CN112109088A - Robot tray control method and device and robot - Google Patents
Robot tray control method and device and robot Download PDFInfo
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- CN112109088A CN112109088A CN202010948181.6A CN202010948181A CN112109088A CN 112109088 A CN112109088 A CN 112109088A CN 202010948181 A CN202010948181 A CN 202010948181A CN 112109088 A CN112109088 A CN 112109088A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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Abstract
The invention discloses a robot tray control method, a robot tray control device and a robot. The robot comprises a processor, a driving module, a tray body and an angle sensor, wherein the processor is respectively in communication connection with the driving module and the angle sensor, and the driving module is connected with the tray body. According to the technical scheme, the processor is used for receiving the actual inclination angle of the robot acquired by the angle sensor; then judging whether the actual inclination angle is larger than a first preset inclination angle or not; when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate, and dynamic and stable control over the robot tray is achieved.
Description
Technical Field
The embodiment of the invention relates to a robot meal delivery technology, in particular to a robot tray control method, a device and a robot.
Background
At present, the service robot is widely applied to occasions such as restaurant distribution, hotel service, medical distribution, express delivery/take-out distribution and the like. Generally, the food delivery robot is designed in a structure that a food delivery tray is fixed on a support frame, and the food delivery tray is fixed relative to a machine body. When the food delivery robot inclines/inclines forwards in the environment of obstacles such as depressions, bulges, electric wires and the like on the ground and slopes up and down, the food delivery tray correspondingly inclines/backwards, and the instability of the food delivery tray can cause the problem that the robot spills dishes from a dinner plate during the process of delivering the dishes.
Disclosure of Invention
The invention provides a robot tray control method, a robot tray control device and a robot, and aims to realize the dynamic stability of a robot tray.
In a first aspect, an embodiment of the present invention provides a robot tray control method, where the robot includes a processor, a driving module, a tray body, and an angle sensor, the processor is respectively in communication connection with the driving module and the angle sensor, and the driving module is connected with the tray body; the robot tray control method includes:
receiving the actual inclination angle of the robot acquired by the angle sensor;
judging whether the actual inclination angle is larger than a first preset inclination angle or not;
when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate according to the actual inclination angle.
Optionally, controlling the driving module to drive the tray body to rotate includes:
and controlling the driving module to drive the tray body to rotate so as to enable the tray body to be parallel to the horizontal plane.
Optionally, the robot further comprises a laser radar, and the laser radar is in communication connection with the processor;
before receiving the actual inclination angle of the robot collected by the angle sensor, the method further comprises the following steps:
receiving pavement evenness information on the food delivery path of the robot acquired by the laser radar;
judging whether the road surface flatness information is larger than a first preset flatness or not;
and when the road surface flatness information is greater than the first preset flatness, controlling the driving module to drive the tray body to rotate by a second preset inclination angle.
Optionally, after receiving the road flatness information on the robot meal delivery path collected by the laser radar, the method further includes:
judging whether the road surface flatness information is larger than a second preset flatness, wherein the second preset flatness is larger than the first preset flatness;
and when the road surface flatness information is larger than the second preset flatness, replanning the target path of the robot.
Optionally, laser radar sets up in the robot, laser radar's light-emitting angle and gravity direction contained angle are for predetermineeing angle theta, it satisfies to predetermine angle theta: theta is more than or equal to 70 degrees and less than or equal to 80 degrees;
the collection distance of the laser radar for collecting the road flatness information is the distance within the preset distance l of the robot, and the preset distance l meets the following requirements: l is more than 0.5 and less than or equal to 1 m.
Optionally, after receiving the actual tilt angle collected by the angle sensor, the method further includes:
when the actual inclination angle is smaller than the first preset inclination angle, the driving module is controlled not to drive the tray body to rotate.
Optionally, after receiving the actual tilt angle collected by the angle sensor, the method further includes:
judging whether the actual inclination angle is larger than a third preset inclination angle, wherein the third preset inclination angle is larger than the first preset inclination angle;
when the actual inclination angle is larger than the third preset inclination angle, the driving module is controlled to drive the tray body to rotate at the third preset inclination angle.
Optionally, the first preset inclination angle is 5 °, and the third preset inclination angle is 20 °.
In a second aspect, an embodiment of the present invention further provides a robot tray control apparatus, including:
actual inclination angle receiving module: the robot inclination angle sensor is used for acquiring the actual inclination angle of the robot;
a first judgment module: the system is used for judging whether the actual inclination angle is larger than a first preset inclination angle or not;
a first control module: and when the actual inclination angle is larger than the first preset inclination angle, controlling a driving module to drive the tray body to rotate.
In a third aspect, an embodiment of the present invention further provides a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, the robot further including: the angle sensor is used for acquiring the actual inclination angle of the robot; the laser radar is used for collecting road surface flatness information on a food delivery path of the robot; wherein the processor implements the robot tray control method according to the first aspect when executing the program.
The actual inclination angle of the robot is acquired by the angle sensor through the processor; then judging whether the actual inclination angle is larger than a first preset inclination angle or not; when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate, dynamic and stable control over the robot tray is achieved, and the risk that dishes are scattered when the robot is used in an inclined terrain meal delivery scene is reduced.
Drawings
Fig. 1 is a flowchart of a robot tray control method according to an embodiment of the present invention;
FIG. 2 is a block diagram of a robot according to an embodiment of the present invention;
fig. 3 is a diagram of a robot driving module driving a tray body to rotate according to an embodiment of the present invention;
fig. 4 is a flowchart of another robot tray control method according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot control device according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a robot tray control method according to an embodiment of the present invention, where the embodiment is applicable to a robot meal delivery situation, and the method may be executed by a robot tray control device, as shown in fig. 1, and specifically includes the following steps:
and S110, receiving the actual inclination angle of the robot acquired by the angle sensor.
Wherein, angle sensor sets up in the robot, can gather the inclination of robot in real time. Illustratively, the angle sensor may employ a gyroscope. Optionally, the angle sensor may also be an inclination angle sensor, and the change of the inclination angle between the robot and the horizontal plane, that is, the actual inclination angle, is calculated according to the change of the resistance collected when the conductive liquid in the inclination angle sensor is horizontally inclined. The type of angle sensor is not limited here.
And S120, judging whether the actual inclination angle is larger than a first preset inclination angle.
And S130, controlling the driving module to drive the tray body to rotate when the actual inclination angle is larger than the first preset inclination angle.
The processor receives an actual inclination angle of the robot relative to a horizontal plane, judges whether the inclination angle is larger than a first preset inclination angle or not, and exemplarily, the first preset inclination angle can be 5 degrees, when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate, the dynamic stability of the tray body is controlled, the risk that dishes of the robot are scattered in an inclined terrain meal delivery scene is reduced, and by setting the first preset inclination angle, the driving module can be prevented from being started due to slight shaking of the robot, and unnecessary angle adjustment action is caused.
Preferably, the control driving module drives the tray body to rotate, so that the tray body is parallel to the horizontal plane. It can be understood that, when actual inclination is greater than first predetermined inclination, control drive module drive tray body rotation for tray body's inclination equals actual inclination, and tray body is parallel to the horizontal plane promptly, so can control tray body horizontal stability completely.
Based on the above embodiment, further optimization is performed, and optionally, fig. 2 is a flowchart of another robot tray control method provided in the first embodiment of the present invention; the method comprises the following steps:
and S210, receiving the road surface flatness information on the food delivery path of the robot, which is acquired by the laser radar.
Wherein, the robot still includes laser radar, and laser radar sets up in the robot, and laser radar and treater communication connection. The laser radar can collect road flatness information around the robot on the food delivery path of the robot and then send the road flatness information to the processor. Optionally, the included angle between the light-emitting angle of the laser radar and the gravity direction is a preset angle θ, and the preset angle θ satisfies the following conditions: theta is more than or equal to 70 degrees and less than or equal to 80 degrees, namely the laser emits to the ground from the light outlet with the light-emitting angle theta. Laser radar gathers road flatness information, wherein gather the distance and be the distance within the preset distance l of robot, preset distance l satisfies: l is more than 0.5 and less than or equal to 1m, namely the laser radar can acquire the road surface flatness information within 1m of the robot. Or, the three-point triangle-shaped laser beam can be adopted to detect the road flatness information within a certain distance from the robot on the food delivery path of the robot in real time, and then the road flatness information is sent to the processor, and the processor receives the road flatness information and judges and processes the information. The road surface flatness information is used for measuring the road surface distance through a laser radar, and the distance change value, namely the distance between concave and convex points of the road surface can be obtained through comparing the distance measured in real time with the historical distance, so that the road surface flatness is calculated.
S220, judging whether the flatness information of the circuit surface is larger than a first preset flatness.
And S230, when the road flatness information is greater than the first preset flatness, controlling the driving module to drive the tray body to rotate by a second preset inclination angle.
The processor receives the road flatness information, and judges whether the road flatness information is greater than a first preset flatness, wherein the first preset flatness can be 5mm as an example; when the road flatness information is greater than the first preset flatness, the driving module is controlled to drive the tray body to rotate a second preset inclination angle in advance, and the second preset inclination angle can be 3 degrees or other adjustment angles. It should be noted here that, the driving module is controlled to drive the tray body to rotate the second preset inclination angle in advance, so as to adjust the inclination angle of the tray body in advance, and fine adjustment of the tray body in advance is achieved, so that after the subsequent robot reaches an uneven road section, due to the fact that the tray body is prevented from being splashed by the preset angle, the driving module subtracts the second preset inclination angle according to the actual inclination angle acquired by the angle sensor, adjusts the tray body to rotate to a stable state, and therefore the adjusting speed is increased.
Optionally, judging whether the flatness information of the circuit surface is greater than a second preset flatness, wherein the second preset flatness is greater than the first preset flatness; and when the road surface flatness information is larger than a second preset flatness, replanning the target path of the robot.
Wherein, when the road flatness information is greater than the second predetermined flatness, exemplarily, the second predetermined flatness may be 80mm, for example, a box is placed on the path, resulting in an excessively high flatness obtained by the laser radar. In order to ensure that the robot safely sends meals to the destination, the robot can avoid the path and plan other paths to the destination, and when the path cannot be avoided, the robot starts fault reminding to remind a user to assist in rejecting obstacles on the path.
And S240, receiving the actual inclination angle of the robot acquired by the angle sensor.
And S250, judging whether the actual inclination angle is larger than a first preset inclination angle.
And S260, when the actual inclination angle is larger than the first preset inclination angle, controlling the driving module to drive the tray body to rotate.
When the actual inclination angle is smaller than the first preset inclination angle, namely the actual inclination angle is smaller than 5 degrees, the robot is considered to vibrate slightly, and the driving module is controlled not to drive the tray body to rotate. And when actual inclination is greater than first predetermined inclination, receive the road flatness information at the treater, after adjusting the tray body in advance and predetermine inclination for the second, control drive module drive tray body rotation again to rectify the actual inclination of tray body relative reference plane, finally reach control tray body horizontal stability, improve the reliability of control tray body horizontal stability.
Optionally, judging whether the actual inclination angle is greater than a third preset inclination angle, wherein the third preset inclination angle is greater than the first preset inclination angle;
when the actual inclination angle is larger than the third preset inclination angle, the driving module is controlled to drive the tray body to rotate at the third preset inclination angle.
When the actual inclination angle information is greater than the third preset inclination angle, for example, the third preset inclination angle may be 20 °, and if the actual inclination angle is greater than 20 °, the driving module drives the tray body to rotate by 20 °. The angle through adjusting the tray body slightly is less than actual inclination to the angle of tray body adjustment is too big, leads to the adjustment in-process rotation angle too big to cause article to spill, consequently, through the inclination of stable adjustment tray body and horizontal plane, the tray body is followed adjustment inclination when guaranteeing the fuselage slope of robot, and avoids the too big other problems that cause of tray rotation angle. The robot is prevented from structural abnormality due to too large inclination angle, and the driving module is controlled to drive the tray body to rotate at a third preset inclination angle so as to protect the robot.
Example two
The robot tray control device provided by the second embodiment of the invention can execute the robot tray control method provided by the first embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. The device includes:
actual inclination angle receiving module: the robot inclination angle sensor is used for acquiring the actual inclination angle of the robot;
a first judgment module: the device is used for judging whether the actual inclination angle is larger than a first preset inclination angle or not;
a first control module: and when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate.
Optionally, the first control module includes: a first control sub-module:
the tray body is used for controlling the driving module to drive the tray body to rotate so as to enable the tray body to be parallel to the horizontal plane.
Optionally, the robot further comprises a laser radar, and the laser radar is in communication connection with the processing module; the device also includes:
the road surface flatness information receiving module: the robot meal delivery system is used for receiving the road surface flatness information on the robot meal delivery path collected by the laser radar;
a second judging module: the flatness judging module is used for judging whether the flatness information of the circuit surface is greater than a first preset flatness or not;
a second control module: and when the road flatness information is greater than the first preset flatness, controlling the driving module to drive the tray body to rotate by a second preset inclination angle.
Optionally, the apparatus further includes a third determining module: the flatness judging module is used for judging whether the flatness information of the circuit surface is greater than a second preset flatness, and the second preset flatness is greater than the first preset flatness;
a target path planning module: and when the road flatness information is greater than a second preset flatness, replanning the target path of the robot.
Optionally, the apparatus further includes a third control module, configured to control the driving module not to drive the tray body to rotate when the actual tilt angle is smaller than the first preset tilt angle.
Optionally, the device further includes a fourth determining module, configured to determine whether the actual tilt angle is greater than a third preset tilt angle, where the third preset tilt angle is greater than the first preset tilt angle;
a fourth control module: and when the actual inclination angle information is larger than a third preset inclination angle, controlling the driving module to drive the tray body to rotate at the third preset inclination angle.
Fig. 3 is a physical diagram of a robot according to an embodiment of the present invention. As shown in fig. 3, the robot may include a multi-layered pallet structure disposed horizontally. The tray body of the robot is clamped between the shells. When the robot inclines, in order to avoid the articles on the tray from falling, a structure capable of adjusting the angle of the tray is arranged to avoid the tray from seriously inclining along with the robot body. Optionally, the unified angle adjustment of the multi-layer tray structure is realized through one driving module; or the tray structure is adjusted through a plurality of driving modules respectively. In addition, because the advancing or retreating direction of the robot is fixed, the effect of keeping the body inclination adjusting tray horizontal in the actual scene can be realized by setting the angle adjustment of one direction dimension. The processor of the robot is in communication connection with the driving module and the angle sensor respectively, the driving module is connected with the tray body, the processor receives the actual inclination angle of the robot collected by the angle sensor, and then the driving module is controlled to drive the tray body to rotate according to the actual inclination angle.
Fig. 4 is a diagram of a robot driving module driving a tray body to rotate according to an embodiment of the present invention. As shown in fig. 4, a robot driving module a, illustratively including a rotating motor, is coupled to a rotating shaft B of the tray body. When the robot meets the downhill in the meal delivery process, the body of the robot inclines forwards or backwards relative to the horizontal plane. The motor can output rotation torque to rotation axis B, and the rotation axis B of tray body drives the tray body rotation to the adjustment tray body tends to the level and stabilizes. The output torque of the motor is to output a control signal corresponding to the adjustment angle to the motor through the processor according to the control rule.
EXAMPLE III
Fig. 5 is a schematic structural diagram of a robot tray control device according to a third embodiment of the present invention; as shown in fig. 5, the apparatus comprises a processor 70, a memory 71, an input device 72 and an output device 73; the number of processors 70 in the device may be one or more, and one processor 70 is taken as an example in fig. 5; the processor 70, the memory 71, the input device 72 and the output device 73 may be connected by a bus or other means, as exemplified by the bus connection in fig. 5.
The memory 71 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions corresponding to the robot tray stabilization control method in the embodiment of the present invention. The processor 70 executes various functional applications and data processing of the device by running software programs, instructions and modules stored in the memory 71, that is, implements the robot tray stabilization control method described above.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the robot. The output device 73 may include a display device such as a display screen.
Example four
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a robot tray stabilization control method, where the method includes:
receiving an actual inclination angle of the robot acquired by an angle sensor;
judging whether the actual inclination angle is larger than a first preset inclination angle or not;
when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate.
Of course, the storage medium provided by the embodiment of the present invention contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the robot tray stability control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The robot tray control method is characterized in that the robot comprises a processor, a driving module, a tray body and an angle sensor, wherein the processor is respectively in communication connection with the driving module and the angle sensor, and the driving module is connected with the tray body; the robot tray control method includes:
receiving the actual inclination angle of the robot acquired by the angle sensor;
judging whether the actual inclination angle is larger than a first preset inclination angle or not;
when the actual inclination angle is larger than the first preset inclination angle, the driving module is controlled to drive the tray body to rotate according to the actual inclination angle.
2. The robotic pallet control method of claim 1, wherein controlling the drive module to drive the pallet body to rotate comprises:
and controlling the driving module to drive the tray body to rotate so as to enable the tray body to be parallel to the horizontal plane.
3. The robotic pallet control method of claim 1, wherein the robot further comprises a lidar communicatively coupled to the processor;
before receiving the actual inclination angle of the robot collected by the angle sensor, the method further comprises the following steps:
receiving pavement evenness information on the food delivery path of the robot acquired by the laser radar;
judging whether the road surface flatness information is larger than a first preset flatness or not;
and when the road surface flatness information is greater than the first preset flatness, controlling the driving module to drive the tray body to rotate by a second preset inclination angle.
4. The robot tray control method according to claim 3, further comprising, after receiving the road flatness information on the robot meal delivery path collected by the laser radar:
judging whether the road surface flatness information is larger than a second preset flatness, wherein the second preset flatness is larger than the first preset flatness;
and when the road surface flatness information is larger than the second preset flatness, replanning the target path of the robot.
5. The robot tray control method according to claim 3, wherein the lidar is disposed in the robot, an included angle between a light emitting angle of the lidar and a gravity direction is a preset angle θ, and the preset angle θ satisfies: theta is more than or equal to 70 degrees and less than or equal to 80 degrees;
the collection distance of the laser radar for collecting the road flatness information is the distance within the preset distance l of the robot, and the preset distance l meets the following requirements: l is more than 0.5 and less than or equal to 1 m.
6. The robot tray control method according to claim 1, further comprising, after receiving the actual tilt angle acquired by the angle sensor:
when the actual inclination angle is smaller than the first preset inclination angle, the driving module is controlled not to drive the tray body to rotate.
7. The robot tray control method according to claim 1, further comprising, after receiving the actual tilt angle acquired by the angle sensor:
judging whether the actual inclination angle is larger than a third preset inclination angle, wherein the third preset inclination angle is larger than the first preset inclination angle;
when the actual inclination angle is larger than the third preset inclination angle, the driving module is controlled to drive the tray body to rotate at the third preset inclination angle.
8. The robotic pallet control method of claim 7, wherein the first preset tilt angle is 5 ° and the third preset tilt angle is 20 °.
9. A robotic pallet control device, comprising:
actual inclination angle receiving module: the robot inclination angle sensor is used for acquiring the actual inclination angle of the robot;
a first judgment module: the system is used for judging whether the actual inclination angle is larger than a first preset inclination angle or not;
a first control module: and when the actual inclination angle is larger than the first preset inclination angle, controlling a driving module to drive the tray body to rotate.
10. A robot comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the robot further comprising: the angle sensor is used for acquiring the actual inclination angle of the robot; the laser radar is used for collecting road surface flatness information on a food delivery path of the robot; wherein the processor, when executing the program, implements the robotic pallet control method of any of claims 1-8.
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| CN114654462A (en) * | 2022-02-28 | 2022-06-24 | 电子科技大学 | Stably-transported food delivery robot |
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| CN109176454A (en) * | 2018-09-28 | 2019-01-11 | 上官小珍 | A kind of meal delivery robot pedestal suitable for slope walking |
| CN111300446A (en) * | 2020-03-06 | 2020-06-19 | 北京云迹科技有限公司 | Send thing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113156974A (en) * | 2021-05-14 | 2021-07-23 | 广东智源机器人科技有限公司 | Carrier transport control method, carrier transport control system, and storage medium |
| CN114654462A (en) * | 2022-02-28 | 2022-06-24 | 电子科技大学 | Stably-transported food delivery robot |
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