CN112904882A - Robot motion correction method and device, robot and upper computer - Google Patents
Robot motion correction method and device, robot and upper computer Download PDFInfo
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Abstract
The application provides a motion correction method and device for a robot, the robot and an upper computer, and belongs to the technical field of robot control. In a method for correcting a motion of a robot, the method is applied to the robot, and the method includes: receiving control information sent by an upper computer, wherein the control information comprises: an action parameter to be executed; adjusting and acquiring execution parameters according to the control information and a preset deviation sequence, wherein the deviation sequence comprises: a deviation compensation parameter; and controlling the robot to execute corresponding actions according to the execution parameters. The embodiment of the application can improve the accuracy of the robot control by the upper computer.
Description
Technical Field
The application relates to the technical field of robot control, in particular to a motion correction method and device for a robot, the robot and an upper computer.
Background
The robot with multiple joint degrees of freedom can execute various motions according to preset instructions or instructions sent by an upper computer. When the upper computer controls the robot to move, the upper computer generally controls the steering engine corresponding to each degree of freedom of the robot to move.
However, due to various factors such as assembly errors of the robot in the production process, measurement errors of a steering engine encoder, errors caused by long-time abrasion, and gap errors between steering engine gears, the robot cannot move according to a preset track completely at the position of each steering engine in the moving process.
Therefore, the control of the robot by the upper computer is not accurate enough at present, and the risk of operation failure of the robot is increased.
Disclosure of Invention
The application aims to provide a motion correction method and device for a robot, the robot and an upper computer, and the accuracy of the upper computer in controlling the robot can be improved.
The embodiment of the application is realized as follows:
in an aspect of embodiments of the present application, there is provided a method for correcting a motion of a robot, the method being applied to the robot, the method including:
receiving control information sent by an upper computer, wherein the control information comprises: an action parameter to be executed;
adjusting and acquiring execution parameters according to the control information and a preset deviation sequence, wherein the deviation sequence comprises: a deviation compensation parameter;
and controlling the robot to execute corresponding actions according to the execution parameters.
Optionally, adjusting the acquisition execution parameter according to the control information and the preset deviation sequence includes:
acquiring an action execution sequence according to the control information;
and adjusting and acquiring the execution parameters according to the action execution sequence and the preset deviation sequence.
Optionally, after controlling the robot to execute the corresponding action according to the execution parameter, the method further includes:
acquiring an actual execution sequence, wherein the actual execution sequence comprises: actual parameters when the robot executes actions;
and feeding back an actual execution sequence to the upper computer.
Optionally, the method further comprises:
and receiving a preset deviation sequence which is sent by the upper computer and adjusted according to the actual execution sequence.
In another aspect of the embodiments of the present application, a method for correcting a motion of a robot is provided, where the method is applied to an upper computer, and the method includes:
receiving a reading instruction sent by a robot;
reading a preset deviation sequence according to the reading instruction, wherein the deviation sequence comprises: the deviation compensation parameter is used for compensating the deviation of the action parameter to be executed;
the preset bias sequence is sent to the robot.
Optionally, the method further comprises:
transmitting control information to the robot, the control information including: an action parameter to be executed;
receiving an actual execution sequence fed back after the robot executes the action according to the control information, wherein the actual execution sequence comprises: actual parameters when the robot executes actions;
and updating the preset deviation sequence according to the actual execution sequence and the control information.
Optionally, the method further comprises:
acquiring an initial deviation sequence;
determining zero deviation data of each steering engine of the robot according to the initial deviation sequence;
and determining a preset deviation sequence according to the zero deviation data of each steering engine.
Optionally, determining zero deviation data of each steering engine of the robot according to the initial deviation sequence, including:
sending a standard action instruction to the robot to control the robot to execute a standard action;
receiving a standard execution sequence sent after the robot executes the standard action, wherein the standard execution sequence comprises: parameters that actually perform the standard action;
sending a calibration action instruction to the robot according to the initial deviation sequence and the parameters corresponding to the standard action;
after the robot executes the action corresponding to the calibration action command, the calibration execution sequence is sent, and the calibration execution sequence comprises: actually executing parameters of the action corresponding to the calibration action command;
and acquiring zero deviation data of each steering engine of the robot according to the standard execution sequence and the calibration execution sequence.
In another aspect of the embodiments of the present application, there is provided a motion correction apparatus for a robot, the apparatus being applied to the robot, the apparatus including: the device comprises a first receiving module, an adjusting module and an executing module; the first receiving module is used for receiving control information sent by an upper computer, wherein the control information comprises: an action parameter to be executed; the adjusting module is used for adjusting and acquiring the execution parameters according to the control information and a preset deviation sequence, wherein the deviation sequence comprises: a deviation compensation parameter; and the execution module is used for controlling the robot to execute corresponding actions according to the execution parameters.
Optionally, the adjusting module is specifically configured to obtain an action execution sequence according to the control information; and adjusting and acquiring the execution parameters according to the action execution sequence and the preset deviation sequence.
Optionally, the execution module is specifically configured to acquire an actual execution sequence, where the actual execution sequence includes: actual parameters when the robot executes actions; and feeding back an actual execution sequence to the upper computer.
Optionally, the first receiving module is further configured to receive a preset deviation sequence that is sent by the upper computer and adjusted according to the actual execution sequence.
On the other hand of this application embodiment provides a motion correcting unit of robot, and the device is applied to the host computer, and the device includes: the second receiving module, the reading module and the sending module;
the second receiving module is used for receiving a reading instruction sent by the robot;
the reading module is used for reading a preset deviation sequence according to the reading instruction, and the deviation sequence comprises: the deviation compensation parameter is used for compensating the deviation of the action parameter to be executed;
and the sending module is used for sending the preset deviation sequence to the robot.
Optionally, the sending module is further configured to send control information to the robot, where the control information includes: an action parameter to be executed; the second receiving module is further configured to receive an actual execution sequence fed back after the robot executes the action according to the control information, where the actual execution sequence includes: actual parameters when the robot executes actions; and updating the preset deviation sequence according to the actual execution sequence and the control information.
Optionally, the reading module is further configured to obtain an initial deviation sequence; determining zero deviation data of each steering engine of the robot according to the initial deviation sequence; and determining a preset deviation sequence according to the zero deviation data of each steering engine.
Optionally, the sending module is further configured to send a standard action instruction to the robot to control the robot to execute the standard action; the second receiving module is further configured to receive a standard execution sequence sent after the robot executes the standard action, where the standard execution sequence includes: parameters that actually perform the standard action; the sending module is further used for sending a calibration action instruction to the robot according to the initial deviation sequence and the parameters corresponding to the standard action; the second receiving module is further configured to receive a calibration execution sequence sent by the robot after the robot executes an action corresponding to the calibration action instruction, where the calibration execution sequence includes: actually executing parameters of the action corresponding to the calibration action command; and the reading module is also used for acquiring zero deviation data of each steering engine of the robot according to the standard execution sequence and the calibration execution sequence.
In another aspect of the embodiments of the present application, there is provided a robot including: the motion correction method comprises a first memory and a first processor, wherein a computer program capable of running on the first processor is stored in the first memory, and when the computer program is executed by the first processor, the steps of the motion correction method applied to the robot are realized.
In another aspect of the embodiments of the present application, a host computer is provided, including: and the second processor executes the computer program, and the steps of the motion correction method applied to the robot of the upper computer are carried out.
In another aspect of the embodiments of the present application, there is provided a storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the motion correction method for a robot.
The beneficial effects of the embodiment of the application include:
the method and the device for correcting the motion of the robot, the robot and the upper computer provided by the embodiment of the application can adjust and acquire the execution parameters by receiving the control information sent by the upper computer and according to the control information and the preset deviation sequence, the execution parameters can be more accurate by adjusting the execution parameters, and then the robot can be controlled to execute corresponding actions according to the adjusted execution parameters, the accuracy of controlling the robot to execute the actions can be improved, and the risk of the robot caused by inaccurate control in the operation process can be further reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic view of an application scenario of a motion correction method for a robot according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a motion correction method applied to a robot according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart illustrating adjustment of an acquisition execution parameter according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a feedback actual execution sequence provided in an embodiment of the present application;
fig. 5 is a schematic flow chart of a motion correction method of a robot applied to an upper computer according to an embodiment of the present application;
FIG. 6 is a flowchart illustrating an update bias sequence according to an embodiment of the present application;
fig. 7 is a schematic flowchart of determining a preset deviation sequence according to an embodiment of the present application;
FIG. 8 is a schematic flow chart illustrating a process for determining zero offset data according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a motion correction device applied to a robot according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a motion correction device of a robot applied to an upper computer according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a robot provided in an embodiment of the present application;
fig. 12 is a schematic structural diagram of an upper computer provided in the embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first", "second", "third", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
Fig. 1 is a schematic view of an application scenario of a motion correction method for a robot according to an embodiment of the present application, please refer to fig. 1, in which a robot 100 is in communication connection with an upper computer 200, specifically, the robot may be in connection with the upper computer in a wireless communication manner, but the present application is not limited thereto.
It should be noted that the robot 100 provided in the embodiment of the present application may be a humanoid robot, or the like, and the upper computer 200 may be a proprietary upper computer device, or may be an upper computer program provided in a computer, which is not limited herein.
The following explains a specific implementation procedure of the motion correction method applied to the robot provided in the embodiments of the present application by a specific embodiment.
Fig. 2 is a schematic flowchart of a motion correction method applied to a robot according to an embodiment of the present disclosure, where an execution subject of the method may be the robot, and specifically, may also be a controller in the robot, and is not limited herein. Referring to fig. 2, the method includes:
s210: and receiving control information sent by the upper computer.
Wherein the control information includes: and the action parameters to be executed.
It should be noted that the parameters of the action to be performed may include: the robot comprises a plurality of groups of action sequences, each group of action sequences can comprise a to-be-rotated angle of a steering engine on each degree of freedom of the robot, the action sequences can be in sequence, each group of action sequences is equivalent to an action frame of the robot, and the action sequences form the whole process of actions finished by the robot.
Alternatively, the action parameter to be performed may be expressed as
Wherein N is the total number of degrees of freedom of the robot, i is an index identifier of an action frame where the action parameter is executed, and i may be set according to the sequence of the robot action, for example: when the motion frame is the first motion frame, i is 1; when the motion frame is the nth motion frame, i is equal to n; each degree of freedom on the robot can be identified, and for the robot with N degrees of freedom, the multiple degrees of freedom of the robot can be sequentially identified to be 0 to N-1, namely, the angle to be rotated of the steering engine on one degree of freedom in a certain action frame can be determined through each value in the action parameters to be executed.
S220: and adjusting and acquiring the execution parameters according to the control information and the preset deviation sequence.
Wherein the deviation sequence comprises: and (4) deviation compensation parameters.
The robot may adjust and acquire the execution parameters according to the control information and a preset deviation sequence, where the deviation sequence may include a deviation compensation parameter for a steering engine in each degree of freedom of the robot, and each deviation compensation parameter may correspond to a deviation value of a steering engine angle in one degree of freedom; the execution parameter may be a set of parameters calculated based on the control information and a preset deviation sequence. The execution parameters may include an adjustment starting position of the steering engine in each degree of freedom of the robot and an angle to be rotated.
S230: and controlling the robot to execute corresponding actions according to the execution parameters.
It should be noted that, the execution parameters are acquired, the robot can be controlled and adjusted according to the adjustment starting position of the steering engine in each degree of freedom in the execution parameters to adjust the starting position of the steering engine in each degree of freedom to the adjustment starting position, and then the steering engine in each degree of freedom is controlled to move according to the angle to be rotated, so that the robot executes the action.
According to the motion correction method of the robot, the execution parameters can be adjusted and obtained by receiving the control information sent by the upper computer and according to the control information and the preset deviation sequence, the execution parameters can be more accurate by adjusting the execution parameters, and then the robot can be controlled to execute the corresponding action according to the adjusted execution parameters, so that the accuracy of controlling the robot to execute the action can be improved, and the risk of the robot caused by inaccurate control in the operation process can be further reduced.
The specific implementation process of the adjustment acquisition execution parameter provided in the embodiment of the present application is explained below by using a specific embodiment.
Fig. 3 is a schematic flow chart illustrating adjustment of an acquisition execution parameter according to an embodiment of the present application, please refer to fig. 3, which is a flowchart illustrating adjustment of an acquisition execution parameter according to control information and a preset deviation sequence, including:
s310: and acquiring an action execution sequence according to the control information.
It should be noted that, an action execution sequence may be obtained according to a plurality of action parameters to be executed in the control information, and for the ith action frame, the execution sequence of the action frame may be represented as
Accordingly, each action may include a plurality of action frames, that is, may include a plurality of the above-described action execution sequences.
S320: and adjusting and acquiring the execution parameters according to the action execution sequence and the preset deviation sequence.
It should be noted that the preset deviation sequence can be expressed as: [ delta ] is0,δ1,…,δN-1]Adding the obtained action execution sequence and a preset deviation sequence, and adjusting to obtain an execution parameter, wherein the execution parameter specifically comprises:
the following explains a specific implementation procedure of the feedback actual execution sequence in the embodiment of the present application by a specific embodiment.
Fig. 4 is a schematic flow chart of a feedback actual execution sequence provided in an embodiment of the present application, please refer to fig. 4, which further includes, after controlling the robot to execute a corresponding action according to the execution parameter:
s410: and acquiring an actual execution sequence.
Wherein the actual execution sequence includes: the actual parameters of the robot when performing the action.
It should be noted that an actual execution sequence may be acquired and acquired through a steering engine angle sensor arranged in each degree of freedom of the robot, where the actual execution sequence may include actual parameters of the robot when executing an action, and the actual parameters may be an initial position of the steering engine at which the robot actually starts to execute the action in each degree of freedom and an angle of rotation during the actual execution of the action.
Optionally, the whole body of the robot can be provided with a plurality of degrees of freedom, the specific number of the degrees of freedom can be set according to the control requirement on the robot, a steering engine is arranged on each degree of freedom, the angle (namely, 0-360 degrees) of one circle of rotation of the steering engine can be quantized and coded, the position of a coded disc of the corresponding code can be measured according to a steering engine angle sensor, and accordingly, the actual execution sequence can be acquired through the acquisition of the steering engine angle sensor.
S420: and feeding back an actual execution sequence to the upper computer.
The robot is connected with the upper computer through a serial port, and the robot can feed back an actual execution sequence acquired by the steering engine angle sensor to the upper computer through the serial port, so that the upper computer records and performs related processing on the actual execution sequence.
Optionally, the method further comprises:
and receiving a preset deviation sequence which is sent by the upper computer and adjusted according to the actual execution sequence.
It should be noted that the upper computer can adjust based on the actual execution sequence sent by the robot, and generate the preset deviation sequence according to the adjustment result, and the robot can obtain the preset deviation sequence adjusted by the upper computer through the serial port.
Optionally, if the preset deviation sequence is stored in the robot, the preset deviation sequence in the robot may be deleted and replaced with the preset deviation sequence sent to the robot by the upper computer.
The following explains a specific implementation procedure of the motion correction method of the robot applied to the upper computer in the embodiment of the present application by using a specific embodiment.
Fig. 5 is a schematic flow chart of a motion correction method of a robot applied to an upper computer according to an embodiment of the present application, please refer to fig. 5, where the method includes:
s510: and receiving a reading instruction sent by the robot.
It should be noted that, in a state where the robot is connected to the serial port of the upper computer, the robot may send a reading instruction to the upper computer.
S520: and reading the preset deviation sequence according to the reading instruction.
Wherein the deviation sequence comprises: and the deviation compensation parameter is used for compensating the deviation of the action parameter to be executed.
It should be noted that, after receiving the reading instruction, the upper computer may read a preset offset sequence in the upper computer according to the reading instruction, where the offset sequence is an updatable offset sequence, and accordingly, according to the reading instruction, the latest updated preset offset sequence in the upper computer may be read.
S530: the preset bias sequence is sent to the robot.
It should be noted that, after determining that the preset deviation sequence is the latest updated preset deviation sequence, the upper computer may send the preset deviation sequence to the robot through the serial port, so that the robot performs the operation of the relevant parameters according to the preset deviation sequence.
The specific procedure for updating the offset sequence provided in the embodiments of the present application is explained below by specific embodiments.
Fig. 6 is a flowchart illustrating a process of updating a bias sequence according to an embodiment of the present application, please refer to fig. 6, where the method further includes:
s610: and sending control information to the robot.
Wherein the control information includes: and the action parameters to be executed.
S620: and receiving an actual execution sequence fed back after the robot executes the action according to the control information.
Wherein the actual execution sequence includes: the actual parameters of the robot when performing the action.
It should be noted that the above-mentioned S610-S620 are the same as the above-mentioned implementation process, and are not described herein again.
S630: and updating the preset deviation sequence according to the actual execution sequence and the control information.
It should be noted that, after receiving the actual execution sequence sent by the robot, the upper computer may update the preset deviation sequence according to the actual execution sequence and the to-be-executed action parameter in the control information, so that the preset deviation sequence meets the current actual deviation.
The specific implementation process for determining the preset deviation sequence provided in the embodiments of the present application is explained below by specific embodiments.
Fig. 7 is a schematic flowchart of a process of determining a preset deviation sequence according to an embodiment of the present application, please refer to fig. 7, where the method further includes:
s710: an initial deviation sequence is obtained.
It should be noted that the initial deviation sequence may be a deviation sequence set by the robot when the robot leaves the factory or is tested, or a deviation sequence input by a user before use, and may be prestored in the upper computer, and in the case that the initial deviation sequence needs to be obtained, the prestored side initial deviation sequence may be read from the upper computer, and the initial deviation sequence may include an angle deviation parameter of each degree of freedom upper steering engine of the robot when the robot leaves the factory or is tested.
S720: and determining zero deviation data of each steering engine of the robot according to the initial deviation sequence.
It should be noted that the robot may be controlled to perform one or more actions according to the initial deviation sequence, and then zero deviation data of each steering engine of the robot is determined according to the results of the actions performed by the robot.
S730: and determining a preset deviation sequence according to the zero deviation data of each steering engine.
It should be noted that after acquiring zero-point deviation data of each steering engine, a sequence formed by the zero-point deviation data may be used as the preset deviation sequence.
The following explains a specific implementation process for determining zero-point deviation data provided in the embodiments of the present application by using specific embodiments.
Fig. 8 is a schematic flowchart of determining zero-point deviation data according to an embodiment of the present application, please refer to fig. 8, where determining zero-point deviation data of each steering engine of the robot according to the initial deviation sequence includes:
s810: and sending standard action instructions to the robot to control the robot to execute the standard action.
It should be noted that the standard action command may be a command for controlling the robot to execute a preset standard action, and the standard action may be any one of the preset actions, for example: standard standing, standard lying, standard squatting, etc. Taking standard standing as an example, the standard action can be an action of enabling the two legs of the robot to be upright and the two arms to be unfolded left and right and horizontally, and under the condition that the robot receives the standard action command, the robot can execute the standard action and control the steering engines on the relevant degrees of freedom to enable the two legs to be upright and the two arms to be unfolded left and right and horizontally.
S820: and receiving a standard execution sequence sent after the robot executes the standard action.
Wherein the standard execution sequence comprises: the parameters that actually perform the standard action.
It should be noted that after the robot executes the standard actions, a standard execution sequence can be acquired through a steering engine angle sensor arranged on each degree of freedom of the robot, and the robot can send the standard execution sequence to an upper computer. Alternatively, the parameter of the actual executed standard action may be a parameter of a rotation angle of the steering engine in each degree of freedom of the robot after the actual execution of the standard action.
S830: and sending a calibration action command to the robot according to the initial deviation sequence and the parameters corresponding to the standard action.
The calibration motion command may be generated according to the initial deviation sequence and the parameter corresponding to the standard motion, and the calibration motion command may be a command for calibrating the motion of the steering engine in each degree of freedom of the robot.
S840: and receiving a calibration execution sequence sent after the robot executes the action corresponding to the calibration action command.
Wherein the calibration execution sequence includes: and actually executing the parameters of the action corresponding to the calibration action command.
It should be noted that, after receiving the action corresponding to the calibration action instruction executed by the robot, the upper computer may send a calibration execution sequence to the robot, and the parameter of the action corresponding to the actual calibration action instruction in the calibration execution sequence may be a parameter calculated by the upper computer according to the initial deviation sequence and the parameter corresponding to the standard action.
S850: and acquiring zero deviation data of each steering engine of the robot according to the standard execution sequence and the calibration execution sequence.
It should be noted that, the standard execution sequence and the calibration execution sequence may be subtracted to obtain zero-point deviation data of each steering engine, which may be specifically expressed as:
[δ0,δ1,…,δN-1]＝[δ0′,δ1′,…,δN-1′]-[δ0″,δ1″,…,δN-1″]；
wherein [ delta ]0,δ1,…,δN-1]The method comprises the steps of collecting zero deviation data of N steering engines, namely the preset deviation sequence; [ delta ] is0′,δ1′,…,δN-1′]For the standard execution sequence, [ delta ]0″,δ1″,…,δN-1″]The sequence is executed for calibration.
The following describes apparatuses, devices, and storage media for executing the motion correction method of the robot provided by the present application, and specific implementation procedures and technical effects thereof are referred to above, and will not be described again below.
Fig. 9 is a schematic structural diagram of a motion correction device applied to a robot according to an embodiment of the present application, please refer to fig. 9, the device includes: a first receiving module 110, an adjusting module 120, and an executing module 130; the first receiving module 110 is configured to receive control information sent by an upper computer, where the control information includes: an action parameter to be executed; an adjusting module 120, configured to adjust and obtain the execution parameter according to the control information and a preset deviation sequence, where the deviation sequence includes: a deviation compensation parameter; and the execution module 130 is configured to control the robot to execute the corresponding action according to the execution parameter.
Optionally, the adjusting module 120 is specifically configured to obtain an action execution sequence according to the control information; and adjusting and acquiring the execution parameters according to the action execution sequence and the preset deviation sequence.
Optionally, the executing module 130 is specifically configured to acquire an actual executing sequence, where the actual executing sequence includes: actual parameters when the robot executes actions; and feeding back an actual execution sequence to the upper computer.
Optionally, the first receiving module 110 is further configured to receive a preset deviation sequence that is sent by the upper computer and adjusted according to the actual execution sequence.
Fig. 10 is a schematic structural diagram of a motion correction device of a robot applied to an upper computer according to an embodiment of the present application, please refer to fig. 10, the device includes: a second receiving module 210, a reading module 220, and a sending module 230; a second receiving module 210, configured to receive a reading instruction sent by the robot; a reading module 220, configured to read a preset deviation sequence according to the reading instruction, where the deviation sequence includes: the deviation compensation parameter is used for compensating the deviation of the action parameter to be executed; a sending module 230, configured to send the preset deviation sequence to the robot.
Optionally, the sending module 230 is further configured to send control information to the robot, where the control information includes: an action parameter to be executed; the second receiving module 210 is further configured to receive an actual execution sequence fed back after the robot executes the action according to the control information, where the actual execution sequence includes: actual parameters when the robot executes actions; and updating the preset deviation sequence according to the actual execution sequence and the control information.
Optionally, the reading module 220 is further configured to obtain an initial deviation sequence; determining zero deviation data of each steering engine of the robot according to the initial deviation sequence; and determining a preset deviation sequence according to the zero deviation data of each steering engine.
Optionally, the sending module 230 is further configured to send a standard action instruction to the robot to control the robot to perform the standard action; the second receiving module 210 is further configured to receive a standard execution sequence sent after the robot executes the standard action, where the standard execution sequence includes: parameters that actually perform the standard action; the sending module 230 is further configured to send a calibration action instruction to the robot according to the initial deviation sequence and the parameter corresponding to the standard action; the second receiving module 210 is further configured to receive a calibration execution sequence sent by the robot after executing an action corresponding to the calibration action instruction, where the calibration execution sequence includes: actually executing parameters of the action corresponding to the calibration action command; the reading module 220 is further configured to obtain zero deviation data of each steering engine of the robot according to the standard execution sequence and the calibration execution sequence.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present application, please refer to fig. 11, which includes: the motion correction method includes a first memory 300 and a first processor 400, wherein a computer program capable of running on the first processor 400 is stored in the first memory 300, and when the computer program is executed by the first processor 400, the steps of the motion correction method applied to the robot are realized.
Fig. 12 is a schematic structural diagram of an upper computer provided in an embodiment of the present application, please refer to fig. 12, the upper computer includes: the second memory 500 and the second processor 600, wherein the second memory 500 stores a computer program capable of running on the second processor 600, and the second processor 600 executes the computer program, and the steps of the motion correction method applied to the robot of the upper computer are described above.
In another aspect of the embodiments of the present application, there is provided a storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the steps of the motion correction method for a robot.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (13)
1. A method for correcting a motion of a robot, comprising:
receiving control information sent by an upper computer, wherein the control information comprises: an action parameter to be executed;
adjusting and acquiring execution parameters according to the control information and a preset deviation sequence, wherein the deviation sequence comprises: a deviation compensation parameter;
and controlling the robot to execute corresponding actions according to the execution parameters.
2. The method of claim 1, wherein the adjusting acquisition execution parameters according to the control information and a preset deviation sequence comprises:
acquiring an action execution sequence according to the control information;
and adjusting and acquiring execution parameters according to the action execution sequence and the preset deviation sequence.
3. The method of claim 1, wherein after controlling the robot to perform the corresponding action according to the execution parameter, further comprising:
acquiring and acquiring an actual execution sequence, wherein the actual execution sequence comprises: actual parameters when the robot executes actions;
and feeding back the actual execution sequence to the upper computer.
4. The method of claim 3, wherein the method further comprises:
and receiving the preset deviation sequence which is sent by the upper computer and adjusted according to the actual execution sequence.
5. A method for correcting a motion of a robot, comprising:
receiving a reading instruction sent by a robot;
reading a preset deviation sequence according to the reading instruction, wherein the deviation sequence comprises: the deviation compensation parameter is used for compensating the deviation of the action parameter to be executed;
and sending the preset deviation sequence to the robot.
6. The method of claim 5, wherein the method further comprises:
sending control information to the robot, the control information including: an action parameter to be executed;
receiving an actual execution sequence fed back after the robot executes the action according to the control information, wherein the actual execution sequence comprises: actual parameters when the robot executes actions;
and updating the preset deviation sequence according to the actual execution sequence and the control information.
7. The method of claim 5, wherein the method further comprises:
acquiring an initial deviation sequence;
determining zero deviation data of each steering engine of the robot according to the initial deviation sequence;
and determining the preset deviation sequence according to the zero deviation data of each steering engine.
8. The method of claim 7, wherein determining zero deviation data for each steering engine of the robot from the initial deviation sequence comprises:
sending standard action instructions to the robot to control the robot to execute standard actions;
receiving a standard execution sequence sent by the robot after the robot executes the standard action, wherein the standard execution sequence comprises: parameters that actually perform the standard action;
sending a calibration action instruction to the robot according to the initial deviation sequence and the parameters corresponding to the standard action;
receiving a calibration execution sequence sent after the robot executes the action corresponding to the calibration action command, wherein the calibration execution sequence comprises: actually executing parameters of the action corresponding to the calibration action command;
and acquiring zero deviation data of each steering engine of the robot according to the standard execution sequence and the calibration execution sequence.
9. A motion correction device for a robot, comprising: the device comprises a first receiving module, an adjusting module and an executing module;
the first receiving module is configured to receive control information sent by an upper computer, where the control information includes: an action parameter to be executed;
the adjusting module is configured to adjust and acquire an execution parameter according to the control information and a preset deviation sequence, where the deviation sequence includes: a deviation compensation parameter;
and the execution module is used for controlling the robot to execute corresponding actions according to the execution parameters.
10. A motion correction device for a robot, comprising: the second receiving module, the reading module and the sending module;
the second receiving module is used for receiving a reading instruction sent by the robot;
the reading module is configured to read a preset deviation sequence according to the reading instruction, where the deviation sequence includes: the deviation compensation parameter is used for compensating the deviation of the action parameter to be executed;
the sending module is used for sending the preset deviation sequence to the robot.
11. A robot, comprising: a first memory in which a computer program is stored, the computer program being executable on the first processor, the first processor implementing the steps of the method of any of the preceding claims 1 to 4 when executing the computer program.
12. A host computer, comprising: a second memory in which a computer program is stored, the computer program being executable on the second processor, and a second processor, the second processor implementing the steps of the method according to any of the claims 5 to 8 when executing the computer program.
13. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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| CN202110108842.9A CN112904882A (en) | 2021-01-25 | 2021-01-25 | Robot motion correction method and device, robot and upper computer |
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| CN202110108842.9A CN112904882A (en) | 2021-01-25 | 2021-01-25 | Robot motion correction method and device, robot and upper computer |
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