CN113084804A - Method, device, terminal and storage medium for controlling robot to move to any point position - Google Patents
Method, device, terminal and storage medium for controlling robot to move to any point position Download PDFInfo
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- CN113084804A CN113084804A CN202110351858.2A CN202110351858A CN113084804A CN 113084804 A CN113084804 A CN 113084804A CN 202110351858 A CN202110351858 A CN 202110351858A CN 113084804 A CN113084804 A CN 113084804A
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- 238000004891 communication Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/14—Session management
- H04L67/141—Setup of application sessions
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- Mathematical Physics (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention discloses a method for controlling a robot to move to any point position, which comprises the following steps: establishing a remote network connection with the robot; acquiring positioning information of the robot, and visually displaying the robot on a preset map according to the positioning information; acquiring point location attributes of optional target point locations on a map; automatically generating a motion path from the current position of the robot to the target point according to the positioning information of the robot and the point location attribute of the target point; and controlling the robot to move to the target point position from the current position along the motion path. According to the method for controlling the robot to move to any point location, the movement path is planned according to the coordinates of the robot and the target point location on the map, so that the robot can move to the target point location along the movement path, a plurality of robots are scattered in a narrow channel, the phenomenon that the plurality of robots are stuck due to the fact that the robots are blocked and cannot avoid is avoided, and the traffic capacity of the robots is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a method, a device, a terminal and a storage medium for controlling a robot to move to any point position.
[ background of the invention ]
With the development of robotics, robots with autonomous movement capabilities have become more and more unmanned, automated, remote, and the like. When a plurality of robots are blocked in a narrow channel and cannot avoid, the robots are all in a state of waiting for the other side to avoid, and then the processing systems of the robots are in a blocked state, so that the robots need to be interfered at the moment, the robots move to a wide position nearby, and then the robots sequentially pass through the narrow channel to smoothly continue to execute tasks. However, there is no method in the prior art how to remotely move a robot to any point in a map, thereby dispersing multiple robots.
In view of the above, it is desirable to provide a method, an apparatus, a terminal and a storage medium for controlling a robot to move to an arbitrary point location to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a method, a device, a terminal and a storage medium for controlling a robot to move to any point, and aims to solve the problem of how to remotely move the robot to any point in a map and improve the communication capacity and the task execution efficiency of the robot.
In order to achieve the above object, a first aspect of the present invention provides a method for controlling a robot to move to an arbitrary point position, comprising the steps of:
establishing a remote network connection with the robot;
acquiring positioning information of the robot, and visually displaying the robot on a preset map according to the positioning information;
acquiring point location attributes of optional target point locations on the map; the point location attribute comprises a map ID, a coordinate and an angle value;
automatically generating a motion path from the current position of the robot to the target point location according to the positioning information of the robot and the point location attribute of the target point location;
and controlling the robot to move to the target point position from the current position along the motion path.
In a preferred embodiment, the step of controlling the robot to move from the current position to the target position along the movement path further comprises the steps of:
judging whether the target point location is located in an reachable area on the map, and if so, controlling the robot to reach the target point location; and if the result is negative, the robot refuses the instruction of reaching the target point location.
In a preferred embodiment, the step of controlling the robot to move from the current position to the target position along the movement path further comprises the steps of:
and judging whether the robot is currently executing the task, if so, rejecting the instruction of reaching the target point position by the robot.
The invention provides a device for controlling a robot to move to any point, which comprises:
the network connection module is used for establishing remote network connection with the robot;
the positioning display module is used for acquiring positioning information of the robot and visually displaying the robot on a preset map according to the positioning information;
the point location acquisition module is used for acquiring point location attributes of optional target point locations on the map; the point location attribute comprises a map ID, a coordinate and an angle value;
the path generation module is used for automatically generating a motion path from the current position of the robot to the target point location according to the positioning information of the robot and the point location attribute of the target point location;
and the motion control module is used for controlling the robot to move to the target point position from the current position along the motion path.
In a preferred embodiment, the method further comprises:
the first judgment module is used for judging whether the target point location is located in an reachable area on the map, and if the target point location is located in the reachable area on the map, the robot is controlled to reach the target point location; and if the result is negative, the robot refuses the instruction of reaching the target point location.
In a preferred embodiment, the method further comprises:
and the second judgment module is used for judging whether the robot is currently executing the task, and if so, the robot refuses the instruction of reaching the target point location.
A third aspect of the present invention provides a terminal, where the terminal includes a memory, a processor, and a program stored in the memory and running on the processor for controlling a robot to move to any point location, and when the program for controlling a robot to move to any point location is executed by the processor, the method for controlling a robot to move to any point location according to any one of the above embodiments is implemented.
A fourth aspect of the present invention provides a computer-readable storage medium, where a program for controlling a robot to move to any point location is stored, and when the program for controlling the robot to move to any point location is executed by a processor, the method for controlling the robot to move to any point location according to any one of the above embodiments is implemented.
According to the method for controlling the robot to move to any point location, the positioning information of the robot is visually displayed on the map, then the target point location is selected, the movement path is planned according to the coordinates of the robot and the target point location on the map, the robot is made to move to the target point location along the movement path, and therefore the robots are scattered in a narrow passage, jamming caused by the fact that multiple robots cannot avoid due to congestion is avoided, and the traffic capacity of the robot is improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a method for controlling a robot to move to any point location according to the present invention;
fig. 2 is a frame diagram of the device for controlling the robot to move to any position.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In an embodiment of the present invention, a first aspect provides a method for controlling a robot to move to any point location, which is used to enable a plurality of robots to respectively go to any point location nearby when the plurality of robots are stuck due to unavailability in a narrow channel, so as to pass through the narrow channel in order, and improve the traffic capacity of the robots.
As shown in FIG. 1, the method for controlling the robot to move to an arbitrary point position includes the following steps S11-S15.
Step S11, a remote network connection with the robot is established.
In this step, a technician may establish a remote network connection with a communication device of the robot through a communication Protocol such as Websocket (full duplex communication Protocol based on TCP), HTTP, or HTTPs (Hyper Text Transfer Protocol over secure session Layer) in the web end or APP, so that bidirectional data transmission may be performed between the web end or APP and the robot. Among them, the web end includes but is not limited to: the system comprises a desktop computer, a notebook computer, a mobile phone, a tablet computer and other electronic equipment with a web browsing function, wherein the web end is provided with a display interface capable of displaying information. Specifically, step S11 includes the following steps:
firstly, network connection between a web end and a cloud end is established. Specifically, a technician connects with the cloud server after the web side is subjected to authority verification, and enters a control center corresponding to the cloud server.
And then, establishing network connection between the cloud and the robot through the cloud. Specifically, a user can establish a remote connection with one or more robots through a control center of the cloud server, wherein the cloud server plays a role in proxy connection. Therefore, the cloud is used as a connection agent layer between the web end and the robot, so that the data is transferred and synchronized in the cloud. The robot avoids the problem that when a plurality of web ends are connected with the same robot for many times, the robot needs to establish connection with each web end, and data synchronization waste is caused. Therefore, the cloud serves as a relay, and has at least two advantages: firstly, the problem of synchronous waste of connection data established between the robot and a multi-party web end is reduced; and secondly, the cloud side is used for authority control, so that the network connection between the robot and external equipment is safer.
Further, step S11 further includes the sub-steps of: and judging whether the network connection between the web end and the robot is successful, and if not, establishing the direct connection between the web end and the robot through the intranet. Specifically, when the cloud server cannot establish a connection, the conditions include, but are not limited to, failure of authority verification between the web side and the cloud side and failure of connection of the cloud side network. At this time, the Web intranet service direct connection robot can be used to realize the function of remotely operating the robot. Of course, the intranet connection may be set to the robot connection authority setting.
And step S12, acquiring the positioning information of the robot, and visually displaying the robot on a preset map according to the positioning information.
Specifically, the positioning information of the robot in the environment is determined by retrieving data on a positioning device of the robot, and then coordinates of the robot are marked on a preset map, so that the current position of the robot is visually displayed. When a plurality of robots are jammed in a narrow passage, a plurality of marks are correspondingly marked on the map.
Step S13, point location attributes of optional target point locations on the map are obtained; the point location attribute comprises a map ID, coordinates and an angle value.
In the step, a technician selects a robot, and then randomly designates a target point position in the area near the robot; or the system automatically and randomly selects any target point position in a preset size area for each robot, wherein the priority can be determined according to the distance between the robot and the jammed central point in the narrow passage, and the moving priority of the robot farthest from the center is the highest. When a technician or a system selects a point on a preset map, the attribute values of the target point position, such as the length and angle values in a polar coordinate system, the coordinate values in a planar rectangular coordinate system, and the like, are determined according to the coordinate system of the map itself.
Step S14, automatically generating a movement path from the current position of the robot to the target point according to the positioning information of the robot and the point location attribute of the target point.
It can be understood that when the robots are marked on the map based on the positioning information, the coordinates of each robot on the map are determined. The method for planning the optimal motion path of any two points on the map can refer to the algorithm in the prior art, and the invention is not limited herein.
Further, after the robot receives a motion instruction containing a motion path, firstly, whether the target point location is located in an reachable area on the map is judged, if so, the robot is controlled to reach the target point location; if the result is negative, the target point is located in an obstacle or a closed space on the map, or in an area with a running distance exceeding a preset threshold value, the robot refuses an instruction of reaching the target point until the sent target point to be reached meets a preset condition.
Further, before executing step S15, the method further includes the steps of: and judging whether the robot executes the task currently, if so, indicating that the robot is inconvenient to leave the current position at the moment, and if so, refusing to execute the instruction reaching the target point position. It should be noted that, after the robot in the task execution rejects the execution instruction, a prompt is sent to raise the priority, so that in the following selection and designation of the second target point location by the technician or the system, the robot is no longer judged whether to execute the task, and after all or almost all the robots leave the narrow passage, the robot executing the task preferentially passes through the narrow passage, thereby avoiding raising the execution efficiency of the task.
Continuing to execute step S15, the robot is controlled to move from the current position to the target point along the movement path.
Specifically, after the multiple robots are assigned with target point positions and generate corresponding movement paths, the multiple robots sequentially act according to the sequence of the priority levels, so that the robots far away from the congestion center evacuate the current area, the multiple robots leave narrow channels, sequencing is performed according to task priorities, the multiple robots sequentially pass through the narrow channels, and the multiple robots are prevented from being in a stuck state.
In summary, according to the method for controlling the robot to move to any point location provided by the invention, the positioning information of the robot is visually displayed on the map, then the target point location is selected, and the movement path is planned according to the coordinates of the robot and the target point location on the map, so that the robot moves to the target point location along the movement path, and thus a plurality of robots are scattered in a narrow passage, the jamming caused by the fact that a plurality of robots cannot avoid due to congestion is avoided, and the traffic capacity of the robot is improved.
The second aspect of the present invention provides an apparatus 100 for controlling robots to move to any point location, which is used to enable a plurality of robots to respectively reach any point location nearby when the plurality of robots are stuck due to unavailability in a narrow channel, so as to pass through the narrow channel in order, thereby improving the traffic capacity of the robots. It should be noted that the implementation principle and the implementation method of the apparatus 100 for controlling the robot to move to any point location are the same as those of the above method for controlling the robot to move to any point location, and therefore, the details are not described below.
As shown in fig. 2, the apparatus 100 for controlling the robot to move to any desired position includes:
a network connection module 10 for establishing a remote network connection with the robot;
the positioning display module 20 is configured to obtain positioning information of the robot, and visually display the robot on a preset map according to the positioning information;
a point location obtaining module 30, configured to obtain a point location attribute of an optional target point location on the map; the point location attribute comprises a map ID, a coordinate and an angle value;
the path generation module 40 is configured to automatically generate a motion path from the current position of the robot to the target point according to the positioning information of the robot and the point location attribute of the target point;
and the motion control module 50 is used for controlling the robot to move to a target point position from the current position along the motion path.
Further, in one embodiment, the apparatus 100 for controlling the robot to move to any desired position further includes:
a first judging module (not shown in the figure) for judging whether the target point location is located in the reachable area on the map, and if so, controlling the robot to reach the target point location; if the result is no, the robot refuses to execute the instruction reaching the target point location.
Further, in one embodiment, the apparatus 100 for controlling the robot to move to any desired position further includes:
and the second judgment module is used for judging whether the robot is currently executing the task, and if so, the robot refuses the instruction of reaching the target point location.
A third aspect of the present invention provides a terminal (not shown in the drawings), where the terminal includes a memory, a processor, and a program stored in the memory and running on the processor for controlling the robot to move to any point location, and when the program for controlling the robot to move to any point location is executed by the processor, the method for controlling the robot to move to any point location as described in any one of the above embodiments is implemented.
A fourth aspect of the present invention provides a computer-readable storage medium (not shown in the drawings), where a program for controlling a robot to move to any point location is stored in the computer-readable storage medium, and when the program for controlling a robot to move to any point location is executed by a processor, the steps of the method for controlling a robot to move to any point location according to any one of the above embodiments are implemented.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method can be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of 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, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (8)
1. A method for controlling a robot to move to any point position is characterized by comprising the following steps:
establishing a remote network connection with the robot;
acquiring positioning information of the robot, and visually displaying the robot on a preset map according to the positioning information;
acquiring point location attributes of optional target point locations on the map; the point location attribute comprises a map ID, a coordinate and an angle value;
automatically generating a motion path from the current position of the robot to the target point location according to the positioning information of the robot and the point location attribute of the target point location;
and controlling the robot to move to the target point position from the current position along the motion path.
2. The method of claim 1, wherein the step of controlling the robot to move from the current position to the target point along the movement path further comprises the steps of:
judging whether the target point location is located in an reachable area on the map, and if so, controlling the robot to reach the target point location; and if the result is negative, the robot refuses the instruction of reaching the target point location.
3. The method of claim 1, wherein the step of controlling the robot to move from the current position to the target point along the movement path further comprises the steps of:
and judging whether the robot is currently executing the task, if so, rejecting the instruction of reaching the target point position by the robot.
4. A device for controlling a robot to move to any point position is characterized by comprising:
the network connection module is used for establishing remote network connection with the robot;
the positioning display module is used for acquiring positioning information of the robot and visually displaying the robot on a preset map according to the positioning information;
the point location acquisition module is used for acquiring point location attributes of optional target point locations on the map; the point location attribute comprises a map ID, a coordinate and an angle value;
the path generation module is used for automatically generating a motion path from the current position of the robot to the target point location according to the positioning information of the robot and the point location attribute of the target point location;
and the motion control module is used for controlling the robot to move to the target point position from the current position along the motion path.
5. The apparatus for controlling the movement of a robot to any desired position according to claim 4, further comprising:
the first judgment module is used for judging whether the target point location is located in an reachable area on the map, and if the target point location is located in the reachable area on the map, the robot is controlled to reach the target point location; and if the result is negative, the robot refuses the instruction of reaching the target point location.
6. The apparatus for controlling the movement of a robot to any desired position according to claim 4, further comprising:
and the second judgment module is used for judging whether the robot is currently executing the task, and if so, the robot refuses the instruction of reaching the target point location.
7. A terminal, characterized in that the terminal comprises a memory, a processor and a program for controlling a robot to move to any point location, which is stored in the memory and can run on the processor, wherein the program for controlling the robot to move to any point location realizes the steps of the method for controlling the robot to move to any point location according to any one of claims 1 to 3 when executed by the processor.
8. A computer-readable storage medium, wherein the computer-readable storage medium stores a program for controlling a robot to move to any point location, and the program for controlling the robot to move to any point location implements the steps of the method for controlling the robot to move to any point location according to any one of claims 1 to 3 when executed by a processor.
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| CN202110351858.2A CN113084804A (en) | 2021-03-31 | 2021-03-31 | Method, device, terminal and storage medium for controlling robot to move to any point position |
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| CN202110351858.2A CN113084804A (en) | 2021-03-31 | 2021-03-31 | Method, device, terminal and storage medium for controlling robot to move to any point position |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131599A (en) * | 2021-11-30 | 2022-03-04 | 珠海格力电器股份有限公司 | Robot programming control method and device, storage medium and demonstrator |
| CN114153211A (en) * | 2021-12-02 | 2022-03-08 | 深圳诺博医疗科技有限公司 | Method, device and equipment for scheduling multi-robot over-narrow channel and storage medium |
-
2021
- 2021-03-31 CN CN202110351858.2A patent/CN113084804A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114131599A (en) * | 2021-11-30 | 2022-03-04 | 珠海格力电器股份有限公司 | Robot programming control method and device, storage medium and demonstrator |
| CN114153211A (en) * | 2021-12-02 | 2022-03-08 | 深圳诺博医疗科技有限公司 | Method, device and equipment for scheduling multi-robot over-narrow channel and storage medium |
| CN114153211B (en) * | 2021-12-02 | 2023-06-09 | 深圳诺博医疗科技有限公司 | Scheduling method, device, equipment and storage medium for multi-robot over-narrow channel |
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