CN111906787A - Robot control method and control device, and robot - Google Patents
Robot control method and control device, and robot Download PDFInfo
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- CN111906787A CN111906787A CN202010797063.XA CN202010797063A CN111906787A CN 111906787 A CN111906787 A CN 111906787A CN 202010797063 A CN202010797063 A CN 202010797063A CN 111906787 A CN111906787 A CN 111906787A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Abstract
The invention discloses a robot control method and device and a robot. Wherein, the method comprises the following steps: after the robot is determined to meet the preset restarting condition, a return route is obtained, wherein the return route is planned based on the current position of the robot and the position of a target safety point; controlling the robot to travel along the return route, and controlling a detection component on the robot to monitor the surrounding environment; when the obstacle exists in the surrounding environment, controlling the robot to avoid the obstacle; after the robot avoids the obstacle, the robot is controlled to continue traveling along the return route to reach the target safety point. The invention solves the technical problems that the robot is easy to collide and have safety accidents when being restarted in the related technology.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a robot control method, a robot control device and a robot.
Background
In the related art, no matter the robot is in a working state or a testing state, if a failure, a fault or an emergency occurs, the robot is likely to have a collision accident, a light person causes paint of the robot to be scraped, a heavy person causes the robot to be damaged, and after the robot is stopped due to the fault, if no professional operates the robot in the field to restart the robot, the robot is likely to have the collision, so that a safety accident of the robot is caused.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a control method and a control device of a robot and the robot, which at least solve the technical problems that the robot is easy to collide and have safety accidents when being restarted in the related technology.
According to an aspect of an embodiment of the present invention, there is provided a control method of a robot having detection parts mounted on a plurality of axes, the control method including: after the robot is determined to meet a preset restarting condition, a return route is obtained, wherein the return route is planned based on the current position of the robot and the position of a target safety point; controlling the robot to travel along the return route and controlling a detection component on the robot to monitor the surrounding environment; controlling the robot to avoid an obstacle when it is determined that the obstacle is present in the surrounding environment; after the robot avoids the obstacle, controlling the robot to continue traveling along the return route to reach the target safety point.
Optionally, the preset restart condition includes: and (4) the robot fails to restart the fault.
Optionally, a left first group of detection components and a right first group of detection components are respectively disposed on the left and right sides of a first target axis of the robot, a left second group of detection components and a right second group of detection components are respectively disposed on the left and right sides of a second target axis, and a left third group of detection components and a right third group of detection components are respectively disposed on the left and right sides of a third target axis.
Optionally, each set of said detection members comprises a plurality of proximity sensing members or proximity switches.
Optionally, when it is determined that an obstacle exists in the surrounding environment, the step of controlling the robot to avoid the obstacle includes: when the detection result of the robot meets a first condition, adjusting a first target axis of the robot to enable the robot to move towards the left side so as to avoid a right obstacle; or when the detection result of the robot meets a second condition, adjusting a first target axis of the robot to enable the robot to move towards the right side to avoid a left obstacle; or when the detection result of the robot meets a third condition, adjusting a second target axis and a third target axis of the robot to enable the robot to move downwards so as to avoid an obstacle above the robot; or when the detection result of the robot meets a fourth condition, adjusting a second target axis and a third target axis of the robot to enable the robot to move upwards to avoid an obstacle below the robot.
Optionally, the first condition is that a plurality of proximity switches of at least one of the following detect an obstacle: said left first set of sensing elements, said left second set of sensing elements, said left third set of sensing elements; the second condition is that the plurality of proximity switches of at least one of the following detect an obstacle: the right first set of sensing elements, the right second set of sensing elements, and the right third set of sensing elements.
Optionally, the third condition is that the first proximity switch of the right first group of detection components or the first proximity switch of the left first group of detection components detects an obstacle; the fourth condition is that: the second proximity switch of the right first group of detection components or the second proximity switch of the left first group of detection components detects the obstacle.
According to another aspect of the embodiments of the present invention, there is also provided a control apparatus of a robot having detection parts mounted on a plurality of axes, the control apparatus including: the robot control device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a return route after determining that the robot meets a preset restart condition, and the return route is planned based on the current position of the robot and the position of a target safety point; the first control unit is used for controlling the robot to travel along the return route and controlling a detection component on the robot to monitor the surrounding environment; a second control unit for controlling the robot to avoid an obstacle when it is determined that the obstacle exists in the surrounding environment; and the third control unit is used for controlling the robot to continue to travel along the return route to reach the target safety point after the robot avoids the obstacle.
Optionally, the preset restart condition includes: and (4) the robot fails to restart the fault.
Optionally, a left first group of detection components and a right first group of detection components are respectively disposed on the left and right sides of a first target axis of the robot, a left second group of detection components and a right second group of detection components are respectively disposed on the left and right sides of a second target axis, and a left third group of detection components and a right third group of detection components are respectively disposed on the left and right sides of a third target axis.
Optionally, each set of said detection members comprises a plurality of proximity sensing members or proximity switches.
Optionally, the second control unit comprises: the first adjusting module is used for adjusting a first target axis of the robot to enable the robot to move towards the left side to avoid a right obstacle when a detection result of the robot meets a first condition; or the second adjusting module is used for adjusting the first target axis of the robot to enable the robot to move towards the right side to avoid the left obstacle when the detection result of the robot meets a second condition; or the third adjusting module is used for adjusting the second target axis and the third target axis of the robot when the detection result of the robot meets a third condition, so that the robot moves downwards to avoid an obstacle above the robot; or, the fourth adjusting module is used for adjusting the second target axis and the third target axis of the robot when the detection result of the robot meets a fourth condition, so that the robot moves upwards to avoid the obstacle below the robot.
Optionally, the first condition is that a plurality of proximity switches of at least one of the following detect an obstacle: said left first set of sensing elements, said left second set of sensing elements, said left third set of sensing elements; the second condition is that the plurality of proximity switches of at least one of the following detect an obstacle: the right first set of sensing elements, the right second set of sensing elements, and the right third set of sensing elements.
Optionally, the third condition is that the first proximity switch of the right first group of detection components or the first proximity switch of the left first group of detection components detects an obstacle; the fourth condition is that: the second proximity switch of the right first group of detection components or the second proximity switch of the left first group of detection components detects the obstacle.
According to another aspect of the embodiments of the present invention, there is also provided a robot including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the control method of the robot of any one of the above via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the apparatus where the computer-readable storage medium is located is controlled to execute the control method of the robot.
In the embodiment of the invention, after the robot is determined to meet the preset restart condition, a return route is obtained, wherein the return route is planned based on the current position of the robot and the position of a target safety point; controlling the robot to travel along the return route, and controlling a detection component on the robot to monitor the surrounding environment; when the obstacle exists in the surrounding environment, controlling the robot to avoid the obstacle; after the robot avoids the obstacle, the robot is controlled to continue traveling along the return route to reach the target safety point. In the embodiment, in the process that the robot returns to the safety point, the detection components arranged on the axes of the robot monitor the surrounding environment so as to avoid surrounding obstacles in real time, ensure that the robot can safely reach the safety point, and reduce collision, thereby solving the technical problems that the robot is easy to collide and have safety accidents when being restarted in the related technology.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of an alternative robot control method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of an alternative robot right deployment detection assembly in accordance with embodiments of the present invention;
fig. 3 is a schematic diagram of an alternative control arrangement for a robot according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Embodiments of the present invention may be applied to various robots, and the robot types may include, but are not limited to: industrial robots, educational robots, etc., the specific model of the robot is not limited. The number of axes of the robot may include, but is not limited to: four-axis robot, five-axis robot, six-axis robot.
In the embodiment of the invention, in order to install the sensing components on the multiple axes of the robot, the surrounding environment can be monitored in real time in the route of controlling the robot to return to the safety point, so that the robot can effectively avoid obstacles, the robot can safely return to the safety point, and the next operation is executed, thereby eliminating the potential safety hazard caused after the robot is restarted and realizing the automation of the robot.
In accordance with an embodiment of the present invention, there is provided a control method embodiment of a robot, it is noted that the steps illustrated in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that while a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than here.
The embodiment of the invention provides a control method of a robot, wherein a plurality of shafts of the robot are provided with detection parts.
Fig. 1 is a schematic diagram of an alternative robot control method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step S102, obtaining a return route after the robot meets a preset restarting condition, wherein the return route is planned based on the current position of the robot and the position of a target safety point;
step S104, controlling the robot to move along a return route, and controlling a detection component on the robot to monitor the surrounding environment;
step S106, when the obstacle exists in the surrounding environment, controlling the robot to avoid the obstacle;
and step S108, after the robot avoids the obstacle, controlling the robot to continue to travel along the return route so as to reach the target safety point.
Through the steps, the return route can be obtained after the robot is determined to meet the preset restarting condition, wherein the return route is planned based on the current position of the robot and the position of the target safety point; controlling the robot to travel along the return route, and controlling a detection component on the robot to monitor the surrounding environment; when the obstacle exists in the surrounding environment, controlling the robot to avoid the obstacle; after the robot avoids the obstacle, the robot is controlled to continue traveling along the return route to reach the target safety point. In the embodiment, in the process that the robot returns to the safety point, the detection components arranged on the axes of the robot monitor the surrounding environment so as to avoid surrounding obstacles in real time, ensure that the robot can safely reach the safety point, and reduce collision, thereby solving the technical problems that the robot is easy to collide and have safety accidents when being restarted in the related technology.
In the embodiment of the present invention, a detection component may be installed on multiple axes of the robot, where the detection component may refer to multiple proximity switches/proximity sensors, and is schematically illustrated by taking proximity switches as an example, where multiple proximity switches are respectively disposed on the left and right sides of each axis or in other orientations, and taking a six-axis robot as an example, five proximity switches may be respectively disposed on a second axis close to the flange, a third axis close to the elbow, and a fourth axis close to the mechanical arm, for example, 5 proximity switches are respectively disposed on the left and right sides of the second axis, and respectively: the device comprises an upper proximity switch, a lower proximity switch, a middle proximity switch, a left proximity switch and a right proximity switch.
The detection components in multiple directions (for example, the combination of 5 proximity switches) are used for monitoring the real-time situation of each direction, so that the robot is prevented from colliding with other objects, other robots and the like, and serious consequences are avoided.
The present invention will be described in detail with reference to the above steps.
And step S102, acquiring a return route after the robot meets the preset restart condition, wherein the return route is planned based on the current position of the robot and the position of the target safety point.
Optionally, the preset restart condition includes: and (4) the robot fails to restart the fault. After the robot breaks down and is restarted by mistake, the robot can automatically move to a safety point, and the occurrence of collision accidents caused by abnormal movement is reduced.
In the embodiment of the invention, a left first group of detection components and a right first group of detection components are respectively arranged on the left side and the right side of a first target shaft of the robot, a left second group of detection components and a right second group of detection components are respectively arranged on the left side and the right side of a second target shaft, and a left third group of detection components and a right third group of detection components are respectively arranged on the left side and the right side of a third target shaft.
As an alternative embodiment of the present invention, each set of sensing elements includes a plurality of proximity sensing elements or proximity switches.
Fig. 2 is a schematic diagram of an alternative robot right side deployed detection assembly according to an embodiment of the present invention, and as shown in fig. 2, a right detection assembly, a right two detection assembly, and a right three detection assembly are deployed on the right side of the robot respectively. Wherein, each detection component is respectively arranged with five proximity switches which are distributed evenly.
And step S104, controlling the robot to travel along the return route, and controlling a detection part on the robot to monitor the surrounding environment.
And step S106, controlling the robot to avoid the obstacle when the obstacle exists in the surrounding environment.
In an embodiment of the present invention, when it is determined that an obstacle exists in the surrounding environment, the step of controlling the robot to avoid the obstacle includes: when the detection result of the robot meets a first condition, adjusting a first target axis of the robot to enable the robot to move towards the left side so as to avoid a right obstacle; or when the detection result of the robot meets a second condition, adjusting a first target axis of the robot to enable the robot to move towards the right direction so as to avoid a left obstacle; or when the detection result of the robot meets a third condition, adjusting a second target axis and a third target axis of the robot to enable the robot to move downwards so as to avoid an obstacle above the robot; or when the detection result of the robot meets the fourth condition, adjusting the second target axis and the third target axis of the robot to enable the robot to move upwards so as to avoid the obstacle below the robot.
For example, taking two axes, three axes, and four axes of the robot as an example, the left and right sides of the two axes, three axes, and four axes are respectively provided with corresponding detection assemblies, and then proximity switches on the robot body are uniformly numbered, namely, left one, left two, left three, right one, right two, and right three, each device includes 5 proximity switches, and the numbering can be continued (left one (middle), left one (upper), left one (lower), left one (front), and left one (rear), where the left one represents the middle proximity switch). Through uniform numbering, the robot can clearly know which shaft is likely to collide and can be processed in time, and a safety point is arranged before the robot operates
Optionally, the first condition is that a plurality of proximity switches of at least one of the following detect an obstacle: a left first group of detection members, a left second group of detection members, a left third group of detection members; the second condition is that the plurality of proximity switches of at least one of the following detect an obstacle: the first right group of detection components, the second right group of detection components and the third right group of detection components.
For example, when any one of the first right, the second right and the third right scans an obstacle, or when the proximity switches of the first right (front), the first right (back), the second right (front), the second right (back), the third right (front) and the third right (back) scan an obstacle, one axis of the robot is adjusted to enable the robot to move in the left direction, and vice versa; when any one of the first left, the second left and the third left scans the obstacle, or when the proximity switches of the first left (front), the first left (back), the second left (front), the second left (back), the third left (front) and the third left (back) scan the obstacle, one axis of the robot is adjusted to enable the robot to move towards the right side.
Alternatively, the third condition is that the first proximity switch of the right first group of detection components or the first proximity switch of the left first group of detection components detects an obstacle; the fourth condition is that: the second proximity switch of the right first group of detection components or the second proximity switch of the left first group of detection components detects the obstacle.
For example, when an obstacle is scanned on the right (upper) or left (upper), two and three axes of the robot are adjusted to move downwards a little until a safe distance is reached; when the obstacle is scanned on the right (lower) or left (lower), the two and three axes of the robot are adjusted to move upwards a little until the safe distance is reached. The monitoring is carried out in real time until the set safety point position is returned, so that the corresponding safety point can be safely returned to for the next operation, and the accident is avoided.
And step S108, after the robot avoids the obstacle, controlling the robot to continue to travel along the return route so as to reach the target safety point.
Through the embodiment, after the robot is restarted due to faults, if the robot needs to return to the safety point, the surrounding environment can be monitored in real time through the detection assembly, when an obstacle is monitored, an alarm prompt can be generated at a corresponding position, then automatic obstacle avoidance operation is carried out, and finally the robot can return to the safety point.
Fig. 3 is a schematic diagram of an alternative control device for a robot having detection components mounted on a plurality of axes according to an embodiment of the present invention, and as shown in fig. 3, the control device may include: an acquisition unit 31, a first control unit 33, a second control unit 35, a third control unit 37, wherein,
the acquiring unit 31 is configured to acquire a return route after it is determined that the robot meets a preset restart condition, where the return route is planned based on a current position of the robot and a position of a target safety point;
a first control unit 33 for controlling the robot to travel along the return route and for controlling a detection means on the robot to monitor the surrounding environment;
a second control unit 35 for controlling the robot to avoid the obstacle when it is determined that the obstacle exists in the surrounding environment;
and a third control unit 37 for controlling the robot to continue to travel along the return route to reach the target safety point after the robot avoids the obstacle.
The control device of the robot can acquire a return route after the acquisition unit 31 determines that the robot meets the preset restart condition, wherein the return route is planned based on the current position of the robot and the position of the target safety point, the first control unit 33 controls the robot to travel along the return route, the detection component on the robot is controlled to monitor the surrounding environment, the second control unit 35 controls the robot to avoid the obstacle when determining that the obstacle exists in the surrounding environment, and the third control unit 37 controls the robot to continue to travel along the return route after the robot avoids the obstacle so as to reach the target safety point. In the embodiment, in the process that the robot returns to the safety point, the detection components arranged on the axes of the robot monitor the surrounding environment so as to avoid surrounding obstacles in real time, ensure that the robot can safely reach the safety point, and reduce collision, thereby solving the technical problems that the robot is easy to collide and have safety accidents when being restarted in the related technology.
Optionally, the preset restart condition includes: and (4) the robot fails to restart the fault.
Alternatively, a left first group of detection components and a right first group of detection components are respectively deployed on the left side and the right side of a first target shaft of the robot, a left second group of detection components and a right second group of detection components are respectively deployed on the left side and the right side of a second target shaft, and a left third group of detection components and a right third group of detection components are respectively deployed on the left side and the right side of a third target shaft.
Optionally, each set of detection components includes a plurality of proximity sensing components or proximity switches.
In an embodiment of the present invention, the second control unit includes: the first adjusting module is used for adjusting a first target axis of the robot when the detection result of the robot meets a first condition so as to enable the robot to move towards the left side to avoid a right obstacle; or the second adjusting module is used for adjusting the first target axis of the robot to enable the robot to move towards the right side direction to avoid the left obstacle when the detection result of the robot meets a second condition; or the third adjusting module is used for adjusting the second target axis and the third target axis of the robot when the detection result of the robot meets a third condition, so that the robot moves downwards to avoid an obstacle above the robot; or the fourth adjusting module is used for adjusting the second target axis and the third target axis of the robot when the detection result of the robot meets the fourth condition, so that the robot moves upwards to avoid the obstacle below the robot.
Optionally, the first condition is that a plurality of proximity switches of at least one of the following detect an obstacle: a left first group of detection members, a left second group of detection members, a left third group of detection members; the second condition is that the plurality of proximity switches of at least one of the following detect an obstacle: the first right group of detection components, the second right group of detection components and the third right group of detection components.
Optionally, the third condition is that the first proximity switch of the right first group of detection components or the first proximity switch of the left first group of detection components detects an obstacle; the fourth condition is that: the second proximity switch of the right first group of detection components or the second proximity switch of the left first group of detection components detects the obstacle.
The control device of the robot may further include a processor and a memory, the acquiring unit 31, the first control unit 33, the second control unit 35, the third control unit 37, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.
The processor comprises a kernel, and the kernel calls a corresponding program unit from the memory. The kernel can be set to be one or more, and the controller robot is controlled to avoid the obstacles by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
According to another aspect of the embodiments of the present invention, there is also provided a robot including: a processor; and a memory for storing executable instructions for the processor; wherein the processor is configured to perform the control method of the robot of any one of the above via execution of the executable instructions.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, which includes a stored computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the control method of the robot in any one of the above.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: after the robot is determined to meet the preset restarting condition, a return route is obtained, wherein the return route is planned based on the current position of the robot and the position of a target safety point; controlling the robot to travel along the return route, and controlling a detection component on the robot to monitor the surrounding environment; when the obstacle exists in the surrounding environment, controlling the robot to avoid the obstacle; after the robot avoids the obstacle, the robot is controlled to continue traveling along the return route to reach the target safety point.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A control method of a robot having detection parts mounted on a plurality of axes of the robot, comprising:
after the robot is determined to meet a preset restarting condition, a return route is obtained, wherein the return route is planned based on the current position of the robot and the position of a target safety point;
controlling the robot to travel along the return route and controlling a detection component on the robot to monitor the surrounding environment;
controlling the robot to avoid an obstacle when it is determined that the obstacle is present in the surrounding environment;
after the robot avoids the obstacle, controlling the robot to continue traveling along the return route to reach the target safety point.
2. The control method according to claim 1, wherein the preset restart condition comprises: and (4) the robot fails to restart the fault.
3. The control method according to claim 1, wherein a left first group of detection elements and a right first group of detection elements are disposed on left and right sides of a first target axis of the robot, respectively, a left second group of detection elements and a right second group of detection elements are disposed on left and right sides of a second target axis, respectively, and a left third group of detection elements and a right third group of detection elements are disposed on left and right sides of a third target axis, respectively.
4. The control method according to claim 3, wherein each set of the detection parts includes a plurality of proximity sensing parts or proximity switches.
5. The control method according to claim 4, wherein the step of controlling the robot to avoid the obstacle when it is determined that the obstacle exists in the surrounding environment, includes:
when the detection result of the robot meets a first condition, adjusting a first target axis of the robot to enable the robot to move towards the left side so as to avoid a right obstacle; alternatively, the first and second electrodes may be,
when the detection result of the robot meets a second condition, adjusting a first target axis of the robot to enable the robot to move towards the right side to avoid a left obstacle; alternatively, the first and second electrodes may be,
when the detection result of the robot meets a third condition, adjusting a second target axis and a third target axis of the robot to enable the robot to move downwards so as to avoid an obstacle above the robot; alternatively, the first and second electrodes may be,
and when the detection result of the robot meets a fourth condition, adjusting a second target axis and a third target axis of the robot so that the robot moves upwards to avoid the obstacle below the robot.
6. The control method according to claim 5, wherein the first condition is that a plurality of proximity switches of at least one of the following detect an obstacle: said left first set of sensing elements, said left second set of sensing elements, said left third set of sensing elements; the second condition is that the plurality of proximity switches of at least one of the following detect an obstacle: the right first set of sensing elements, the right second set of sensing elements, and the right third set of sensing elements.
7. The control method according to claim 5, wherein the third condition is that the first proximity switch of the first group of detection components on the right side or the first proximity switch of the first group of detection components on the left side detects an obstacle; the fourth condition is that: the second proximity switch of the right first group of detection components or the second proximity switch of the left first group of detection components detects the obstacle.
8. A control device of a robot, characterized in that a plurality of axes of the robot are provided with detection parts, the control device comprising:
the robot control device comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring a return route after determining that the robot meets a preset restart condition, and the return route is planned based on the current position of the robot and the position of a target safety point;
the first control unit is used for controlling the robot to travel along the return route and controlling a detection component on the robot to monitor the surrounding environment;
a second control unit for controlling the robot to avoid an obstacle when it is determined that the obstacle exists in the surrounding environment;
and the third control unit is used for controlling the robot to continue to travel along the return route to reach the target safety point after the robot avoids the obstacle.
9. A robot, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the control method of the robot of any one of claims 1 to 7 via execution of the executable instructions.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the control method of the robot according to any one of claims 1 to 7.
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