CN112008732B - Robot reverse running method, device, terminal and storage medium - Google Patents
Robot reverse running method, device, terminal and storage medium Download PDFInfo
- Publication number
- CN112008732B CN112008732B CN202010941692.5A CN202010941692A CN112008732B CN 112008732 B CN112008732 B CN 112008732B CN 202010941692 A CN202010941692 A CN 202010941692A CN 112008732 B CN112008732 B CN 112008732B
- Authority
- CN
- China
- Prior art keywords
- task
- robot
- instruction
- parameter
- execution
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention provides a robot converse method, a robot converse device, a terminal and a storage medium, belonging to the technical field of information processing, and specifically comprising the steps of obtaining an input converse command; extracting a historical execution task closest to the current time period from an operation database according to the reverse command; when the historical execution task is judged to be a forward task, extracting forward operation parameters from the forward task; generating a retrograde motion parameter according to the forward motion parameter, and generating a retrograde motion instruction carrying the retrograde motion parameter; and controlling the robot to execute the retrograde motion instruction. By the aid of the processing scheme, the robot can retreat along the original path at any time, and the robot can flexibly retreat from an operation site.
Description
Technical Field
The invention relates to the technical field of information processing, in particular to a robot retrograde motion method, a robot retrograde motion device, a terminal and a storage medium.
Background
In the field debugging or operation process of the robot, when a problem occurs at a certain position, the robot is required to return along the original path of the original track and return to the initial position due to the narrow gap between the tool and the external environment.
At present, the solutions of robots on the market for program reversal are divided into two types: one is that the compiler mark is changed when the robot runs in the reverse direction, and each previous line program is executed in sequence in a reverse order, but when point position calculation or assignment exists between motions, the problem that a backspacing path does not conform to an original path can occur, and if the robot works in a narrow space, collision is easily caused; the other method is that a function needs to be specially added in a program to record point location path information, a backspacing function also needs to be written in a code, and the backspacing function is triggered when a specific signal is received, so that the method is not convenient and flexible enough in actual use, and in some scenes, an I/O signal triggered in the motion process can change the external environment, a robot can pass through a path only under the condition of specific I/O triggering, and the robot cannot flexibly cope with the situation.
Disclosure of Invention
Therefore, in order to overcome the disadvantages of the prior art, the present invention provides a robot reversing method, a robot reversing device, a terminal and a storage medium, which can retreat along the original path at any time and ensure that the robot has a flexible exit operation space in the operation site.
In order to achieve the above object, the present invention provides a robot retrograde method, comprising: acquiring an input reverse command; extracting a historical execution task closest to the current time period from an operation database according to the reverse command; when the historical execution task is judged to be a forward task, extracting forward operation parameters from the forward task; generating a retrograde motion parameter according to the forward motion parameter, and generating a retrograde motion instruction carrying the retrograde motion parameter; and controlling the robot to execute the retrograde motion instruction.
In one embodiment, when the historical execution task is determined to be an I/O instruction task, extracting a historical instruction state from the I/O instruction task; generating a state adjusting instruction according to the historical instruction state; and controlling the robot to execute the state adjusting instruction.
In one embodiment, the method further comprises: extracting a first geographical position to be rolled back from the forward task; after the robot is controlled to execute the retrograde motion instruction, a second geographic position of the robot is obtained; and when the first geographic position is overlapped with the second geographic position, judging that the reverse command is smoothly executed.
In one embodiment, the method for generating the operation database includes: acquiring an input task to be executed; extracting an execution parameter from the task to be executed, and acquiring a first position parameter of the robot before execution; executing the task to be executed according to the execution parameters, and acquiring the current time after execution and a second position parameter of the robot; and storing the first position parameter, the second position parameter, the current time and the task to be executed as a historical execution task.
In one embodiment, the obtaining the input reverse command includes: displaying a forward option corresponding to the forward command and a backward option corresponding to the backward command on a preset interface; and generating a corresponding reverse command according to the selected back option.
The present invention also provides a robot retrograde apparatus, the apparatus comprising:
the command acquisition module is used for acquiring an input reverse command;
the historical task acquisition module is used for extracting a historical execution task closest to the current time period from an operation database according to the reverse running command;
the operation parameter extraction module is used for extracting forward operation parameters from the forward task when the historical execution task is judged to be the forward task;
the backward movement instruction generating module is used for generating a backward movement parameter according to the forward movement parameter and generating a backward movement instruction carrying the backward movement parameter;
and the retrograde execution module is used for controlling the robot to execute the retrograde motion instruction.
The invention also provides a computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the above method when executing the computer program.
The invention also provides a computer-readable storage medium, on which a computer program is stored, characterized in that the computer program realizes the steps of the above-mentioned method when executed by a processor.
Compared with the prior art, the invention has the advantages that: the method comprises the steps of extracting a historical execution task closest to the current time period from an operation database according to a retrograde motion command, generating a retrograde motion parameter according to a forward operation parameter of the historical execution task, generating a retrograde motion instruction carrying the retrograde motion parameter, and achieving reverse analysis without using a compiler for marking, so that the situation of track uncertainty caused by calculation or assignment operation in a program is avoided. Under the condition that the codes are not changed, the robot can retreat along the original path at any time, and the condition that the robot outputs external signals can be simulated reversely, so that completely symmetrical reverse motion is ensured to be realized, and the robot is ensured to have a flexible operation exiting space in an operation site.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed to be used in the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a robot walk-back method in an embodiment of the invention;
FIG. 2 is a flow chart illustrating a method for constructing a runtime database according to an embodiment of the present invention;
fig. 3 is a block diagram showing the structure of a robot reversing device according to an embodiment of the present invention;
fig. 4 is an internal structural diagram of a computer device in an embodiment of the present invention.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.
As shown in fig. 1, the present embodiment provides a robot reverse driving method, which is applied to a server for illustration, where the server may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable smart devices, and includes the following steps:
step S102, acquiring the input reverse running command.
The reverse command is a command opposite to the current running direction of the current robot, and may be a command instructing the robot to return to a position before the current command is executed along the original trajectory. The server acquires the input reverse command. The user may input a reverse command or the like in an input device connected to the server, and the server acquires the reverse command input by the user.
And step S104, extracting the history execution task closest to the current time period from the operation database according to the reverse order.
The operation database is a set for storing historical execution tasks executed by the robot, and the operation database can store execution time and task parameters of the historical execution tasks, for example, when the historical execution tasks are motion-type tasks, the database can store the execution time and the position of the robot when the tasks start, the position when the tasks end, coordinate system information based on the motion position, motion track type, motion speed, acceleration and other data; when the historical execution task is an I/O instruction task, the database can store the execution time, the I/O type, the I/O execution state and other data. The database stores historical execution tasks according to the execution time sequence, and can point to the currently running tasks through marks when the program runs backwards. The database may also record the row number where the script function for each task is located. The line number may be used to mark the line on the page where the run is running when running in reverse. And the server extracts the historical execution task closest to the current time period from the operation database according to the reverse order. The server can obtain the current time period and extract the history execution task closest to the current time period from the operation database according to the reverse running command.
And step S106, when the historical execution task is judged to be the forward task, extracting forward operation parameters from the forward task.
The task types are divided according to the operation of the robot, for example, the motion of the robot body can be controlled according to the motion type task; according to the I/O instruction task, the communication state of the external equipment and the robot body can be controlled at a certain moment; according to other instruction tasks, other operations which do not influence the movement of the robot can be executed on the robot body. In the operation database, the data corresponding to the motion task may include the robot position at the beginning of the motion task, the robot position at the end of the motion task, coordinate system information based on the motion position, motion trajectory type, motion speed, acceleration, and other data; the data corresponding to the I/O instruction task may include an execution time and an I/O state for controlling a change in an external mechanism environment; data corresponding to other tasks may store only instruction code. The forward task is a motion task performed when the robot is traveling in the forward direction.
The server judges the task type of the historical execution task according to different type parameters in each task. And when the server judges that the historical execution task is a forward task, extracting forward operation parameters from the forward task.
And S108, generating a retrograde motion parameter according to the forward motion parameter, and generating a retrograde motion instruction carrying the retrograde motion parameter.
And the server generates a retrograde motion parameter according to the forward motion parameter and generates a retrograde motion instruction carrying the retrograde motion parameter. And the server exchanges data with the robot position at the start of the task and the robot position at the end of the task in the forward running parameters, and verifies the position information of the robot according to the coordinate system information based on the motion position in the forward running parameters to obtain the accurate robot position at the start of the task and the accurate robot position at the end of the task in the backward running parameters. The server also determines the motion trail, the motion trail type, the motion speed and the acceleration of the reverse running in the reverse running parameters according to the motion trail type, the motion speed and the acceleration in the forward running parameters. And then, the server generates a retrograde motion instruction according to the determined retrograde back parameters.
And step S110, controlling the robot to execute a retrograde motion instruction.
And the server controls the robot to execute the retrograde motion instruction. The server also marks the reversed historical execution tasks in the operation database according to the execution result. When a reverse command is received again, the server acquires the history execution task closest to the marked history execution task as the next task to be reversed; and when the server receives the forward command, the server acquires the task parameters of the reversed historical execution task to perform forward operation again, and marks the next task to be executed.
According to the robot retrograde motion method, the historical execution task closest to the current time period is extracted from the operation database according to the retrograde command, the retrograde motion backward parameter is generated according to the forward operation parameter of the historical execution task, the retrograde motion instruction carrying the retrograde motion backward parameter is generated, a compiler is not used for marking and reversely analyzing, and the situation that the track is uncertain due to calculation or assignment operation in a program is avoided. Under the condition that the codes are not changed, the robot can retreat along the original path at any time, and the condition that the robot outputs external signals can be simulated reversely, so that completely symmetrical reverse motion is ensured to be realized, and the robot is ensured to have a flexible operation exiting space in an operation site.
In one embodiment, when the historical execution task is judged to be the I/O instruction task, extracting a historical instruction state from the I/O instruction task; generating a state adjusting instruction according to the historical instruction state; and controlling the robot to execute the state adjustment instruction.
The I/O instruction task does not directly control the robot body to move, and influences of external equipment on the robot at a certain moment are related through a control channel for controlling the robot to be communicated with the outside, so that the trafficability of a path is influenced. When the server determines that the history execution task is the I/O instruction task, the server may extract a connection path and a connection state with the external device from the I/O instruction task. And the server performs negation on the connection state and generates a state adjustment instruction carrying a connection path with the external equipment and the negated connection state. And the server controls the robot to execute the state adjustment instruction. The server also marks the reversed historical execution tasks in the operation database according to the execution result. When a reverse command is received again, the server acquires the history execution task closest to the marked history execution task as the next task to be reversed; and when the server receives the forward command, the server acquires the task parameters of the reversed historical execution task to perform forward operation again, and marks the next task to be executed.
In one embodiment, the method further comprises: extracting a first geographical position to be backed from the forward task; after the robot is controlled to execute the retrograde motion instruction, a second geographic position of the robot is obtained; and when the first geographic position and the second geographic position are overlapped, judging that the reverse command is successfully executed.
The server may extract a first geographical location to be rolled back (i.e., the robot location at which the forward task started) from the forward task. After performing step S110, the server may acquire a second geographic location of the robot (i.e., the current location of the robot). The server compares the first geographic position with the second geographic position, and when the first geographic position and the second geographic position can be represented by coordinate values and the coordinate values of the first geographic position and the second geographic position are the same, the server determines that the first geographic position is overlapped with the second geographic position. And when the first geographic position and the second geographic position can be represented by the images and the images of the first geographic position and the second geographic position are the same, judging that the first geographic position is overlapped with the second geographic position. And when the first geographic position is overlapped with the second geographic position, the server judges that the reverse command is smoothly executed. The server can perform the next reverse operation or forward operation.
The robot converse method can judge the execution condition of the converse command executed by the robot, avoid the fault in the converse operation and improve the accuracy of the converse operation.
In one embodiment, as shown in fig. 2, the method for generating the operation database includes the following steps:
The server acquires the input task to be executed. For example, assuming a robot starting position (100,100,100), the input tasks to be performed may include the following 6 tasks:
(1)P1＝[100,200,300]
(2)Move Line(P1)
(3)P1＝[-100，-200，-300]
(4)io(True)
(5)P2＝[0,0,0]；P3＝[-10,-10,-10]
(6)Move Arc(P2，P3)
when the program is operated in the forward direction, the server executes the tasks according to the sequence of (1), (2), (3), (4) and (5) to control the robot to walk.
And 204, extracting execution parameters from the task to be executed, and acquiring first position parameters of the robot before execution.
The server extracts execution parameters from the tasks to be executed and acquires first position parameters of the robot before execution. Tasks (1), (3) and (5) belong to other types of instruction tasks, and the server can selectively and individually list records in the running database.
The task (2) belongs to a motion class instruction task, can judge that the motion is linear motion according to Line, and records a robot starting position (100,100,100), a motion ending position (100,200,300), a track type in a motion database: line, speed, number of lines of script, etc.
The task (4) belongs to an external io type instruction task, and data such as an io type, an io state, a script line number and the like are recorded in an operation database.
The task (6) belongs to a motion class instruction task, Arc motion can be judged according to the Arc, and the starting position (100,200,300) of the robot, the middle path point [0,0,0] of the Arc motion, the end position of the motion [ -10, -10, -10], the type of the track are recorded in a motion database: arc, speed, script line number, etc.
And step 206, executing the task to be executed according to the execution parameters, and acquiring the current time after execution and the second position parameter of the robot.
And the server executes the task to be executed according to the execution parameters, and acquires the current time after execution and the second position parameter of the robot.
And step 208, storing the first position parameter, the second position parameter, the current time and the task to be executed as a historical execution task.
The server stores the first location parameter, the second location parameter, the current time, and the task to be executed as a historical execution task. The server may record each historically performed task in a tabular form in the runtime database. At this time, the data stored in the operation database may be as shown in the following table:
the number of script lines in the table may refer to the number of tasks. When the task is finished by the forward execution, the server can store the current time as a mark, and can also be additionally provided with a unique identification mark as a mark. When the reverse motion is performed at this point, the server fetches the task data from the current tag of the operational database. At the position of the serial number (3), the server exchanges the initial position data and the end position data due to the reverse movement, generates a new arc movement command and sends the new arc movement command to the robot to execute the arc movement command. The tag of the database is moved up to the sequence number 2 position.
When the motion is reversed again, the server takes out the task data from the current mark of the operation database. At the time of the sequence number (2), the server reverses the io state, generates a new io command and sends the new io command to the robot to execute. The tag of the database is moved up to the position of serial number 1.
When the motion is reversed again, the server takes out the task data from the current mark of the operation database. At the time of the serial number (1), the server exchanges the initial position data and the end position data due to the reverse motion, generates a new linear motion command and sends the new linear motion command to the robot to execute the linear motion command. At this point the marker has reached the boundary and is no longer moving up.
If the forward motion is clicked, the server can also use the data in the operation database to generate a forward motion instruction, after each forward execution, the mark can be moved downwards until the mark reaches the lowest part of the function table in the operation database, and then the forward operation is continued, the server can not use the data in the function table, and analyzes a new script instruction, and determines whether the instruction is added into the operation database according to the rule.
When the program normally runs, the running database can automatically record, a reverse command can be obtained at any time (such as program pause or running error), at the moment, the program can enter a single-step running state, and the running speed can be automatically adjusted to the moving speed of a manual mode when one instruction in the running database is run each time. The instructions in the operation database are operated each time, so that an engineer can conveniently ensure that each step of movement or I/O signal achieves the effect of reverse movement, and collision is prevented.
When the server executes the task by using the operation database, the line number data in the task can be used as a mark, and the line where the reverse motion is executed is marked in the function on the interface.
At the robot program execution interface, the script that the program is running may have a blue arrow mark indicating that the script is being executed. When a line of script is finished, the arrow turns green to indicate that the line of script is finished. By observing the actual robot position on site and the arrow position and the color of the program page, whether the robot reaches the designated position in the process of retrograde motion can be judged.
In one embodiment, the obtaining of the input reverse command comprises: displaying a forward option corresponding to the forward command and a backward option corresponding to the backward command on a preset interface; and generating a corresponding reverse command according to the selected back option.
As shown in fig. 3, the present invention further provides a robot reverse device, which includes a command obtaining module 302, a historical task obtaining module 304, an operation parameter extracting module 306, a reverse instruction generating module 308, and a reverse executing module 310.
A command obtaining module 302, configured to obtain an input reverse command.
And the historical task obtaining module 304 is configured to extract a historical execution task closest to the current time period from the operation database according to the reverse-running command.
And the operation parameter extraction module 306 is configured to extract a forward operation parameter from the forward task when the historical execution task is determined to be the forward task.
The retrograde motion instruction generating module 308 is configured to generate a retrograde motion parameter according to the forward motion parameter, and generate a retrograde motion instruction carrying the retrograde motion parameter.
And a reverse execution module 310, configured to control the robot to execute the reverse movement instruction.
In one embodiment, the operation parameter extraction module 306 includes an instruction state extraction unit, a state adjustment instruction generation unit, and an instruction execution unit, wherein:
and the instruction state extraction unit is used for extracting the historical instruction state from the I/O instruction task when the historical execution task is judged to be the I/O instruction task.
And the state adjustment instruction generating unit is used for generating a state adjustment instruction according to the historical instruction state.
And the instruction execution unit is used for controlling the robot to execute the state adjustment instruction.
In one embodiment, the apparatus further comprises a first location extracting module, a second location obtaining module, and a determining module, wherein:
the first position extraction module is used for extracting a first geographic position to be rolled back from the forward task.
And the second position acquisition module is used for controlling the robot to acquire a second geographic position of the robot after executing the retrograde motion instruction.
And the judging module is used for judging that the reverse command is smoothly executed when the first geographic position is overlapped with the second geographic position.
In one embodiment, the historical task obtaining module 304 includes a to-be-executed task obtaining unit, a first parameter obtaining unit, a second parameter obtaining unit, and a storage unit, where:
and the to-be-executed task obtaining unit is used for obtaining the input to-be-executed task.
The first parameter acquiring unit is used for extracting execution parameters from the task to be executed and acquiring first position parameters of the robot before execution.
And the second parameter acquisition unit is used for executing the task to be executed according to the execution parameters and acquiring the current time after execution and the second position parameter of the robot.
And the storage unit is used for storing the first position parameter, the second position parameter, the current time and the task to be executed as a historical execution task.
In one embodiment, the command acquisition module 302 includes an option display unit and a reverse command generation unit, wherein:
the option display unit is used for displaying a forward option corresponding to the forward command and a backward option corresponding to the backward command on a preset interface;
and the reverse command generating unit is used for generating a corresponding reverse command according to the selected back option.
For specific limitations of the robot retrograde apparatus, reference may be made to the above limitations of the robot retrograde method, which are not described herein again. The modules in the robot reversing device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing robot retrograde motion data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a robot walk-backwards method.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: acquiring an input reverse command; extracting a historical execution task closest to the current time period from an operation database according to a reverse command; when the historical execution task is judged to be a forward task, extracting forward operation parameters from the forward task; generating a retrograde motion parameter according to the forward motion parameter, and generating a retrograde motion instruction carrying the retrograde motion parameter; and controlling the robot to execute the retrograde motion instruction.
In one embodiment, a processor, implemented when executing a computer program, extracts a historical instruction state from an I/O instruction task when the historical execution task is determined to be the I/O instruction task; generating a state adjusting instruction according to the historical instruction state; and controlling the robot to execute the state adjustment instruction.
In one embodiment, the processor, when executing the computer program, further performs the steps of: extracting a first geographical position to be backed from the forward task; after the robot is controlled to execute the retrograde motion instruction, a second geographic position of the robot is obtained; and when the first geographic position and the second geographic position are overlapped, judging that the reverse command is successfully executed.
In one embodiment, a method for generating a runtime database implemented by a processor executing a computer program includes: acquiring an input task to be executed; extracting an execution parameter from a task to be executed, and acquiring a first position parameter of the robot before execution; executing the task to be executed according to the execution parameters, and acquiring the current time after execution and a second position parameter of the robot; and storing the first position parameter, the second position parameter, the current time and the task to be executed as a historical execution task.
In one embodiment, a get-input-reverse-row command implemented by a processor executing a computer program comprises: displaying a forward option corresponding to the forward command and a backward option corresponding to the backward command on a preset interface; and generating a corresponding reverse command according to the selected back option.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring an input reverse command; extracting a historical execution task closest to the current time period from an operation database according to a reverse command; when the historical execution task is judged to be a forward task, extracting forward operation parameters from the forward task; generating a retrograde motion parameter according to the forward motion parameter, and generating a retrograde motion instruction carrying the retrograde motion parameter; and controlling the robot to execute the retrograde motion instruction.
In one embodiment, a computer program implemented when executed by a processor extracts a historical instruction state from an I/O instruction task when the historical execution task is determined to be the I/O instruction task; generating a state adjusting instruction according to the historical instruction state; and controlling the robot to execute the state adjustment instruction.
In one embodiment, the computer program when executed by the processor further performs the steps of: extracting a first geographical position to be backed from the forward task; after the robot is controlled to execute the retrograde motion instruction, a second geographic position of the robot is obtained; and when the first geographic position and the second geographic position are overlapped, judging that the reverse command is successfully executed.
In one embodiment, a method of generating a runtime database implemented by a computer program when executed by a processor, comprises: acquiring an input task to be executed; extracting an execution parameter from a task to be executed, and acquiring a first position parameter of the robot before execution; executing the task to be executed according to the execution parameters, and acquiring the current time after execution and a second position parameter of the robot; and storing the first position parameter, the second position parameter, the current time and the task to be executed as a historical execution task.
In one embodiment, a computer program, when executed by a processor, implements a get-in-reverse command comprising: displaying a forward option corresponding to the forward command and a backward option corresponding to the backward command on a preset interface; and generating a corresponding reverse command according to the selected back option.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above is only a specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present disclosure should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (7)
1. A method of retrograde robot travel comprising:
acquiring an input reverse command;
extracting a historical execution task closest to the current time period from an operation database according to the reverse command;
when the historical execution task is judged to be an I/O instruction task, extracting a historical instruction state from the I/O instruction task; generating a state adjusting instruction according to the historical instruction state; controlling the robot to execute the state adjustment instruction;
when the historical execution task is judged to be a forward task, extracting forward operation parameters from the forward task;
generating a retrograde motion parameter according to the forward running parameter, and generating a retrograde motion instruction carrying the retrograde motion parameter, wherein the generation of the retrograde motion parameter according to the forward running parameter comprises data exchange of a robot position at the beginning of a task and a robot position at the end of the task in the forward running parameter, and verification of position information of the robot is performed according to coordinate system information based on a motion position in the forward running parameter, so as to obtain an accurate robot position at the beginning of the task and an accurate robot position at the end of the task in the retrograde motion parameter;
and controlling the robot to execute the retrograde motion instruction.
2. The method of robot retrograde motion of claim 1, further comprising:
extracting a first geographical position to be rolled back from the forward task;
after the robot is controlled to execute the retrograde motion instruction, a second geographic position of the robot is obtained;
and when the first geographic position is overlapped with the second geographic position, judging that the reverse command is smoothly executed.
3. The robot converse method of claim 1, wherein the method of generating the operational database comprises:
acquiring an input task to be executed;
extracting an execution parameter from the task to be executed, and acquiring a first position parameter of the robot before execution;
executing the task to be executed according to the execution parameters, and acquiring the current time after execution and a second position parameter of the robot;
and storing the first position parameter, the second position parameter, the current time and the task to be executed as a historical execution task.
4. The method of claim 1, wherein the obtaining the input retrograde command comprises:
displaying a forward option corresponding to the forward command and a backward option corresponding to the backward command on a preset interface;
and generating a corresponding reverse command according to the selected back option.
5. A robotic retrograde apparatus, the apparatus comprising:
the command acquisition module is used for acquiring an input reverse command;
the historical task acquisition module is used for extracting a historical execution task closest to the current time period from an operation database according to the reverse running command;
the operation parameter extraction module is used for extracting a historical instruction state from the I/O instruction task when the historical execution task is judged to be the I/O instruction task; generating a state adjusting instruction according to the historical instruction state; controlling the robot to execute the state adjustment instruction; when the historical execution task is judged to be a forward task, extracting forward operation parameters from the forward task;
the backward movement instruction generating module is used for generating backward movement parameters according to the forward movement parameters and generating backward movement instructions carrying the backward movement parameters, wherein the backward movement parameter generation according to the forward movement parameters comprises the steps of carrying out data exchange on the position of the robot at the beginning of the task and the position of the robot at the end of the task in the forward movement parameters, and verifying the position information of the robot according to the coordinate system information based on the movement position in the forward movement parameters to obtain the accurate position of the robot at the beginning of the task and the accurate position of the robot at the end of the task in the backward movement parameters;
and the retrograde execution module is used for controlling the robot to execute the retrograde motion instruction.
6. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 4 when executing the computer program.
7. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010941692.5A CN112008732B (en) | 2020-09-09 | 2020-09-09 | Robot reverse running method, device, terminal and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010941692.5A CN112008732B (en) | 2020-09-09 | 2020-09-09 | Robot reverse running method, device, terminal and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112008732A CN112008732A (en) | 2020-12-01 |
| CN112008732B true CN112008732B (en) | 2021-12-10 |
Family
ID=73522124
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010941692.5A Active CN112008732B (en) | 2020-09-09 | 2020-09-09 | Robot reverse running method, device, terminal and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112008732B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112659127A (en) * | 2020-12-25 | 2021-04-16 | 达闼机器人有限公司 | Multi-robot control method, device, system, storage medium and electronic equipment |
| CN114670206A (en) * | 2022-05-07 | 2022-06-28 | 法奥意威(苏州)机器人系统有限公司 | Robot control method, device, cooperative robot and storage medium |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002321179A (en) * | 2002-03-15 | 2002-11-05 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| WO2003045640A1 (en) * | 2001-11-29 | 2003-06-05 | Abb Ab | An industrial robot system and a method for programming thereof |
| CN203720653U (en) * | 2013-11-18 | 2014-07-16 | 巍世科技有限公司 | Mobile device with route memory function |
| CN106272434A (en) * | 2016-09-29 | 2017-01-04 | 中国北方车辆研究所 | One key of a kind of crusing robot makes a return voyage control method and system |
| CN106796114A (en) * | 2016-11-03 | 2017-05-31 | 深圳达闼科技控股有限公司 | The method of path planning, device, server and robot |
| EP3178617A2 (en) * | 2015-12-11 | 2017-06-14 | Tata Consultancy Services Ltd. | Hybrid reality based i-bot navigation and control |
| CN107065883A (en) * | 2017-05-18 | 2017-08-18 | 广州视源电子科技股份有限公司 | Control method for movement, device, robot and storage medium |
| CN109709957A (en) * | 2018-12-26 | 2019-05-03 | 重庆城市管理职业学院 | A kind of method for transporting object and system based on cell intelligent carriage |
| CN110068328A (en) * | 2018-01-22 | 2019-07-30 | 腾讯科技（深圳）有限公司 | Navigation routine generation method, device, computer readable storage medium and computer equipment |
| CN110780779A (en) * | 2019-09-25 | 2020-02-11 | 北京爱接力科技发展有限公司 | Robot service method and device and robot terminal |
| CN111195913A (en) * | 2020-01-13 | 2020-05-26 | 珠海格力电器股份有限公司 | Robot processing method and device and industrial robot |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0142594B1 (en) * | 1983-10-26 | 1989-06-28 | Automax Kabushiki Kaisha | Control system for mobile robot |
| JP2006187826A (en) * | 2005-01-05 | 2006-07-20 | Kawasaki Heavy Ind Ltd | Robot controller |
| US8738179B2 (en) * | 2008-12-01 | 2014-05-27 | Kabushiki Kaisha Yaskawa Denki | Robot system |
| KR101627132B1 (en) * | 2008-12-15 | 2016-06-13 | 삼성전자 주식회사 | Robot and recovery method thereof |
| EP2987153A4 (en) * | 2013-04-15 | 2016-09-21 | Autoconnect Holdings Llc | Central network for automated control of vehicular traffic |
| CN104679006B (en) * | 2015-03-02 | 2017-04-19 | 鲍驭浩 | Automatic tracking recognition indicating system and indicating method thereof |
| US10029682B2 (en) * | 2016-01-22 | 2018-07-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | Surrounding vehicle classification and path prediction |
| US9908464B2 (en) * | 2016-04-10 | 2018-03-06 | Toyota Motor Engineering & Manufacturing North America, Inc. | Apprising a driver of confidence in operation of a vehicle |
| CN111168688B (en) * | 2019-12-25 | 2021-08-27 | 深圳市优必选科技股份有限公司 | Robot action playback method and device |
-
2020
- 2020-09-09 CN CN202010941692.5A patent/CN112008732B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003045640A1 (en) * | 2001-11-29 | 2003-06-05 | Abb Ab | An industrial robot system and a method for programming thereof |
| JP2002321179A (en) * | 2002-03-15 | 2002-11-05 | Matsushita Electric Ind Co Ltd | Mobile working robot |
| CN203720653U (en) * | 2013-11-18 | 2014-07-16 | 巍世科技有限公司 | Mobile device with route memory function |
| EP3178617A2 (en) * | 2015-12-11 | 2017-06-14 | Tata Consultancy Services Ltd. | Hybrid reality based i-bot navigation and control |
| CN106272434A (en) * | 2016-09-29 | 2017-01-04 | 中国北方车辆研究所 | One key of a kind of crusing robot makes a return voyage control method and system |
| CN106796114A (en) * | 2016-11-03 | 2017-05-31 | 深圳达闼科技控股有限公司 | The method of path planning, device, server and robot |
| CN107065883A (en) * | 2017-05-18 | 2017-08-18 | 广州视源电子科技股份有限公司 | Control method for movement, device, robot and storage medium |
| CN110068328A (en) * | 2018-01-22 | 2019-07-30 | 腾讯科技（深圳）有限公司 | Navigation routine generation method, device, computer readable storage medium and computer equipment |
| CN109709957A (en) * | 2018-12-26 | 2019-05-03 | 重庆城市管理职业学院 | A kind of method for transporting object and system based on cell intelligent carriage |
| CN110780779A (en) * | 2019-09-25 | 2020-02-11 | 北京爱接力科技发展有限公司 | Robot service method and device and robot terminal |
| CN111195913A (en) * | 2020-01-13 | 2020-05-26 | 珠海格力电器股份有限公司 | Robot processing method and device and industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112008732A (en) | 2020-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112008732B (en) | Robot reverse running method, device, terminal and storage medium | |
| CN108446585B (en) | Target tracking method and device, computer equipment and storage medium | |
| CN111332285B (en) | Method and device for vehicle to avoid obstacle, electronic equipment and storage medium | |
| CN109472213A (en) | Palm grain identification method, device, computer equipment and storage medium | |
| CN109940619A (en) | Trajectory planning method, electronic device and storage medium | |
| CN110689317A (en) | Intelligent maintenance method and device, computer equipment and storage medium | |
| CN112518756B (en) | Motion trajectory planning method and device for mechanical arm, mechanical arm and storage medium | |
| CN112417988A (en) | Video multi-target tracking method, device and equipment based on deep learning | |
| CN104571916A (en) | Method and device for executing terminal operating information | |
| CN111310155A (en) | System architecture for automatic identification of slider verification code and implementation method | |
| CN111310156A (en) | Automatic identification method and system for slider verification code | |
| CN107589719A (en) | A kind of origin apparatus resetting method and device | |
| CN115933751A (en) | Full-coverage path planning method and device for unmanned agricultural machine and electronic equipment | |
| CN111338938A (en) | Slider verification method and device based on dynamic path | |
| CN115035203A (en) | Ladle hot repair method, system, equipment and medium | |
| CN115741739B (en) | Dead angle spraying method, device, equipment and medium of spraying robot | |
| CN110609683B (en) | Conversation robot configuration method and device, computer equipment and storage medium | |
| CN114029950B (en) | Robot coordinate system analysis method and device, robot equipment and storage medium | |
| CN115116128A (en) | Self-constrained optimization human body posture estimation method and system | |
| CN116097193A (en) | Track data processing method, track data processing device, computer equipment and storage medium | |
| CN113763400A (en) | Robot vision guiding method, device, equipment and storage medium | |
| CN110814517B (en) | Method, device, equipment and storage medium for controlling laser galvanometer welding | |
| CN113932825A (en) | Robot navigation path width acquisition system, method, robot and storage medium | |
| CN113778854A (en) | Code error positioning method and device, electronic equipment and storage medium | |
| CN109144436A (en) | Liquid level controlling method, device, computer equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |