some cases, there are other objects between the initial position and the end position of the target object, and if the gripper moves straight from the initial position to the end position of the target object, the gripper may collide with the other objects, so that the moving path may be determined according to whether there is an obstacle between the initial position and the end position.

In one possible implementation, determining the moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved may include: the controller determines the moving mode of the clamp holder to the target object according to whether an obstacle exists between the initial position and the final position; the controller determines a moving path of the gripper according to the moving manner, the first position, the initial position, and the end position.

Wherein, in a possible implementation manner, the controller determines the moving manner of the gripper to the target object according to whether an obstacle exists between the initial position and the final position, and may include: if an obstacle exists between the initial position and the end position, the controller determines that the moving mode of the gripper is a first moving mode, the first moving mode indicates that the target object is moved after the target object is clamped at the initial position, and the target object is placed at the end position; if no obstacle exists between the initial position and the end position, the controller determines that the moving mode of the gripper is a second moving mode, and the second moving mode indicates that the target object is pushed to the end position after the target object is gripped at the initial position. That is, when an obstacle exists between the initial position and the end position, the target object may be moved from above the obstacle to the end position, and when an obstacle does not exist between the initial position and the end position, the target object may be directly moved to the end position.

It should be noted that, in the embodiments of the present application, only the first moving manner is described as an example in which the target object is moved after the target object is gripped at the initial position, the target object is placed at the end position, and the second moving manner is described as an example in which the target object is pushed to the end position after the target object is gripped at the initial position.

In one possible implementation, the controller determines the moving path of the gripper according to the moving pattern, the first position, the initial position, and the end position, and may include: if the moving mode is the first moving mode, the controller determines, according to the first position, the initial position and the end position of the gripper:

a third movement path from the first position to the first suspended position;

a fifth moving path from the initial position to the first suspension position;

a seventh movement path from the second flying position to the end position;

In one possible implementation, determining the moving path of the gripper according to the moving pattern, the first position, the initial position, and the end position may include: if the moving mode is the second moving mode, the controller determines, according to the first position, the initial position and the end position:

a third movement path from the first position to the first suspended position;

a seventh moving path from the initial position to the end position;

Step 1002 is similar to step 902, and step 901 may be referred to for the same parts in step 1002 and step 902, which are not described in detail herein.

1003. The controller controls the gripper to move from the first position to the initial position according to the moving path and then grip the target object.

In one possible implementation manner, the controller further includes a motion controller and a clamping controller, the semantic analysis controller is electrically connected to the motion controller and the clamping controller, and the controller controls the clamping device to clamp the target object after moving from the first position to the initial position according to the moving path, including: after determining the first moving path, the semantic analysis controller sends the first moving path to the motion controller; the motion controller controls the gripper to move from the first position to the initial position according to the first moving path, and sends a first completion message to the semantic analysis controller; after receiving the first completion message, the semantic analysis controller sends a clamping instruction to the clamping controller; and the clamping controller controls the clamp to clamp the target object according to the clamping instruction.

Wherein the semantic analysis controller may transmit the first movement path to the motion controller by transmitting an end position of the first movement path to the motion controller, and the motion controller may move the clamper to the end position based on the end position as the end position of the clamper.

In addition, when a plurality of grippers are configured on the smart device, the semantic controller not only initiates a moving path to the motion controller, but also sends a gripper identifier of the gripper to the motion controller, so that the motion controller moves the gripper corresponding to the gripper identifier to the initial position according to the gripper identifier, where the gripper identifier may be an identifier such as a gripper ID (identity), a gripper number, and a gripper name, and the embodiment of the present application does not limit the gripper identifier.

In one possible implementation, controlling the gripper to grip the target object after moving from the first position to the initial position according to the moving path includes: the controller determines a target position of the gripper in the moving path according to the first position of the gripper, and controls the gripper to move from the first position to the target position; the controller determines a target position of the gripper in the moving path according to the first position of the gripper, and controls the gripper to move from the first position to the target position until the gripper is controlled to move to the initial position; the controller controls the gripper to grip the target item.

That is, the semantic controller will send the end position of the moving path and the gripper identifier to the motion controller, after receiving the end position and the gripper identifier, the motion controller will determine the corresponding gripper according to the gripper identifier, determine the target position of the gripper in the moving path according to the first position of the gripper and the end position of the moving path, and control the gripper to move from the first position to the target position; the motion controller determines a target position of the gripper in the moving path according to the first position of the gripper and the end position on the moving path, and controls the gripper to move from the first position to the target position until the motion controller controls the gripper to move from the first position to the end position on the moving path.

Additionally, in one possible implementation, the controller controlling the gripper to grip the target item may include: the semantic analysis controller sends a clamping instruction to the clamper; or the intelligent device comprises a clamping controller, the semantic analysis controller sends a clamping instruction to the clamping controller, and the clamping controller controls the clamping device to clamp the target object according to the clamping instruction.

It should be noted that, the manner of controlling the gripper to move from the first position to the initial position in step 1003 may be similar to that in

steps

1004 and 1005, and therefore, reference may be made to the description in

steps

1004 and 1005, and details are not repeated here.

In addition, step 1003 is similar to step 903, and for the parts in step 1003 that are the same as step 903, reference may be made to step 903, which is not described in detail here.

1004. The controller determines a first target position of the gripper in the moving path according to the second position of the gripper, and controls the gripper to move from the second position to the first target position.

In one possible implementation, the controller determines a first target position of the gripper in the moving path according to the second position of the gripper, and controls the gripper to move from the second position to the first target position, including: after the semantic analysis controller sends a clamping instruction to the clamper, the semantic analysis controller sends a second moving path to the motion controller; the motion controller determines a first target position of the gripper in the second moving path according to the second position, and controls the gripper to move from the second position to the first target position.

The semantic analysis controller sends the second moving path to the motion controller, namely the semantic analysis controller sends the ending position on the second moving path to the motion controller.

In one possible implementation, the controller determines a first target position of the gripper in the moving path according to the second position of the gripper, and may include: the controller determines a target speed of the gripper according to the distance between the second position and the end position, wherein the target speed and the distance are in positive correlation; the controller determines a first target position of the gripper in the path of travel based on the target speed and the second position.

The controller may be a motion controller, and the controller for determining the target speed and the first target position may be a motion controller.

In one possible implementation, determining a target velocity of the gripper based on a distance between the second position and the end position of the gripper comprises: if the distance between the second position and the termination position is greater than a second preset distance, the controller determines a target speed corresponding to the distance by adopting a first mapping function; if the distance between the second position and the termination position is not greater than a second preset distance, the controller determines a target speed corresponding to the distance by adopting a second mapping function; and the target speed corresponding to the second preset distance determined by adopting the first mapping function is equal to the target speed corresponding to the second preset distance determined by adopting the second mapping function.

Since the controller for determining the target speed and the first target position may be a motion controller, the main body of the method may also be a motion controller, and the motion controller determines the target speed according to the first mapping function and the second mapping function.

In one possible implementation, the smart device includes a mobile device, the mobile device is connected with the holder, and the mobile device is electrically connected with the controller; controlling the gripper to move from the second position to the first target position, comprising: the controller controls the moving device to move to drive the clamp holder to move from the second position to the first target position.

In one possible implementation, the mobile device is electrically connected with the controller, and may include: the moving device is electrically connected with the motion controller, and the motion controller controls the moving device to move to drive the clamp holder to move from the second position to the first target position.

Optionally, the moving device is a mechanical arm, the gripper is connected with one end of the mechanical arm, the mechanical arm is electrically connected with the controller, and the mechanical arm comprises a plurality of joints; the controller determines a first target position of the gripper in the moving path according to the second position of the gripper, and may include: the controller determines a target linear velocity of the gripper according to the distance between the second position and the end position, wherein the target linear velocity is in positive correlation with the distance; the controller converts the target linear velocity into a corresponding target angular velocity by adopting a target conversion function; the controller determines target angles of the multiple joints according to the target angular speed, the current angles of the multiple joints and the target duration; the target angles of the plurality of joints are used to indicate the first target position.

The controller controls the mobile device to move and drives the clamp holder to move from the second position to the first target position, and the method comprises the following steps: the controller controls each of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the second position to the first target position. Alternatively, the controller controlling the movement of the mobile device may be a motion controller controlling the movement of the mobile device.

In one possible implementation, the controller includes a motion controller and a plurality of joint controllers electrically connected to the motion controller, the plurality of joint controllers are respectively connected to each joint of the robot arm, and the controller controls each joint of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper from the second position to the first target position, including: after determining the target angles of the plurality of joints, the motion controller sends the target angles of the corresponding joints to the plurality of joint controllers; and each joint controller bends the corresponding joint from the current angle to the target angle according to the received target angle.

In one possible implementation, after each joint controller bends the corresponding joint from the current angle to the target angle according to the received target angle, the method further includes: the controller acquires a current angle of each joint in the plurality of joints; the controller determines the third position of the gripper according to the current angle of each joint; the controller performs the step of determining a second target position of the gripper in the movement path based on the third position.

Optionally, the controller may further include a drive controller electrically connected to the motion controller, the plurality of joint controllers being electrically connected to the drive controller; after the motion controller determines the target angles of the plurality of joints, the sending the target angles of the corresponding joints to the plurality of joint controllers may include: the motion controller sends the target angles of the joints to the driving controller, the driving controller sends corresponding joint commands to the joint controllers, each joint command comprises the target angle of one joint, and each joint controller bends the corresponding joint from the current angle to the target angle according to the received joint command.

In addition, after each joint controller bends the corresponding joint from the current angle to the target angle according to the received target angle, the method further comprises: the driving controller acquires the current angle of each joint, sends the current angles of the plurality of joints to the motion controller, and the motion controller determines the third position of the gripper according to the current angle of each joint; the motion controller performs the step of determining a second target position of the gripper in the movement path based on the third position.

1005. The controller determines a second target position of the gripper in the moving path based on the third position of the gripper, and controls the gripper to move from the third position to the second target position until the gripper moves the target item to the end position.

In one possible implementation, the controller determines a second target position of the gripper in the moving path according to the third position where the gripper is located, and controls the gripper to move from the third position to the second target position until the gripper moves the target item to the end position, and may include: and the motion controller determines a second target position of the gripper in the second moving path according to the third position, controls the gripper to move from the third position to the second target position, and sends a second completion message to the semantic analysis controller until the gripper is controlled to move the target object to the termination position.

It should be noted that, steps 1004 and 1005 may be a process in which the controller controls the movement of the gripper according to any moving path, for example, the any moving path may be any moving path from the first moving path to the fourteenth moving path.

In one possible implementation, after the motion controller controls the gripper to move one movement path, a completion message may be sent to the semantic analysis controller, which sends the next movement path to the motion controller after acquiring the completion message.

1006. After the gripper moves the target item to the end position, the controller controls the gripper to release the target item.

In one possible implementation, the controller sends a release instruction to the gripper after the gripper moves the target item to the end position; the gripper releases the target item according to the release instruction.

Alternatively, the controller sending a release order to the gripper may be the semantic analysis controller sending a release order to the target item; the gripper releases the target item according to the release instruction. Optionally, the smart device may further include a gripper controller electrically connected to the semantic analysis controller and the gripper controller, respectively, and the motion controller may further send a release instruction to the gripper controller, and the gripper controller controls the gripper to release the target object according to the release instruction.

1007. After the gripper moves the target item to the end position, the controller controls the gripper to move from the end position to the preset position.

In one possible implementation, the controller controlling the gripper to move from the end position to the preset position may include: the controller takes the preset position of the gripper as an updated end position, and updates the moving path of the gripper according to the fifth position of the gripper and the updated end position; the controller determines a fifth target position of the gripper in the updated moving path according to the fifth position, and controls the gripper to move from the fifth position to the fifth target position; and the controller determines the target position of the gripper in the moving path according to the position of the gripper at the moment until the target position of the gripper in the moving path is determined to be the updated end position, and then the controller controls the gripper to move to the updated end position.

It should be noted that step 1006 and step 1007 are optional steps, and may or may not be executed, and either step may also be executed. If the

above steps

1006 and 1007 are both executed, step 1006 may be executed first, and then step 1007 is executed, that is, after the gripper moves the target object to the end position, the controller controls the gripper to release the target object, and after the gripper releases the target object, the controller controls the gripper to move from the end position to the preset position.

Additionally, in one possible implementation, the method of moving an article further includes: if the controller detects the first target event, suspending the step of determining the target position of the gripper in the moving path according to the position of the gripper; after the first target event disappears, the controller performs the step of determining a target position of the gripper in the movement path based on the position of the gripper.

Optionally, the first target event comprises an event that another item enters the operating space of the smart device.

In one possible implementation, the method of moving an article further includes: if the controller detects a second target event, stopping executing the step of determining the target position of the gripper in the moving path according to the position of the gripper; the controller controls the gripper to move from the end position to a preset position of the gripper.

Optionally, the second target event comprises an event in which the target item falls from the holder.

Optionally, the controller further includes an event detection controller, configured to detect a currently occurring event, to determine whether a first target event or a second target event occurs, and send a corresponding instruction to the motion controller or the semantic analysis controller when the first target event or the second target event occurs, so that the smart device re-determines the moving operation according to the currently occurring event.

For example, the smart device includes a sensor, the sensor may detect whether another article enters the operating space of the smart device, when the other article is detected to enter, the sensor may send a signal to the event detection controller to detect the other article, the event detection controller may determine, according to the signal, that the first target event is detected, send a pause instruction to the motion controller, when the sensor detects that the other article leaves, the sensor may send a signal to the event detection controller to detect that the other article leaves, and the event detection controller may determine, according to the signal, that the first target event is detected to disappear, and send a resume instruction to the motion controller.

For another example, the intelligent device includes a camera device, the camera device can collect an image including a target object, and send the collected image to the event detection controller, the event detection controller analyzes the image to determine whether the target object drops or is about to drop, if the target object drops, a return instruction is sent to the semantic analysis controller, and meanwhile, a stop instruction is sent to the motion controller, the semantic analysis controller sends a preset position to the motion controller according to the return instruction, and the motion controller controls the holder to move to the preset position according to the preset position. And if the target object is about to fall off, the event detection controller sends a clamping instruction to the clamping controller, and the clamping controller controls the clamp to clamp the target object according to the clamping instruction.

According to the steps 1001 to 1007, the method for moving an article provided by the embodiment of the present application is described by taking an intelligent device as a chess robot as an example:

the chess robot may be as shown in fig. 7 and 11, and includes a hierarchical controller 1100, and the hierarchical controller 1100 includes a semantic analysis controller 1101, a motion controller 1102, a driving controller 1103, and an event detection controller. The semantic analysis controller 1101 may be used to manage a spatial sequence of the robot's chess-catching, chess-changing, chess-placing, and grippers, the spatial sequence including at least one movement path of the grippers.

After determining a playing strategy, the AI layer of the chess robot sends the playing strategy to the semantic analysis controller 1101, and the semantic analysis controller 1101 determines a behavior primitive and a control target according to the playing strategy, wherein the behavior primitive can be a moving chessman, a eaten chessman and a sliding chessman, the behavior primitive can indicate the moving mode of the holder, and the control target is a target chessman to be moved. The semantic analysis controller also determines a holder for holding the target piece according to the current available resources. Alternatively, the chess robot includes a primary gripper and a secondary gripper.

For example, the strategy of playing is "horse eating cannon", the semantic analysis controller determines that the action primitive is eating chess pieces, the target chess pieces are "horse" chess pieces and "cannon" chess pieces, respectively, determines that the main gripper is used for gripping the "horse" chess pieces, the auxiliary gripper is used for gripping the "cannon" chess pieces, and therefore the tasks that the intelligent device needs to perform are that the main gripper is used for gripping the "horse" chess pieces from position 1 (the current position of the "horse" chess pieces) to eat the "cannon" chess pieces gripped from position 2 (the current position of the "cannon" chess pieces) by the auxiliary gripper, the tasks are decomposed, the moving path of the gripper can be obtained, and the time for gripping and releasing of the gripper is controlled.

Thus, breaking down this task can result in: (1) controlling the main holder to move to a first suspension position above the position 1; (2) controlling the main gripper to descend to the position 1; (3) controlling the main holder to clamp; (4) controlling the clamper to ascend from the position 1 to a first suspension position; (5) controlling the main gripper to move from the first suspended position to a second suspended position above position 2; (6) controlling the auxiliary holder to move to the second suspension position; (6) controlling the auxiliary gripper to descend to the position 2; (7) controlling the auxiliary clamping device to clamp; (8) controlling the auxiliary gripper to ascend from the position 2 to a second suspension position; (9) controlling the main holder to move to a second suspension position; (10) controlling the main gripper to descend to the position 2; (11) controlling the release of the main holder; (12) controlling the main gripper to ascend from the position 2 to a second suspension position; (13) controlling the secondary gripper to move to a third suspended position above the item storage location; (14) controlling the release of the auxiliary gripper; (15) and controlling the main holder to move to a preset position.

The semantic analysis controller can sequentially execute the plurality of decomposed tasks, other controllers can send a completion message to the semantic analysis controller after the tasks are executed, and the semantic analysis controller starts the next task according to the completion message.

When executing a moving task, the semantic analysis controller may send the identifier of the gripper and a desired position (an end position on a moving path) of the gripper to the controller, the controller determines target angles of a plurality of joints according to the end position and the identifier of the gripper, sends the target angles of the plurality of joints to the drive controller, the drive controller generates a plurality of joint commands according to the target angles of the plurality of joints, each joint command includes one target angle, the drive controller sends the plurality of joint commands to the plurality of joint controllers, and each joint controller adjusts the corresponding angle according to the joint command to realize the movement of the gripper.

It should be noted that the method for moving an article provided in the embodiment of the present application is based on a Robot Operating System (ROS) architecture, which facilitates the method to be transplanted between different Robot platforms. The method for moving the object utilizes two modes of service call (service call) and behavior library (actionlib), provides a layered control system structure of the robot, and the layered controller effectively separates discrete control events (such as selection of a gripper ID required for executing a grabbing action, unknown object entering operation space of the robot, chessman slipping event and the like) and motion control of the robot, so that the robustness and debugging convenience of the system are improved.

Fig. 12 is a schematic structural diagram of an apparatus for moving an object according to an embodiment of the present application, and the apparatus is applied to a smart device, and the smart device is configured with a holder, referring to fig. 12, the apparatus includes: a moving path determining module 1201 and a control module 1202.

A moving path determining module 1201, configured to determine a moving path of the gripper according to the first position of the gripper, the initial position and the end position of the target object to be moved;

the control module 1202 is used for controlling the gripper to move from the first position to the initial position according to the moving path and then gripping the target object;

the control module 1202 is used for determining a first target position of the gripper in the moving path according to the second position of the gripper, and controlling the gripper to move from the second position to the first target position;

and a control module 1202 for determining a second target position of the gripper in the moving path according to the third position of the gripper, controlling the gripper to move from the third position to the second target position until the target position of the gripper in the moving path is determined to be the end position, and controlling the gripper to move the target object to the end position.

As shown in fig. 13, in a possible implementation manner, the moving path determining module 1201 includes:

a moving path determining unit 12011, configured to determine, according to the first position and the initial position, a first moving path from the first position to the initial position;

a moving path determining unit 12011, configured to determine a second moving path from the initial position to the end position according to the initial position and the end position.

In a possible implementation manner, the moving path determining module 1201 includes:

a moving pattern determining unit 12012 for determining a moving pattern of the gripper with respect to the target object based on whether or not an obstacle exists between the initial position and the end position;

a moving path determining unit 12011 for determining a moving path of the clamper according to the moving manner, the first position, the initial position, and the end position.

In a possible implementation manner, the moving manner determining unit 12012 is configured to determine, if there is an obstacle between the initial position and the end position, that the moving manner of the gripper is a first moving manner, where the first moving manner indicates to move the target item after the target item is picked up after the initial position grips the target item, and place the target item at the end position;

a moving manner determining unit 12012, configured to determine, if there is no obstacle between the initial position and the end position, that the moving manner of the gripper is a second moving manner, where the second moving manner indicates to move the target item to the end position after the target item is gripped at the initial position.

In a possible implementation manner, the moving path determining unit 12011 is configured to determine, if the moving manner is the first moving manner, according to the first position, the initial position, and the end position:

a third movement path from the first position to the first suspended position;

a fifth moving path from the initial position to the first suspension position;

a seventh movement path from the second flying position to the end position;

In a possible implementation manner, the moving path determining unit 12011 is configured to determine, if the moving manner is the second moving manner, according to the first position, the initial position, and the end position:

a third movement path from the first position to the first suspended position;

a fifth moving path from the initial position to the first suspension position;

a seventh movement path from the second flying position to the end position;

In one possible implementation, the control module 1202 is configured to determine a third target position of the gripper in the moving path according to the first position, and control the gripper to move from the first position to the third target position;

and the control module 1202 is used for determining a fourth target position of the gripper in the moving path according to the fourth position of the gripper, controlling the gripper to move from the fourth position to the fourth target position until the target position of the gripper in the moving path is determined to be the initial position, and controlling the gripper to clamp the target object after moving to the initial position.

In one possible implementation, the smart device is configured with a plurality of holders, the apparatus further comprising:

a determining module 1203, configured to determine a gripper in an idle state among the plurality of grippers;

an obtaining module 1204 is configured to obtain a first position of the gripper.

In one possible implementation, the determining module 1203 includes:

an acquiring unit 12031 configured to acquire, if the plurality of grippers are in an idle state, a distance between a position where the plurality of grippers are in the idle state and an initial position;

a determining unit 12032 configured to determine a gripper corresponding to a minimum distance in the acquired plurality of distances.

In one possible implementation, the control module 1202 includes:

a speed determining unit 12021 for determining a target speed of the gripper according to a distance between the second position and the end position, the target speed having a positive correlation with the distance;

a position determining unit 12022 for determining a first target position of the gripper in the moving path based on the target speed and the second position.

In a possible implementation manner, the speed determining unit 12021 is configured to determine, if a distance between the second location and the end location is greater than a second preset distance, a target speed corresponding to the distance by using a first mapping function;

a speed determining unit 12021, configured to determine, if the distance between the second location and the end location is not greater than the second preset distance, a target speed corresponding to the distance by using a second mapping function;

In one possible implementation, the smart device includes a moving device connected to the holder, and a control module 1202 for controlling the moving device to move the holder from the second position to the first target position.

In one possible implementation, the moving device is a mechanical arm, one end of the mechanical arm is connected with the clamp holder, and the mechanical arm comprises a plurality of joints; a control module 1202, comprising:

a speed determining unit 12021 for determining a target linear speed of the clamper according to a distance between the second position and the end position, the target linear speed having a positive correlation with the distance;

a conversion unit 12023, configured to convert the target linear velocity into a corresponding target angular velocity by using a target conversion function;

a position determining unit 12022, configured to determine target angles of the multiple joints according to the target angular velocity, current angles of the multiple joints, and a target time length, where the target angles of the multiple joints are used to indicate a first target position;

a control unit 12024 for controlling each of the plurality of joints to bend from the current angle to a corresponding target angle to move the clamper from the initial position to the first target position.

In one possible implementation, the distance versus target angle for multiple joints is:

y+b＝kx；

wherein y is the distance between the position of the gripper and the end position, b is a third predetermined distance,

k is any parameter greater than 0 for a target linear velocity,

to target angular velocity, J^-1Is the inverse of the Jacobian matrix, q_desTarget angles for a plurality of joints, q_curΔ t is the target duration for the current angle of the plurality of joints.

In one possible implementation, the apparatus further includes:

an obtaining module 1204 for obtaining a current angle of each of the plurality of joints;

a determining module 1203 is configured to determine a third position of the holder according to the current angle of each joint.

In one possible implementation, the control module 1202 is configured to suspend the step of determining a second target position of the gripper in the moving path according to the third position of the gripper if the first target event is detected;

and the control module 1202 is used for executing the step of determining the second target position of the gripper in the moving path according to the third position of the gripper after the first target event disappears.

In one possible implementation, the first target event includes an event of entry of another item into an operating space of the smart device.

In one possible implementation, the apparatus further includes:

a control module 1202, configured to, if the second target event is detected, stop performing the step of determining the second target position of the gripper in the moving path according to the third position where the gripper is located;

a control module 1202 for controlling the gripper to move from the end position to a preset position of the gripper.

In one possible implementation, the second target event includes an event in which the target item falls from the holder.

In one possible implementation, the control module 1202 is configured to control the gripper to move from the end position to a preset position of the gripper after the gripper moves the target item to the end position.

In a possible implementation manner, the moving path determining unit 12025 is configured to update the moving path of the gripper according to the fifth position and the updated end position of the gripper, with the preset position of the gripper as the updated end position;

a control unit 12024, configured to determine a fifth target position of the gripper in the updated moving path according to the fifth position, and control the gripper to move from the fifth position to the fifth target position;

a control unit 12024, configured to determine a sixth target position of the gripper in the moving path according to the sixth position of the gripper, until determining that the target position of the gripper in the moving path is the updated end position, and control the gripper to move to the updated end position.

Fig. 14 is a schematic structural diagram of a smart device provided in an embodiment of the present application, and referring to fig. 14, the smart device 1400 is configured with a controller 1401 and a holder 1402, and the controller 1401 is electrically connected to the holder 1402;

a controller 1401 for determining a moving path of the gripper, based on the first position of the gripper 1402, the initial position and the end position of the target object to be moved;

a controller 1401 for controlling the clamper 1402 to clamp the target object after moving from the first position to the initial position according to the moving path;

a controller 1401 for determining a first target position of the gripper 1402 in the moving path according to the second position of the gripper 1402, and controlling the gripper 1402 to move from the second position to the first target position;

and a controller 1401, configured to determine a second target position of the gripper 1402 in the moving path according to the third position of the gripper 1402, control the gripper 1402 to move from the third position to the second target position until the target position of the gripper 1402 in the moving path is determined to be the end position, and control the gripper 1402 to move the target item to the end position.

In one possible implementation, the controller 1401 includes a semantic analysis controller 14011;

a semantic analysis controller 14011 for determining a first moving path from the first position to the initial position according to the first position and the initial position;

and a semantic analysis controller 14011 for determining a second moving path from the initial position to the end position according to the initial position and the end position.

In one possible implementation, the controller 1401 further includes a motion controller 14012 and a clamp controller 14013, the semantic analysis controller 14011 being electrically connected to the motion controller 14012 and the clamp controller 14013;

a semantic analysis controller 14011 configured to send the first moving path to the motion controller after determining the first moving path;

a motion controller 14012 for controlling the gripper 1402 to send a first completion message to the semantic analysis controller when moving from the first position to the initial position according to the first moving path;

a semantic analysis controller 14012 for sending a clamping instruction to the clamping controller 14013 after receiving the first completion message;

and a clamping controller 14013 for controlling the clamper 1402 to clamp the target object according to the clamping instruction.

In one possible implementation, after the semantic analysis controller 14011 is configured to send a clamping command to the clamper 1402, the semantic analysis controller sends a second moving path to the motion controller;

a motion controller 14012 for determining a first target position of the gripper 1402 in the second moving path according to the second position of the gripper 1402, and controlling the gripper 1402 to move from the second position to the first target position;

and the motion controller 14012 is used for determining a second target position of the gripper 1402 in the second moving path according to the third position of the gripper 1402, controlling the gripper 1402 to move from the third position to the second target position until the target position of the gripper 1402 in the moving path is determined to be the end position, controlling the gripper 1402 to move the target object to the end position, and sending a second completion message to the semantic analysis controller.

In one possible implementation, the controller 1401 is configured to determine a moving manner of the gripper 1402 for the target object according to whether an obstacle exists between the initial position and the final position;

a controller 1401 for determining a moving path of the gripper 1402 based on the moving pattern, the first position, the initial position, and the end position.

In one possible implementation, the controller 1401 is configured to determine, if there is an obstacle between the initial position and the end position, that the movement pattern of the gripper 1402 is a first movement pattern, where the first movement pattern indicates to move the target item after the target item is picked up after the initial position grips the target item, and to place the target item at the end position;

a controller 1401 configured to determine that the moving manner of the gripper 1402 is a second moving manner if there is no obstacle between the initial position and the end position, the second moving manner indicating that the target item is moved to the end position after being gripped at the initial position.

In one possible implementation, the controller 1401 is configured to determine, according to the first position, the initial position, and the end position, if the movement mode is the first movement mode:

a third movement path from the first position to the first suspended position;

a fifth moving path from the initial position to the first suspension position;

a seventh movement path from the second flying position to the end position;

In one possible implementation, the controller 1401 is configured to determine, according to the first position, the initial position, and the end position, if the movement manner is the second movement manner:

a third movement path from the first position to the first suspended position;

a seventh moving path from the initial position to the end position;

In one possible implementation, the controller 1401 is configured to determine a third target position of the gripper 1402 in the moving path according to the first position, and control the gripper 1402 to move from the first position to the third target position;

a controller 1401, configured to determine a fourth target position of the gripper 1402 in the moving path according to the fourth position of the gripper 1402, control the gripper 1402 to move from the fourth position to the fourth target position until the target position of the gripper 1402 in the moving path is determined to be the initial position, and control the gripper 1402 to move to the initial position;

and a controller 1401 for controlling the gripper 1402 to grip the target object.

In one possible implementation, the smart device is configured with a plurality of holders 1402;

the controller 1401 is configured to determine a gripper 1402 out of the plurality of grippers 1402 that is in an idle state, and acquire a first position where the gripper 1402 is located.

In a possible implementation manner, the controller 1401 is configured to, if the plurality of grippers 1402 include a plurality of grippers 1402 in an idle state, acquire a distance between a first position and an initial position where the plurality of grippers 1402 in the idle state are located;

a controller 1401 for determining a first position at which the gripper 1402 is located corresponding to a minimum distance of the acquired plurality of distances.

In one possible implementation, the controller 1401 is configured to determine a target speed of the gripper 1402 based on a distance between the second position and the end position, the target speed having a positive correlation with the distance;

a controller 1401 for determining a first target position of the gripper 1402 in the moving path based on the target speed and the second position.

In one possible implementation, the controller 1401 is configured to determine, by using a first mapping function, a target speed corresponding to a distance if the distance between the second location and the end location is greater than a second preset distance;

the controller 1401 is configured to determine, by using a second mapping function, a target speed corresponding to a distance if the distance between the second position and the end position is not greater than a second preset distance;

In one possible implementation, the smart device includes a mobile device 1403, the mobile device 1403 is connected with the holder 1402, and the mobile device is electrically connected with the controller;

and a controller 1401 for controlling the moving device 1403 to move to drive the gripper 1402 to move from the second position to the first target position.

In one possible implementation, the moving device 1403 is a robotic arm, the gripper 1402 is connected to one end of the robotic arm, the robotic arm is electrically connected to the controller 1401, and the robotic arm includes a plurality of joints;

a controller 1401 for determining a target linear velocity of the gripper 1402 based on a distance between the second position and the end position, the target linear velocity having a positive correlation with the distance;

a controller 1401 for converting the target linear velocity into a corresponding target angular velocity using a target conversion function;

a controller 1401 for determining target angles of the plurality of joints according to the target angular velocity, the current angles of the plurality of joints, and the target time length, determining a target linear velocity of the gripper 1402 according to the distance between the second position and the end position, the target linear velocity being in a positive correlation with the distance;

a controller 1401 for controlling each of the plurality of joints to bend from a current angle to a corresponding target angle to move the gripper 1402 from the second position to the first target position.

In one possible implementation, the controller 1401 includes a motion controller 14012 and a plurality of joint controllers 14014, the plurality of joint controllers 14014 being electrically connected to the motion controller 14012, a plurality of joint controllers 1404 being respectively connected to each joint of the robot arm;

a motion controller 14012 for determining target angles of the plurality of joints and then transmitting the target angles of the corresponding joints to the plurality of joint controllers;

each joint controller 14014 is configured to bend the corresponding joint from the current angle to the target angle according to the received target angle.

In one possible implementation, a controller 1401 for obtaining a current angle for each of a plurality of joints;

a controller 1401 for determining a third position of the gripper 1402 based on the current angle of each joint;

a controller 1401 for determining a second target position of the gripper 1402 in the moving path according to the third position of the gripper 1402.

In one possible implementation, the controller 1401 is configured to suspend the step of determining a second target position of the gripper 1402 in the moving path according to the third position of the gripper 1402 if the first target event is detected;

the controller 1401 is configured to execute the steps of determining the second target position of the gripper 1402 in the moving path, based on the third position of the gripper 1402 after the first target event disappears.

In one possible implementation, the controller 1401 is configured to stop executing the step of determining the second target position of the gripper 1402 in the moving path according to the third position of the gripper 1402 if the second target event is detected.

In one possible implementation, the second target event includes an event in which the target item is dropped from the holder 1402.

In one possible implementation, the controller 1401 is configured to control the gripper 1402 to move from the end position to a preset position of the gripper 1402 after the gripper 1402 moves the target item to the end position.

In one possible implementation, the controller 1401 is configured to update the moving path of the gripper 1402 according to the fifth position and the updated end position of the gripper 1402, with the preset position of the gripper 1402 as the updated end position;

a controller 1401 for determining a fifth target position of the gripper 1402 in the updated moving path based on the fifth position, and controlling the gripper 1402 to move from the fifth position to the fifth target position;

and the controller 1401 is configured to determine a sixth target position of the gripper 1402 in the moving path according to the sixth position of the gripper 1402, until the target position of the gripper 1402 in the moving path is determined to be the updated end position, and control the gripper 1402 to move to the updated end position.

In one possible implementation, the controller 1401 is configured to send a release instruction to the gripper 1402 after the gripper 1402 moves the target item to the termination position;

a gripper 1402 for releasing the target item according to the release instruction.

Fig. 15 is a block diagram of a terminal according to an embodiment of the present application. The terminal 1500 is used to perform the steps performed by the terminal or the smart device in the above embodiments, and may be a portable mobile terminal, such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. Terminal 1500 may also be referred to as user equipment, a portable terminal, a laptop terminal, a desktop terminal, or other names.

In general, terminal 1500 includes: a processor 1501 and memory 1502.

Processor 1501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1501 may be a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), or a PLA

(Programmable Logic Array ) in a Programmable Logic Array. Processor 1501 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also referred to as a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1501 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the display screen. In some embodiments, processor 1501 may also include an AI (Artificial Intelligence) processor for processing computational operations related to machine learning.

The memory 1502 may include one or more computer-readable storage media, which may be non-transitory. The memory 1502 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in the memory 1502 is used to store at least one instruction for execution by the processor 1501 to implement the method of moving an article as provided by the method embodiments herein.

In some embodiments, the terminal 1500 may further include: a peripheral interface 1503 and at least one peripheral. The processor 1501, memory 1502, and peripheral interface 1503 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 1503 via buses, signal lines, or circuit boards. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1504, touch screen display 1505, camera assembly 1506, audio circuitry 1507, positioning assembly 1508, and power supply 1509.

The peripheral interface 1503 may be used to connect at least one peripheral related to I/O (Input/Output) to the processor 1501 and the memory 1502. In some embodiments, the processor 1501, memory 1502, and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1501, the memory 1502, and the peripheral device interface 1503 may be implemented on separate chips or circuit boards, which are not limited in this application.

The Radio Frequency circuit 1504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuitry 1504 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 1504 converts an electrical signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 1504 can communicate with other terminals via at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the radio frequency circuit 1504 may also include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1505 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1505 is a touch display screen, the display screen 1505 also has the ability to capture touch signals on or over the surface of the display screen 1505. The touch signal may be input to the processor 1501 as a control signal for processing. In this case, the display screen 1505 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, display 1505 may be one, providing the front panel of terminal 1500; in other embodiments, display 1505 may be at least two, each disposed on a different surface of terminal 1500 or in a folded design; in still other embodiments, display 1505 may be a flexible display disposed on a curved surface or a folded surface of terminal 1500. Even further, the display 1505 may be configured in a non-rectangular irregular pattern, i.e., a shaped screen. The Display 1505 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), and other materials.

The camera assembly 1506 is used to capture images or video. Optionally, the camera assembly 1506 includes a front camera and a rear camera. Generally, a front camera is disposed at a front panel of the terminal, and a rear camera is disposed at a rear surface of the terminal. In some embodiments, the number of the rear cameras is at least two, and each rear camera is any one of a main camera, a depth-of-field camera, a wide-angle camera and a telephoto camera, so that the main camera and the depth-of-field camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize panoramic shooting and VR (Virtual Reality) shooting functions or other fusion shooting functions. In some embodiments, camera assembly 1506 may also include a flash. The flash lamp can be a monochrome temperature flash lamp or a bicolor temperature flash lamp. The double-color-temperature flash lamp is a combination of a warm-light flash lamp and a cold-light flash lamp, and can be used for light compensation at different color temperatures.

The audio circuitry 1507 may include a microphone and speaker. The microphone is used for collecting sound waves of a user and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 1501 for processing or inputting the electric signals to the radio frequency circuit 1504 to realize voice communication. For stereo capture or noise reduction purposes, multiple microphones may be provided, each at a different location of the terminal 1500. The microphone may also be an array microphone or an omni-directional pick-up microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The loudspeaker can be a traditional film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, the speaker can be used for purposes such as converting an electric signal into a sound wave audible to a human being, or converting an electric signal into a sound wave inaudible to a human being to measure a distance. In some embodiments, the audio circuitry 1507 may also include a headphone jack.

The positioning component 1508 is used to locate a current geographic position of the terminal 1500 to implement navigation or LBS (location based Service). The positioning component 1508 may be a positioning component based on the GPS (global positioning System) of the united states, the beidou System of china, or the greiner System of russia, or the galileo System of the european union.

Power supply 1509 is used to power the various components in terminal 1500. The power supply 1509 may be alternating current, direct current, disposable or rechargeable. When the power supply 1509 includes a rechargeable battery, the rechargeable battery may support wired charging or wireless charging. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, the terminal 1500 also includes one or more sensors 1510. The one or more sensors 1510 include, but are not limited to: acceleration sensor 1511, gyro sensor 1512, pressure sensor 1513, fingerprint sensor 1514, optical sensor 1515, and proximity sensor 1516.

The acceleration sensor 1511 may detect the magnitude of acceleration on three coordinate axes of the coordinate system established with the terminal 1500. For example, the acceleration sensor 1511 may be used to detect components of the gravitational acceleration in three coordinate axes. The processor 1501 may control the touch screen display 1505 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1511. The acceleration sensor 1511 may also be used for acquisition of motion data of a game or a user.

The gyroscope sensor 1512 can detect the body direction and the rotation angle of the terminal 1500, and the gyroscope sensor 1512 and the acceleration sensor 1511 cooperate to collect the 3D motion of the user on the terminal 1500. The processor 1501 may implement the following functions according to the data collected by the gyro sensor 1512: motion sensing (such as changing the UI according to a user's tilting operation), image stabilization at the time of photographing, game control, and inertial navigation.

Pressure sensor 1513 may be disposed on a side bezel of terminal 1500 and/or underneath touch display 1505. When the pressure sensor 1513 is disposed on the side frame of the terminal 1500, the holding signal of the user to the terminal 1500 may be detected, and the processor 1501 performs left-right hand recognition or shortcut operation according to the holding signal collected by the pressure sensor 1513. When the pressure sensor 1513 is disposed at a lower layer of the touch display 1505, the processor 1501 controls the operability control on the UI interface according to the pressure operation of the user on the touch display 1505. The operability control comprises at least one of a button control, a scroll bar control, an icon control and a menu control.

The fingerprint sensor 1514 is configured to capture a fingerprint of the user, and the processor 1501 identifies the user based on the fingerprint captured by the fingerprint sensor 1514, or the fingerprint sensor 1514 identifies the user based on the captured fingerprint. Upon recognizing that the user's identity is a trusted identity, the processor 1501 authorizes the user to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying, and changing settings, etc. The fingerprint sensor 1514 may be disposed on the front, back, or side of the terminal 1500. When a physical key or vendor Logo is provided on the terminal 1500, the fingerprint sensor 1514 may be integrated with the physical key or vendor Logo.

The optical sensor 1515 is used to collect ambient light intensity. In one embodiment, processor 1501 may control the brightness of the display on touch screen 1505 based on the intensity of ambient light collected by optical sensor 1515. Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 1505 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 1505 is turned down. In another embodiment, the processor 1501 may also dynamically adjust the shooting parameters of the camera assembly 1506 based on the ambient light intensity collected by the optical sensor 1515.

A proximity sensor 1516, also known as a distance sensor, is typically provided on the front panel of the terminal 1500. The proximity sensor 1516 is used to collect the distance between the user and the front surface of the terminal 1500. In one embodiment, when the proximity sensor 1516 detects that the distance between the user and the front surface of the terminal 1500 gradually decreases, the processor 1501 controls the touch display 1505 to switch from the bright screen state to the dark screen state; when the proximity sensor 1516 detects that the distance between the user and the front surface of the terminal 1500 gradually becomes larger, the processor 1501 controls the touch display 1505 to switch from the breath screen state to the bright screen state.

Those skilled in the art will appreciate that the configuration shown in fig. 15 does not constitute a limitation of terminal 1500, and may include more or fewer components than shown, or some components may be combined, or a different arrangement of components may be employed.

Fig. 16 is a schematic structural diagram of a server 1600 provided in this embodiment of the present application, where the server 1600 may generate a relatively large difference due to a difference in configuration or performance, and may include one or more processors (CPUs) 1601 and one or more memories 1602, where at least one instruction is stored in the memory 3902, and the at least one instruction is loaded and executed by the processors 1601 to implement the methods provided in the foregoing method embodiments. Of course, the server may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input/output, and the server may also include other components for implementing the functions of the device, which are not described herein again.

The server 1600 may be used to perform the steps performed by the server in the mobile item method described above.

The embodiment of the present application further provides a computer device, which includes a holder, a processor and a memory, where the holder is electrically connected to the processor, and the memory stores at least one instruction, and the instruction is loaded by the processor and executes the operations performed in the method for moving an article according to the above embodiment.

The embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, and the instruction is loaded and executed by a processor to implement the operations performed in the method for moving an article according to the above embodiment.

The embodiment of the present application further provides a computer program, where at least one instruction is stored in the computer program, and the at least one instruction is loaded and executed by a processor to implement the operations performed in the method for moving an article according to the foregoing embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of moving an article, applied to a smart device, the smart device being provided with a holder, the method comprising:

2. The method of claim 1, wherein determining the path of movement of the gripper based on the first position at which the gripper is located, the initial position and the end position of the target item to be moved comprises:

3. The method of claim 1, wherein determining the path of movement of the gripper based on the first position at which the gripper is located, the initial position and the end position of the target item to be moved comprises:

4. The method of claim 3, wherein said determining a manner of movement of said target item by said gripper based on whether an obstruction exists between said initial position and said final position comprises:

5. The method of claim 1, wherein said controlling said gripper to grip said target item after moving from said first position to said initial position in accordance with said path of movement comprises:

6. The method of claim 1, wherein determining a first target position of the gripper in the path of movement based on the second position of the gripper comprises:

7. The method of claim 6, wherein determining a target speed of the gripper based on the distance between the second position and the end position comprises:

8. The method of claim 1, wherein the smart device comprises a mobile device, the mobile device being connected to the holder; the controlling the gripper to move from the second position to the first target position comprises:

9. The method of claim 8, wherein the moving device is a robotic arm having one end coupled to a gripper, the robotic arm comprising a plurality of joints; the determining a first target position of the gripper in the movement path according to the second position of the gripper comprises:

10. The method of claim 1, wherein after said controlling said gripper to move from said second position to said first target position, said method further comprises:

if a first target event is detected, suspending the step of determining a second target position of the gripper in the moving path according to the third position of the gripper; after the first target event disappears, performing the step of determining a second target position of the gripper in the movement path according to the third position of the gripper; alternatively, the first and second electrodes may be,

if a second target event is detected, stopping executing the step of determining a second target position of the gripper in the moving path according to the third position of the gripper; controlling the gripper to move from the end position to a preset position of the gripper.

11. The method of claim 1, further comprising:

12. The method of claim 10 or 11, wherein said controlling the gripper to move from the end position to a preset position of the gripper comprises:

13. An apparatus for moving an object, applied to a smart device equipped with a holder, the apparatus comprising:

14. A smart device, characterized in that the computer device comprises a holder, a processor and a memory, the holder being electrically connected with the processor, the memory having stored therein at least one instruction, which is loaded and executed by the processor to carry out the operations performed in the method of moving an item according to any one of claims 1 to 12.

15. A computer-readable storage medium having stored therein at least one instruction which is loaded and executed by a processor to perform operations performed in a method of moving an item according to any one of claims 1 to 12.