CN112643671B - Robot boosting method, device, robot and storage medium - Google Patents
Robot boosting method, device, robot and storage medium Download PDFInfo
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Abstract
The invention discloses a robot boosting method, a device, a robot and a storage medium, which are applied to a first robot, wherein the robot boosting method comprises the following steps: the first robot detects the slope information of the ascending surface of the slope and determines whether boosting is needed or not based on the slope information; if the boosting is needed, sending a boosting request to the second robot to indicate the second robot to go to the current position of the first robot; establishing shared communication with a second robot; controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot; the driving instruction is generated, the first robot is driven according to the driving instruction, the target driving instruction is generated according to the driving instruction, and the target driving instruction is sent to the second robot through shared communication, so that the second robot can boost according to the target driving instruction, the phenomenon that the service life of a motor is reduced or even a fault occurs due to the fact that the first robot forcibly ascends the slope is avoided, and the efficiency of the robot carrying the heavy materials to ascend the slope is improved.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a robot boosting method and device, a robot and a storage medium.
Background
With the rapid development of science and technology, various robots gradually appear in the visual field of people, the robots can assist or even replace the human beings to complete dangerous, heavy and complex work, the working efficiency and quality can be improved, the activity and capability range of the people can be expanded or extended by using the robots, and the life quality of the people is improved.
However, when the robot carries heavy materials to ascend, the driving motor may not climb over the slope sufficiently, if the robot forcibly ascends in a mode of continuously outputting high power, the service life of the motor is easily reduced, or even a fault occurs, so that the ascending efficiency is low if the robot carries heavy materials to ascend.
Disclosure of Invention
The invention mainly aims to provide a robot boosting method, a robot boosting device, a robot and a storage medium, and aims to solve the technical problem of low uphill efficiency when the robot carries heavy materials to uphill.
In order to achieve the above object, an embodiment of the present invention provides a robot boosting method applied to a first robot, where the robot boosting method includes:
the method comprises the steps that a first robot detects the gradient information of an ascending surface of a slope and determines whether boosting is needed or not based on the gradient information;
if the boosting is needed, sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot;
establishing shared communication with the second robot;
controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot;
and generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so that the second robot can perform boosting according to the target driving instruction.
Preferably, the establishing shared communication with the second robot includes:
sending a control request for requesting control of the second robot to a preset cloud server;
detecting whether confirmation information fed back by the preset cloud server based on the control request is received, wherein the preset cloud server judges whether the first robot has the control authority to the second robot according to the control request, and generates the confirmation information according to a judgment result;
and if the confirmation information is received, establishing shared communication with the second robot according to the confirmation information.
Preferably, the generating a target driving instruction according to the driving instruction includes:
analyzing the driving instruction to obtain driving parameters;
adjusting the driving parameters to form target driving parameters;
and generating the target driving instruction according to the target driving parameter.
Preferably, the sending a boost request to the second robot includes:
generating a boosting request, and sending the boosting request to a preset cloud server so that the preset cloud server can send the boosting request to a second robot after determining the second robot; or
Whether a second robot exists in a preset range or not is detected, if the second robot exists, a boosting request is generated, and the boosting request is sent to the second robot.
Preferably, the controlling the second robot to adjust the posture so that the posture of the second robot coincides with the posture of the first robot includes:
identifying the current pose of the second robot when receiving a response signal fed back by the second robot based on the boosting request, wherein the second robot sends the response signal to the first robot when reaching the current position of the first robot;
and if the pose of the second robot is inconsistent with the pose of the first robot, controlling the second robot to move and adjust the pose through the shared communication so as to enable the pose of the second robot to be consistent with the pose of the first robot.
Preferably, the determining whether boosting is required based on the grade information comprises:
determining the maximum load value which can be borne by the upper slope surface of the slope according to the slope information and a preset slope load table;
acquiring the weight of the current load of the first robot;
if the weight of the current load of the first robot is larger than the maximum load value, determining that boosting is needed;
determining that no boosting is required if the weight of the current load of the first robot is less than or equal to the maximum load value.
Preferably, a pressure sensor is arranged at a boosting position of the first robot, wherein the boosting position is used for the second robot to support the first robot and perform boosting;
the robot boosting method further includes:
acquiring a pressure value between the first robot and the second robot through the pressure sensor;
determining whether the pose of the first robot is consistent with the pose of the second robot according to the pressure value; or
And determining whether the second robot provides boosting force for the first robot or not according to the pressure value.
In order to achieve the above object, the present invention also provides a robot booster including:
the detection module is used for detecting the slope information of the ascending surface of the slope by the first robot and determining whether boosting is needed or not based on the slope information;
the sending module is used for sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot if boosting is needed;
a communication module for establishing shared communication with the second robot;
the control module is used for controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot;
and the boosting module is used for generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so as to boost the second robot according to the target driving instruction.
Further, to achieve the above object, the present invention further provides a robot, including a memory, a processor, and a robot boosting program stored in the memory and operable on the processor, wherein the robot boosting program implements the steps of the robot boosting method when executed by the processor.
Further, in order to achieve the above object, the present invention provides a storage medium having a robot assist program stored thereon, wherein the robot assist program implements the steps of the robot assist method when executed by a processor.
The embodiment of the invention provides a robot boosting method, a robot boosting device, a robot and a storage medium, which are applied to a first robot, wherein the robot boosting method comprises the following steps: the method comprises the steps that a first robot detects the gradient information of an ascending surface of a slope and determines whether boosting is needed or not based on the gradient information; if the boosting is needed, sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot; establishing shared communication with the second robot; controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot; and generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so that the second robot can perform boosting according to the target driving instruction. According to the invention, when the first robot needs boosting, a boosting request is sent to the second robot, and the second robot is controlled to boost the first robot, so that the first robot is ensured to complete climbing smoothly, the phenomenon that the service life of a motor is reduced or even a fault occurs because the first robot forcibly ascends in a mode of continuously outputting high power is avoided, and the ascending efficiency of the robot when carrying heavy materials is improved.
Drawings
Fig. 1 is a schematic structural diagram of a hardware operating environment related to an embodiment of a robot boosting method according to the present invention;
FIG. 2 is a flowchart illustrating a first exemplary embodiment of a robot boosting method according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a robot boosting method according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of a robot boosting method according to the present invention;
FIG. 5 is a flowchart illustrating a robot boosting method according to a fourth embodiment of the present invention;
FIG. 6 is a flowchart illustrating a robot boosting method according to a fifth embodiment of the present invention;
FIG. 7 is a schematic view of an application scenario of the robot boosting method of the present invention;
fig. 8 is a functional block diagram of a robot booster according to a preferred embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic structural diagram of a robot in a hardware operating environment according to an embodiment of the present invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
As shown in fig. 1, the robot (or terminal, device) may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the robot configuration shown in fig. 1 does not constitute a limitation of the robot, and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of storage medium, may include therein an operating system, a network communication module, a user interface module, and a robot boosting program.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the robot boosting program stored in the memory 1005 and perform the following operations:
the method comprises the steps that a first robot detects the gradient information of an ascending surface of a slope and determines whether boosting is needed or not based on the gradient information;
if the boosting is needed, sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot;
establishing shared communication with the second robot;
controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot;
and generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so that the second robot can perform boosting according to the target driving instruction.
Further, the establishing shared communication with the second robot includes:
sending a control request for requesting control of the second robot to a preset cloud server;
detecting whether confirmation information fed back by the preset cloud server based on the control request is received, wherein the preset cloud server judges whether the first robot has the control authority to the second robot according to the control request, and generates the confirmation information according to a judgment result;
and if the confirmation information is received, establishing shared communication with the second robot according to the confirmation information.
Further, the generating a target driving instruction according to the driving instruction includes:
analyzing the driving instruction to obtain driving parameters;
adjusting the driving parameters to form target driving parameters;
and generating the target driving instruction according to the target driving parameter.
Further, the sending a boost request to the second robot includes:
generating a boosting request, and sending the boosting request to a preset cloud server so that the preset cloud server can send the boosting request to a second robot after determining the second robot; or
Whether a second robot exists in a preset range or not is detected, if the second robot exists, a boosting request is generated, and the boosting request is sent to the second robot.
Further, the controlling the second robot to adjust the pose so that the pose of the second robot coincides with the pose of the first robot includes:
identifying the current pose of the second robot when receiving a response signal fed back by the second robot based on the boosting request, wherein the second robot sends the response signal to the first robot when reaching the current position of the first robot;
and if the pose of the second robot is inconsistent with the pose of the first robot, controlling the second robot to move and adjust the pose through the shared communication so as to enable the pose of the second robot to be consistent with the pose of the first robot.
Further, the determining whether boosting is needed based on the grade information includes:
determining the maximum load value which can be borne by the upper slope surface of the slope according to the slope information and a preset slope load table;
acquiring the weight of the current load of the first robot;
if the weight of the current load of the first robot is larger than the maximum load value, determining that boosting is needed;
determining that no boosting is required if the weight of the current load of the first robot is less than or equal to the maximum load value.
Further, a pressure sensor is arranged at a boosting position of the first robot, wherein the boosting position is used for the second robot to support the first robot and boost;
the robot boosting method further includes:
acquiring a pressure value between the first robot and the second robot through the pressure sensor;
determining whether the pose of the first robot is consistent with the pose of the second robot according to the pressure value; or
And determining whether the second robot provides boosting force for the first robot or not according to the pressure value.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 2, a first embodiment of the present invention provides a flow chart of a robot boosting method. In this embodiment, the robot boosting method includes steps S10 to S50:
step S10, the first robot detects the slope information of the ascending surface of the slope and determines whether boosting is needed or not based on the slope information;
the robot boosting method in the embodiment is applied to the first robot, and the first robot can be used for transporting articles with large mass in the embodiment, so that the manpower is replaced for carrying out goods transportation. In this embodiment, a second robot also exists, and the second robot may be a robot of the same type as the first robot, and may receive a boost request of the first robot to boost the first robot in an idle state, so as to assist the first robot to smoothly complete cargo transportation. Alternatively, the second robot is a robot that is set in advance in the application scene and that assists the first robot.
In the process of cargo transportation, the first robot needs to detect the road inclination of the forward direction in real time in order to smoothly advance, and in this embodiment, the first robot mainly considers an uphill scene in the process of acquiring the cargo transportation. When the first robot is transporting goods to go up the slope, the inclination angle of the upper slope surface of the slope is detected to obtain the slope information of the upper slope surface, for example, the first robot can measure the inclination angle of the upper slope surface by using a vehicle-mounted road slope angle measuring method through the internet or from a local storage to obtain the slope information of the upper slope surface. After obtaining the slope information of the ascending surface, the first robot determines the maximum load value which can be borne by the first robot when the first robot crosses the current ascending surface according to the slope information and a preset slope load table; if the weight of the current load of the first robot is larger than the maximum load value, it is indicated that the first robot cannot smoothly complete climbing by means of self-driving, or even if climbing can be completed in a mode of continuously outputting high power, damage can be caused to a driving motor of the first robot, so that the service life of the driving motor of the first robot is shortened, or even faults occur, therefore, the robot needs the second robot to boost the driving motor, so that the first robot can smoothly complete climbing and execute a cargo transportation task, different gradient information is arranged in a preset gradient load table, and the maximum load value corresponds to the different gradient information one to one.
Step S20, if boosting is needed, sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot;
and if the boosting is determined to be needed according to the gradient information, the first robot generates a boosting request. After the boost request is generated, the first robot sends the boost request to the second robot, for example, the first robot may first send the boost request to a preset cloud server, and then the cloud server determines a suitable second robot, and then forwards the boost request to the second robot to instruct the second robot to go to a position where the first robot is located and assist the first robot to climb a slope, where the preset cloud server is a manager for managing and allocating the robots in this embodiment; the first robot and the second robot are both provided with signal detection instruments, and the signal detection instruments can be used for mutual detection between the robots, so that assistance can be performed between the robots, the first robot can also detect whether the second robot exists in a preset range through the signal detection instruments, and if the second robot exists, a boosting request containing position information of the first robot is sent to the second robot, so that the second robot is indicated to move to the position where the first robot is located, and the first robot is assisted to climb.
Further, the sending of the boost request to the second robot includes steps S21-S22:
step S21, generating a boosting request, and sending the boosting request to a preset cloud server, so that the preset cloud server can send the boosting request to a second robot after determining the second robot; or
And step S22, detecting whether a second robot exists in a preset range, if so, generating a boosting request and sending the boosting request to the second robot.
The first robot generates a boosting request according to self position information and robot sequence information, and sends the generated boosting request to a preset cloud server, so that the preset cloud server can screen from a plurality of robots according to the boosting request after receiving the boosting request, and determines a second robot capable of boosting the first robot, wherein the second robot can be a robot in the same series with the sequence information of the first robot, and the preset cloud server sends the boosting request to the second robot after determining the second robot, so that the second robot goes to the position of the first robot according to the position information in the boosting request, and boosts the first robot. In addition, because the first robot is also provided with the signal detection instrument, the first robot can send the assistance request to the preset cloud server, the cloud server sends the assistance request to the second robot, and the signal detection instrument can be started, so that whether the sequence information in the preset range is the same as the sequence information of the first robot or not is detected by the signal detection instrument, the second robot can boost the first robot, and if the second robot is detected to exist, the signal detection instrument can send the boosting request to the second robot, so that the second robot can go to the position of the first robot according to the position information in the boosting request, the first robot is boosted, and the first robot can climb the slope smoothly and complete the cargo transportation task.
Step S30, establishing shared communication with the second robot;
after detecting that the second robot reaches the current position of the first robot, the first robot sends a control request for controlling the second robot to a preset cloud server, and when receiving confirmation information sent after the preset cloud server determines that the first robot has control authority over the second robot, the first robot establishes shared communication with the second robot.
Step S40, controlling the second robot to adjust the pose so that the pose of the second robot coincides with the pose of the first robot;
after the shared communication is successfully established with the second robot, the first robot controls the second robot to perform pose adjustment based on the shared communication relationship, for example, the first robot compares the current pose of the second robot with the pose of the first robot, determines whether the current pose of the second robot is the same as the pose of the first robot, adjusts the current pose of the second robot when the current pose of the second robot is not the same as the pose of the first robot, and adjusts the current pose of the second robot to be the same as the pose of the first robot, so that the second robot can help the first robot in the same pose as the first robot, and the first robot can climb the slope smoothly and complete the cargo transportation task.
And step S50, generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication, so that the second robot can assist according to the target driving instruction.
After shared communication is established with the second robot, the first robot firstly generates a driving instruction through the controller, then drives the first robot through the generated driving instruction, meanwhile, the first robot analyzes driving parameters in the driving instruction, and generates a target driving instruction for driving the second robot according to target driving parameters formed by adjusting the driving parameters. After the target driving instruction is generated, the first robot establishes sharing communication with the second robot, so that the first robot can send the target driving instruction to the second robot through the sharing communication with the second robot, the second robot can boost the first robot according to the target driving instruction after receiving the target driving instruction, and the first robot can climb the slope smoothly and complete a cargo transportation task.
Further, the generating of the target driving command according to the driving command includes steps S51-S53:
step S51, analyzing the driving instruction to obtain driving parameters;
step S52, adjusting the driving parameters to form target driving parameters;
step S53, generating the target driving command according to the target driving parameter.
The first robot analyzes the driving instruction, and obtains driving parameters used for driving the first robot in the driving instruction, wherein the driving parameters can include driving power for driving the first robot and a serial number of the first robot; after the driving parameters are analyzed, the first robot adjusts the driving parameters, specifically, the first robot obtains a serial number of the second robot based on shared communication with the second robot, and replaces the serial number of the first robot in the driving parameters with the serial number of the second robot, or adjusts driving power in the driving parameters to form target driving parameters, for example, the driving power is increased by 1% to form new driving power, so as to increase the boosting force. The target drive parameters are generated after replacing the serial number of the first robot with the serial number of the second robot. Furthermore, the first robot calls an instruction generating program which is arranged in the first robot and used for generating instructions according to the parameters, target driving parameters are input into the instruction generating program, the target driving parameters are generated into target driving instructions through the instruction generating program, the second robot is driven according to the target driving instructions, and the first robot is boosted through the second robot, so that the first robot can climb the slope smoothly and complete cargo transportation tasks.
The embodiment provides a robot boosting method, a robot boosting device, a robot and a storage medium, which are applied to a first robot, wherein the robot boosting method comprises the following steps: the method comprises the steps that a first robot detects the gradient information of an ascending surface of a slope and determines whether boosting is needed or not based on the gradient information; if the boosting is needed, sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot; establishing shared communication with the second robot; controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot; and generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so that the second robot can perform boosting according to the target driving instruction. According to the invention, when the first robot needs boosting, a boosting request is sent to the second robot, and the second robot is controlled to boost the first robot, so that the first robot is ensured to complete climbing smoothly, the phenomenon that the service life of a motor is reduced or even a fault occurs because the first robot forcibly ascends in a mode of continuously outputting high power is avoided, and the ascending efficiency of the robot when carrying heavy materials is improved.
Further, referring to fig. 3, a second embodiment of the robot boosting method of the present invention is proposed based on the first embodiment of the robot boosting method of the present invention, and in the second embodiment, the establishing of the shared communication with the second robot includes steps S31 to S33:
step S31, sending a control request for requesting control of the second robot to a preset cloud server;
step S32, detecting whether confirmation information fed back by the preset cloud server based on the control request is received, wherein the preset cloud server determines whether the first robot has a control right to the second robot according to the control request, and generates the confirmation information according to a determination result;
and step S33, if the confirmation information is received, establishing sharing communication with the second robot according to the confirmation information.
When a response signal sent by the second robot is detected, the first robot sends a control request for requesting to control the second robot to a preset cloud server so as to control the second robot to adjust the pose; further, in order to establish shared communication with the second robot in time when the preset server sends the confirmation information, the first robot detects whether the preset cloud server receives the control request, and generates and feeds back the confirmation information according to the judgment result when judging whether the first robot has the control right to the second robot according to the control request. The method for judging whether the first robot has the control authority of the second robot or not by the preset cloud server according to the control request may be: the preset cloud server analyzes the control request to obtain serial number information of the first robot contained in the control request, and judges whether the first robot is a legal robot or not according to the serial number information of the first robot, the legal robot is a robot which can be managed and dispatched by the preset cloud server, if the first robot is judged to be the legal robot according to the serial number, the first robot is determined to have control authority over the second robot, and confirmation information is generated and fed back to the first robot. Further, if confirmation information fed back by the preset cloud server is received, the first robot forwards the confirmation information to the second robot, and the sharing communication is requested to be established with the second robot, so that after the confirmation information is verified by the second robot and the request of the first robot is passed, the first robot completes the sharing communication with the second robot, and the first robot is facilitated to be boosted by the second robot.
In this embodiment, the first robot completes establishing shared communication with the second robot by sending a control request to the second robot to the preset cloud server, so that the first robot can assist the first robot through the second robot, the first robot smoothly completes climbing, the motor life reduction and even the failure caused by forced climbing of the first robot in a mode of continuously outputting high power are avoided, and the climbing efficiency of the robot when carrying heavy materials is improved.
Further, referring to fig. 4, a third embodiment of the robot assist method of the present invention is proposed based on the first embodiment of the robot assist method of the present invention, and in the third embodiment, the controlling the second robot to adjust the pose so that the pose of the second robot coincides with the pose of the first robot includes steps S41 to S42:
step S41, identifying a current pose of the second robot when receiving a response signal fed back by the second robot based on the boosting request, wherein the second robot sends the response signal to the first robot when reaching the current position of the first robot;
and step S42, if the pose of the second robot is inconsistent with the pose of the first robot, controlling the second robot to move and adjust the pose through the shared communication, so that the pose of the second robot is consistent with the pose of the first robot.
It is understood that the second robot sends a response signal to the first robot when reaching the current position of the first robot, so that the first robot controls the second robot to perform pose adjustment based on the shared communication relationship with the second robot in order to enable the second robot to efficiently boost the first robot when successfully establishing shared communication with the second robot and receiving a response signal fed back by the second robot based on the boost request. For example, the first robot identifies the current pose of the second robot, compares the current pose of the second robot with the pose of the first robot, determines whether the current pose of the second robot is consistent with the pose of the first robot, and does not need pose adjustment if the current pose of the second robot is consistent with the pose of the first robot; on the contrary, if the current pose of the second robot is inconsistent with the pose of the first robot, the first robot adjusts the current pose of the second robot, and the current pose of the second robot is adjusted to be consistent with the pose of the first robot in a moving mode, so that the second robot can assist the first robot in the same pose as the first robot, and the first robot can climb the slope smoothly and complete the cargo transportation task.
The first robot of this embodiment controls the second robot and adjusts the position appearance to make the position appearance of second robot and the position appearance of first robot unanimous, make the second robot can carry out the boosting to first robot high-efficiently, be convenient for first robot accomplish climbing smoothly, avoid first robot to go uphill by force with the powerful mode of continuous output and cause the motor life-span to reduce and even break down, improve the uphill efficiency of robot when carrying on the great goods and materials of weight.
Further, referring to fig. 5, a fourth embodiment of the robot boosting method of the present invention is proposed based on the first embodiment of the robot boosting method of the present invention, and in the fourth embodiment, the determining whether boosting is required based on the gradient information includes steps S11 to S14:
step S11, determining the maximum load value which can be carried by the upper slope surface of the slope according to the slope information and a preset slope load table;
step S12, acquiring a weight of a current load of the first robot;
step S13, if the weight of the current load of the first robot is larger than the maximum load value, determining that boosting is needed;
step S14, if the weight of the current load of the first robot is less than or equal to the maximum load value, determining that no boosting is required.
After detecting the slope information of the upper slope surface of the slope, the first robot uses the slope information as a search formula, searches in a preset slope load table according to the search formula, searches whether a maximum load value corresponding to the slope information exists in the preset slope load table, and determines the searched maximum load value as the maximum load value which can be borne by the upper slope surface of the slope if the maximum load value exists. Further, still be provided with the weight sensor who is used for detecting weight in the first robot, can detect the weight of the goods and materials that first robot bore in this embodiment, first robot invokes weight sensor, detects the weight of self load goods and materials through weight sensor. Further, the first robot compares the weight of the current load with the maximum load value to determine whether boosting is needed, and understandably, if the weight of the current load of the first robot is greater than the maximum load value, it indicates that the first robot cannot finish climbing alone without damaging the service life of the motor, it is determined that boosting is needed; conversely, if the weight of the current load of the first robot is less than or equal to the maximum load value, which indicates that the first robot can independently complete climbing without damaging the service life of the motor, it is determined that no boosting is required.
Whether first robot needs the boosting based on the slope information that detects is confirmed to this embodiment, avoids first robot to go uphill by force with the powerful mode of continuous output and causes the motor life to reduce and even break down, improves the uphill efficiency of robot when carrying the great goods and materials of weight.
Further, referring to fig. 6, a fifth embodiment of the robot assistance method of the present invention is proposed based on the first embodiment of the robot assistance method of the present invention, and in the fifth embodiment, the robot assistance method further includes steps S60 to S80:
step S60, acquiring a pressure value between the first robot and the second robot by the pressure sensor;
step S70, determining whether the pose of the first robot is consistent with the pose of the second robot according to the pressure value; or
And step S80, determining whether the second robot provides boosting force for the first robot or not according to the pressure value.
Referring to fig. 7, fig. 7 is a schematic view of an application scenario of the robot boosting method of the present invention, in fig. 7, 1 is a first robot, 2 is a second robot, 11 is a boosting position, and a pressure sensor is disposed at the boosting position of the first robot, where the boosting position is used for the second robot to support the first robot and perform boosting. Because the first robot is overloaded, when the target driving instruction is sent to the second robot, the second robot can judge whether the poses of the first robot and the second robot are consistent according to the pressure values obtained by the pressure sensors when the second robot performs boosting on the first robot according to the target driving instruction and the pose movement adjustment on the second robot, for example, if the poses of the first robot and the second robot are consistent, the pressure value obtained in the advancing direction of the first robot through the pressure sensors is a pressure value larger than 0, namely, the boosting position where the second robot collides with the first robot is represented, so that the second robot can provide a force parallel to the slope surface and upwards for the first robot; if the pose of the first robot is inconsistent with the pose of the second robot, the pressure value acquired in the advancing direction of the first robot through the pressure sensor is equal to 0, namely the second robot is represented not to touch the boosting position of the first robot. The first robot calls the pressure sensor, the pressure sensor is used for acquiring a pressure value between the first robot and the second robot, whether the pose of the first robot is consistent with the pose of the second robot or not is further determined according to the acquired pressure value, when the pose of the first robot is determined to be inconsistent with the pose of the second robot according to the acquired pressure value, pose adjustment is carried out on the second robot again, the second robot can effectively boost the first robot, the first robot can successfully complete climbing, the situation that the life of a motor is shortened or even a fault is caused due to the fact that the first robot forcibly ascends in a slope in a mode of continuously outputting high power is avoided, and ascending efficiency of the robot when materials with large weight are carried is improved.
Alternatively, the first robot determines whether the second robot provides the boosting force to the first robot based on the pressure value, and it is understood that, if the second robot is in a slipping state, the amount of pressure between the first robot and the second robot will decrease such that the second robot cannot provide thrust to the first robot, and, therefore, when the pressure value between the first robot and the second robot decreases, or is equal to 0, an adjustment of the second robot is required, for example increasing the driving power of the second robot, or the friction force between the second robot and the ground is increased, so that the second robot can provide thrust for the first robot, the climbing is smoothly completed by the first robot, the phenomenon that the service life of the motor is shortened and even a fault occurs due to the fact that the first robot forcibly ascends in a mode of continuously outputting high power is avoided, and the ascending efficiency of the robot when carrying materials with large weight is improved.
In this embodiment, when the target driving instruction is sent to the second robot, so that the second robot boosts the first robot according to the target driving instruction, it is further determined whether the pose of the first robot is consistent with the pose of the second robot or not according to the pressure value between the first robot and the second robot, or it is determined whether the second robot provides boosting power to the first robot or not according to the pressure value, so that the first robot smoothly completes climbing, thereby preventing the motor from being shortened in service life or even failing due to the fact that the first robot forcibly ascends in a manner of continuously outputting high power, and improving the ascending efficiency of the robot when carrying high-weight materials.
Furthermore, the invention also provides a robot boosting device.
Referring to fig. 8, fig. 8 is a functional block diagram of a robot booster according to a first embodiment of the present invention.
The robot booster includes:
the detection module 10 is used for detecting the slope information of the upper slope surface of the slope by the first robot and determining whether boosting is needed or not based on the slope information;
a sending module 20, configured to send a boosting request to a second robot to indicate the second robot to go to a current location of the first robot if boosting is needed;
a communication module 30 for establishing shared communication with the second robot;
a control module 40, configured to control the second robot to adjust the pose of the second robot so that the pose of the second robot coincides with the pose of the first robot;
and the boosting module 50 is used for generating a driving instruction, driving the first robot according to the driving instruction, generating a target driving instruction according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so as to boost the second robot according to the target driving instruction.
Further, the detection module 10 includes:
the first determining unit is used for determining the maximum load value which can be borne by the upper slope surface of the slope according to the slope information and a preset slope load table;
an acquisition unit configured to acquire a weight of a current load of the first robot;
the second determining unit is used for determining that boosting is needed if the weight of the current load of the first robot is larger than the maximum load value;
a third determining unit configured to determine that boosting is not required if the weight of the current load of the first robot is less than or equal to the maximum load value.
Further, the sending module 20 includes:
the first sending unit is used for generating a boosting request and sending the boosting request to a preset cloud server, so that the preset cloud server can send the boosting request to a second robot after determining the second robot; or
And the second sending unit is used for detecting whether a second robot exists in a preset range, generating a boosting request if the second robot exists, and sending the boosting request to the second robot.
Further, the communication module 30 includes:
a third sending unit, configured to send a control request for requesting control of the second robot to a preset cloud server;
the detection unit is used for detecting whether confirmation information fed back by the preset cloud server based on the control request is received, wherein the preset cloud server judges whether the first robot has the control authority over the second robot according to the control request, and generates the confirmation information according to a judgment result;
and the communication unit is used for establishing shared communication with the second robot according to the confirmation information if the confirmation information is received.
Further, the control module 40 includes:
an identifying unit, configured to identify a current pose of the second robot when receiving a response signal fed back by the second robot based on the boosting request, wherein the second robot sends the response signal to the first robot when reaching a current position of the first robot;
and the first adjusting unit is used for controlling the second robot to move and adjust the pose through the shared communication if the pose of the second robot is inconsistent with the pose of the first robot, so that the pose of the second robot is consistent with the pose of the first robot.
Further, the boosting module 50 includes:
the analysis unit is used for analyzing the driving instruction to obtain a driving parameter;
the second adjusting unit is used for adjusting the driving parameters to form target driving parameters;
and the generating unit is used for generating the target driving instruction according to the target driving parameter.
Further, the robot boosting device further includes:
an obtaining module 60, configured to obtain a pressure value between the first robot and the second robot through the pressure sensor;
a first determining module 70, configured to determine whether the pose of the first robot is consistent with the pose of the second robot according to the pressure value; or
And a second determining module 80, configured to determine whether the second robot provides a boosting force to the first robot according to the pressure value.
Furthermore, the present invention also provides a storage medium, preferably a computer readable storage medium, having stored thereon a robot boosting program, which when executed by a processor, implements the steps of the above-described embodiments of the robot boosting method.
In the embodiments of the robot boosting device and the computer readable medium of the present invention, all technical features of the embodiments of the robot boosting method are included, and the description and explanation contents are basically the same as those of the embodiments of the robot boosting method, and are not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
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.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (which may be a fixed terminal, such as an internet of things smart device, or a mobile terminal) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A robot boosting method is characterized in that the method is applied to a first robot, a pressure sensor is arranged at a boosting position of the first robot, and the boosting position is used for a second robot to support the first robot and boost; the robot boosting method comprises the following steps:
the method comprises the steps that a first robot detects the gradient information of an ascending surface of a slope and determines whether boosting is needed or not based on the gradient information;
if the boosting is needed, sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot;
establishing shared communication with the second robot;
controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot;
generating a driving instruction, generating a target driving instruction according to the driving instruction while driving the first robot according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so that the second robot performs boosting according to the target driving instruction;
acquiring a pressure value between the first robot and the second robot through the pressure sensor;
determining whether the pose of the first robot is consistent with the pose of the second robot according to the pressure value; or determining whether the second robot provides the boosting force for the first robot according to the pressure value.
2. The robot-assisted method of claim 1, wherein the establishing shared communication with the second robot comprises:
sending a control request for requesting control of the second robot to a preset cloud server;
detecting whether confirmation information fed back by the preset cloud server based on the control request is received, wherein the preset cloud server judges whether the first robot has the control authority to the second robot according to the control request, and generates the confirmation information according to a judgment result;
and if the confirmation information is received, establishing shared communication with the second robot according to the confirmation information.
3. The robot boosting method according to claim 1, wherein the generating a target drive instruction from the drive instruction includes:
analyzing the driving instruction to obtain driving parameters;
adjusting the driving parameters to form target driving parameters;
and generating the target driving instruction according to the target driving parameter.
4. A robot boosting method according to claim 1, wherein said sending a boost request to a second robot comprises:
generating a boosting request, and sending the boosting request to a preset cloud server so that the preset cloud server can send the boosting request to a second robot after determining the second robot; or
Whether a second robot exists in a preset range or not is detected, if the second robot exists, a boosting request is generated, and the boosting request is sent to the second robot.
5. The robot boosting method according to claim 1, wherein the controlling the second robot to adjust the posture so that the posture of the second robot coincides with the posture of the first robot, comprises:
identifying the current pose of the second robot when receiving a response signal fed back by the second robot based on the boosting request, wherein the second robot sends the response signal to the first robot when reaching the current position of the first robot;
and if the pose of the second robot is inconsistent with the pose of the first robot, controlling the second robot to move and adjust the pose through the shared communication so as to enable the pose of the second robot to be consistent with the pose of the first robot.
6. A robot boosting method according to claim 1, wherein said determining whether boosting is required based on said grade information comprises:
determining the maximum load value which can be borne by the upper slope surface of the slope according to the slope information and a preset slope load table;
acquiring the weight of the current load of the first robot;
if the weight of the current load of the first robot is larger than the maximum load value, determining that boosting is needed;
determining that no boosting is required if the weight of the current load of the first robot is less than or equal to the maximum load value.
7. A robot boosting device characterized by comprising:
the detection module is used for detecting the slope information of the ascending surface of the slope by the first robot and determining whether boosting is needed or not based on the slope information;
the sending module is used for sending a boosting request to a second robot to indicate the second robot to go to the current position of the first robot if boosting is needed;
a communication module for establishing shared communication with the second robot;
the control module is used for controlling the second robot to adjust the pose so that the pose of the second robot is consistent with the pose of the first robot;
the boosting module is used for generating a driving instruction, generating a target driving instruction according to the driving instruction while driving the first robot according to the driving instruction, and sending the target driving instruction to the second robot through the shared communication so as to boost the second robot according to the target driving instruction; the boosting module is further used for acquiring a pressure value between the first robot and the second robot through a pressure sensor; determining whether the pose of the first robot is consistent with the pose of the second robot according to the pressure value; or determining whether the second robot provides the boosting force for the first robot according to the pressure value.
8. A robot, characterized in that the robot comprises a memory, a processor and a robot boosting program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the robot boosting method as claimed in any one of claims 1-6.
9. A storage medium having stored thereon a robot boosting program, the robot boosting program when executed by a processor implementing the steps of the robot boosting method according to any one of claims 1 to 6.
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| CN113934211A (en) * | 2021-10-13 | 2022-01-14 | 安徽淘云科技股份有限公司 | Control method and related equipment thereof |
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| CN107770271A (en) * | 2017-10-20 | 2018-03-06 | 南方电网科学研究院有限责任公司 | Cluster robot cloud control method, device and system |
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Address after: Unit 7-11, 6th Floor, Building B2, No. 999-8 Gaolang East Road, Wuxi Economic Development Zone, Wuxi City, Jiangsu Province, China 214000 Patentee after: Youdi Robot (Wuxi) Co.,Ltd. Country or region after: China Address before: 5D, Building 1, Tingwei Industrial Park, No. 6 Liufang Road, Xingdong Community, Xin'an Street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: UDITECH Co.,Ltd. Country or region before: China |