CN114167823B

CN114167823B - Robot control method, apparatus, electronic device, and storage medium

Info

Publication number: CN114167823B
Application number: CN202111330422.1A
Authority: CN
Inventors: 苏喜然; 何烽光; 王广炎
Original assignee: Hefei Sineva Intelligent Machine Co Ltd
Current assignee: Hefei Sineva Intelligent Machine Co Ltd
Priority date: 2021-11-11
Filing date: 2021-11-11
Publication date: 2023-11-14
Anticipated expiration: 2041-11-11
Also published as: CN114167823A

Abstract

The application discloses a robot control method, a device, electronic equipment and a storage medium, which realize energy conservation of a robot in a remote equipment control mode. In the embodiment of the application, under a remote control mode, corresponding state indication signals are generated based on the operation process progress of upstream equipment and/or downstream equipment of the robot; and controlling the robot to enter a dormant state or a working state according to the state which is indicated by the state indication signal and needs to enter by the robot. In the embodiment of the application, in the remote control mode, if the operation process progress display of the upstream equipment and/or the downstream equipment is about to be completed, the robot is required to be awakened to enter the working state to prepare for working at any time, and if the operation process progress display of the upstream equipment and/or the downstream equipment is completed for a lot of time, the robot can be controlled to sleep, so that energy saving is realized.

Description

Robot control method, apparatus, electronic device, and storage medium

Technical Field

The present application relates to the field of robots, and in particular, to a method and apparatus for controlling a robot, an electronic device, and a storage medium.

Background

In recent years, large enterprises pay more attention to energy conservation and consumption reduction of substrate conveying robots. The existing energy-saving and consumption-reducing technology of the robot generally has the problem that the energy-saving and consumption-reducing effects are not obvious, and in the related technology, only partial equipment or partial working modes are considered for saving energy and reducing consumption, and only the robot can realize energy saving in a manual operation mode of a user.

Disclosure of Invention

The application aims to provide a robot control method, a robot control device, electronic equipment and a storage medium, which realize energy conservation of a robot in a remote control mode.

In a first aspect, an embodiment of the present application provides a robot control method, which is applied to a remote control device, where the method includes:

in a remote control mode, receiving reference data; wherein the reference data is used for indicating the progress of a working process of a machine device of the robot, wherein the machine device comprises an upstream device and/or a downstream device;

generating a corresponding state indication signal according to the reference data; the state indication signal is used for indicating a state of the robot to enter, and the state comprises a dormant state or a working state;

And sending the state indication signal to the robot through a robot controller so that the robot enters a state indicated by the state indication signal.

In the embodiment of the application, in the remote control mode, if the operation process progress display of the machine equipment is about to be completed, the robot needs to be awakened to enter the working state to prepare for working at any time, and if the operation process progress display distance of the machine equipment is long enough to be completed, the robot can be controlled to sleep, so that energy conservation is realized.

In some possible embodiments, the generating a corresponding status indication signal according to the reference data includes:

if the machine equipment comprises upstream equipment or downstream equipment, and the operation process progress of the machine equipment indicated by the reference data is greater than or equal to a preset progress, generating a state indication signal corresponding to a working state; or (b)

If the machine equipment comprises upstream equipment or downstream equipment, and the operation process progress of the machine equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to a sleep state; or (b)

If the machine equipment comprises upstream equipment and downstream equipment, and the operation process progress of the upstream equipment or the downstream equipment indicated by the reference data is greater than or equal to the preset progress, generating a state indication signal corresponding to a working state; or (b)

And if the machine equipment comprises upstream equipment and downstream equipment, and the operation process progress of the upstream equipment and the downstream equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to the dormant state.

In the embodiment of the application, the robot can be flexibly controlled by determining the operation process progress of the upstream equipment and/or the downstream equipment to generate the state indication signal, and the robot can enter the dormant state when not required to work, so that energy conservation is realized.

In some possible embodiments, the sleep state includes: a deep sleep state or a shallow sleep state;

if the machine equipment comprises upstream equipment or downstream equipment and the operation process progress of the machine equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to a sleep state, wherein the state indication signal comprises:

if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering a sleep state; or (b)

If the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot;

if the machine equipment includes an upstream equipment and a downstream equipment, and the working process progress of the upstream equipment and the downstream equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to a sleep state, including:

if the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or (b)

If the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation duration of the downstream equipment is smaller than the preset duration, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or (b)

If the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering a sleep state; or (b)

And if the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation time length of the downstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering the sleep state.

In the embodiment of the application, the robot is determined to enter the dormant state or both the robot and the robot controller enter the dormant state according to the operation process progress and the operation time length of the machine equipment, so that the waste of resources is further saved.

In some possible embodiments, the job duration of the machine device is determined by:

and receiving the operation time length of the machine equipment periodically broadcasted by the production line control center by adopting a preset communication mode.

In the application, the communication between the robot devices is realized in a broadcast message mode, and compared with the point-to-point request response communication mode in the related art, the communication efficiency is improved.

In some possible embodiments, the receiving the reference data includes:

receiving reference data of machine equipment periodically broadcasted by a production line control center by adopting a preset communication mode;

generating a corresponding state indication signal according to the reference data, including:

and generating a corresponding state indication signal according to the received reference data every time the reference data is received.

In some possible embodiments, after the generating the corresponding status indication signal according to the received reference data, before the sending the status indication signal to the robot through the robot controller, the method further includes:

and determining that the state indication signal generated at this time is different from the state indicated by the state indication signal generated last time.

In the application, if the states indicated by the state indication signals generated twice are the same, the state of the robot is not required to be changed, and only the state indicated by the state indication signals is not required to be sent to the robot, so that the energy saving is further realized.

The second aspect of the present application also provides a robot control apparatus applied to a remote control device, the apparatus comprising:

the receiving module is used for receiving the reference data in a remote control mode; wherein the reference data is used for indicating the progress of a working process of a machine device of the robot, wherein the machine device comprises an upstream device and/or a downstream device;

the signal generation module is used for generating a corresponding state indication signal according to the reference data; the state indication signal is used for indicating a state of the robot to enter, and the state comprises a dormant state or a working state;

And the sending module is used for sending the state indication signal to the robot through the robot controller so as to enable the robot to enter a state indicated by the state indication signal.

In some possible embodiments, the signal generating module, when executing the generation of the corresponding status indication signal according to the reference data, is configured to:

the signal generating module is configured to, when the machine device includes an upstream device or a downstream device and the operation process progress of the machine device indicated by the reference data is smaller than the preset progress, generate a state indication signal corresponding to a sleep state, if the state indication signal is configured to:

The signal generation module is configured to, when the machine device includes an upstream device and a downstream device, and the job process progress of the upstream device and the downstream device indicated by the reference data is smaller than the preset progress, generate a status indication signal corresponding to a sleep status, if the status indication signal is configured to:

In some possible embodiments, the receiving module, when executing receiving the reference data, is configured to:

the signal generating module is configured to, when executing the generation of the corresponding state indication signal according to the reference data:

In some possible embodiments, after the signal generating module executes generating the corresponding status indication signal according to the received reference data, before the transmitting module executes the status indication signal to be transmitted to the robot through the robot controller, the signal generating module is further configured to:

In a third aspect, another embodiment of the present application also provides an electronic device, including at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the methods provided by the embodiments of the first aspect of the present application.

In a fourth aspect, another embodiment of the present application further provides a computer readable storage medium, where the computer readable storage medium stores a computer program for causing a computer to perform any one of the methods provided by the embodiments of the first aspect of the present application.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an application scenario diagram of a robot control method according to an embodiment of the present application;

fig. 2A is a schematic diagram of a robot system frame of a robot control method according to an embodiment of the present application;

Fig. 2B is a schematic diagram of a robot control system according to a robot control method according to an embodiment of the present application;

fig. 3 is an overall flowchart of a robot control method according to an embodiment of the present application in a remote control mode;

FIG. 4 is an overall flowchart of a manual operation control mode of a demonstrator of a robot control method according to an embodiment of the application;

fig. 5 is an overall flowchart of a robot control method according to an embodiment of the present application;

fig. 6 is a schematic diagram of a device of a robot control method according to an embodiment of the present application;

fig. 7 is a schematic diagram of an electronic device of a robot control method according to an embodiment of the present application.

Detailed Description

In order to enable a person skilled in the art to better understand the technical solutions of the present application, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

It should be noted that the terms "first," "second," and the like in the description and in the claims are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The inventor researches and discovers that a large number of substrate conveying robots are generally used in a production line by a liquid crystal panel production enterprise, and the robot equipment generally has the problem of high energy consumption, so that in recent years, each large enterprise increasingly pays attention to the energy conservation and consumption reduction of the substrate conveying robots. The existing energy-saving and consumption-reducing technology of the robot generally has the problem that the energy-saving and consumption-reducing effects are not obvious, in the related technology, only partial equipment or partial energy saving and consumption reduction in a working mode are considered, and only the robot can realize energy saving in a manual operation mode of a user, but cannot realize energy saving in a remote equipment control mode of the robot.

In view of the above, the present application proposes a robot control method, apparatus, electronic device, and storage medium for solving the above-mentioned problems. The inventive concept of the present application can be summarized as follows:

in a remote control mode, generating a corresponding state indication signal according to the operation process progress of the robot equipment; and controlling the robot to enter a dormant state or a working state according to the state which is indicated by the state indication signal and needs to enter by the robot.

For easy understanding, a robot control method according to an embodiment of the present application will be described in detail with reference to the accompanying drawings.

Fig. 1 is an application scenario diagram of a robot control method according to an embodiment of the present application. The drawings include: a remote control device 10, a robot controller 20, and a robot 30; wherein:

in the remote control mode, the remote control device 10 receives reference data; wherein the reference data is used for indicating the progress of a working process of a machine device of the robot, wherein the machine device comprises an upstream device and/or a downstream device; generating a corresponding state indication signal according to the reference data; the state indication signal is used for indicating a state of the robot to enter, and the state comprises a dormant state or a working state; the status indication signal is sent to the robot 30 through the robot controller 20 to cause the robot 30 to enter a state indicated by the status indication signal.

The description in the present application is detailed only with respect to a single remote control device or robot, but it should be understood by those skilled in the art that the illustrated remote control device 10, robot controller 20, robot 30 are intended to represent the operations of the remote control device, robot controller, and robot to which the aspects of the present disclosure relate. The single server and memory are described in detail for at least convenience of illustration and are not meant to imply limitations on the number, type, location, etc. of remote control devices, robot controllers, and robots. It should be noted that the underlying concepts of the exemplary embodiments of this application are not altered if additional modules are added to or individual modules are removed from the illustrated environment.

For easy understanding, a detailed description is first provided of a robot system corresponding to a robot control method provided by the embodiment of the present application, as shown in fig. 2A, which is a schematic frame diagram of the robot system provided by the embodiment of the present application, where: the robot system includes: remote control device, robot controller, servo driver, demonstrator and robot, the following describes the module of robot system respectively:

1. remote control device

The remote control equipment is connected with the robot controller and is connected with the production line control center. When the robot works in a remote equipment control mode, on one hand, the remote control equipment is used for sending a substrate conveying operation control signal and a state indication signal to the robot controller, wherein the state indication signal is used for indicating the state, the dormant state or the working state of the robot to be entered; on the other hand, the remote control equipment can upload the current operation process type and progress of the robot to the production line control center.

2. Robot controller

The robot controller is connected with the remote control device, the servo driver and the demonstrator. If the robot works in the remote equipment control mode, the robot controller is used for receiving the substrate conveying control signal sent by the remote control equipment and executing corresponding conveying action; and meanwhile, the state indication signal sent by the remote control equipment is also received, and the robot system is informed of entering the working state indicated by the state indication signal. And if the robot works in the manual operation control mode of the demonstrator, the robot controller is used for receiving an operation request control signal sent by a user through the demonstrator.

3. Servo driver

The servo driver is connected with the robot controller and the robot, is mainly used for receiving control signals sent by the robot controller and controlling the operation of a motor at the side of the robot according to the received control signals, and further drives the robot executing mechanism to act through the transmission mechanism, and can also feed back the action state of the robot for the robot controller to monitor. In addition, the servo driver can receive a state indication signal sent by the robot controller, and the robot is controlled to enter a dormant state or a working state by controlling the motor.

4. Robot

The robot is connected with the servo driver and is controlled by the servo driver.

5. Demonstrator

The demonstrator is connected with the robot controller, and when the robot works in a manual operation control mode of the demonstrator, the demonstrator is used for sending an operation control signal to the robot controller, so that the robot is controlled by the robot controller to execute the required action. The demonstrator is controlled by the robot controller to enter a dormant state or a working state.

As shown in fig. 2B, an internal module schematic diagram of the robot system according to the embodiment of the present application is:

1. remote control device

The robot control system mainly comprises a control module and a communication module, and is connected with a robot controller; and is connected with a production line control center. When the robot works in a remote equipment control mode, a control module of the remote control equipment sends a control signal through a communication module of the robot, the control signal is transmitted to the robot controller through a communication module 3 of the robot controller, and the control module controls the robot to execute related substrate conveying actions; in addition, the remote control device can also receive control signals actively sent by the robot controller and signals of the running state of the robot system through the communication module of the remote control device. When the robot works in a remote equipment control mode, the robot periodically generates a state indication signal based on the reference data transmitted by the production line control center and transmits the state indication signal to the robot controller, and the robot controller transmits the received state indication signal to related equipment of the robot system to enable the related equipment to enter a corresponding state.

2. Robot controller

The intelligent teaching device mainly comprises a control module, a communication module 1, a communication module 2 and a communication module 3, and is connected with a demonstrator, remote control equipment and a servo driver. The robot controller realizes bidirectional communication with the demonstrator through the communication module 1, receives an operation request control signal sent by the demonstrator on one hand, feeds back an acquired robot system running state signal to the demonstrator for display on the other hand, and can send a state indication signal to the demonstrator to control the demonstrator to enter a dormant or working state. The robot controller realizes bidirectional communication with the servo driver through the communication module 2, receives a robot running state signal fed back by the servo driver on one hand, and sends a motion control signal to the servo driver to control the robot to move, and can send a state indication signal to the servo driver to control the robot to enter a dormant or working state; the robot controller realizes two-way communication with the remote control equipment through the communication module 3, on one hand, the collected robot body running state signal is sent to the remote control equipment, on the other hand, the operation request control signal sent by the remote control equipment is received, the state indication signal sent by the remote control equipment is also received, and the received state indication signal is sent to related equipment in the robot system.

It should be understood that the number of communication modules in the robot control device may be set by a skilled person according to the requirement, that is, the number of communication modules in the robot control device is not limited in the present application.

3. Servo driver

The robot is mainly composed of a control module, a communication module 1 and a communication module 2, and is connected with a robot controller and a robot body. The servo driver realizes bidirectional communication with the robot controller through the communication module 1, receives a motion control signal sent by the robot controller on one hand, feeds back motion state information of the body to the robot controller on the other hand, and also receives a state indication signal sent by the robot controller to realize self-entering into a dormant or working state; the servo driver realizes bidirectional communication with the robot through the communication module 2, receives the running state information of the body fed back by the robot on one hand, and sends a motion control signal to a motor module arranged on the robot side on the other hand, so that the body side actuating mechanism module is driven to move. Meanwhile, after receiving a state indication signal sent by the robot controller, the servo driver can send the state indication signal to the robot so as to control the robot to enter a working state or a dormant state.

It should be understood that the number of communication modules in the servo driver can be set by a skilled person according to the requirement, i.e. the application is not limited to the number of communication modules in the servo driver.

4. Robot

The robot control system mainly comprises a motor module, a transmission mechanism module and an execution mechanism module, and is connected with a servo driver and a robot controller. The robot body receives the motion control signal sent by the servo driver, drives the transmission mechanism module through the motor module to drive the execution mechanism module to move, and feeds back the motion information of the robot body to the servo driver through the motor module. Meanwhile, the motor module at the robot body side can enable the lower power electricity of the motor to enter a dormant state or enable the upper power electricity of the motor to enter a working state after receiving a state indication signal sent by the servo driver.

5. Demonstrator

The robot controller mainly comprises a control module, a key module, a touch display screen module and a communication module, and is connected with the robot controller. When the robot works in the manual operation control mode of the demonstrator, the behavior of a user for operating the demonstrator keys and the touch screen is transmitted to the demonstrator control module through the demonstrator key module and the touch display screen module, the demonstrator control module converts the user operation behavior into a control signal and transmits the control signal to the robot controller communication module 1 through the demonstrator communication module, and the robot controller controls the robot to execute the action expected by the user operation after receiving the operation control signal transmitted by the demonstrator; in addition, the demonstrator can also receive a control signal actively sent by the robot controller and a feedback robot system running state signal through the communication module.

When the robot works in the manual operation control mode of the demonstrator, if the robot controller does not receive any demonstrator operation control signal within a period of time up to T1, the robot controller sends a sleep signal to inform the demonstrator, the servo driver, the robot and the remote control device of entering a sleep state; if the robot controller is currently in a dormant state, a wake-up signal is sent to inform the demonstrator, the servo driver, the robot and the remote control device to enter the working state immediately after any control signal of the demonstrator is received.

After the robot system is introduced, the manual mode and the remote control mode of the demonstrator are divided, and a detailed description is given below for a robot control method provided by the embodiment of the application:

1. in the remote control mode

As shown in fig. 3, an overall flowchart of a robot control method according to an embodiment of the present application is applied to a remote control device, where:

in step 301: receiving reference data;

in step 302: generating a corresponding state indication signal according to the reference data;

in step 303: and sending the state indication signal to the robot through the robot controller so as to enable the robot to enter the state indicated by the state indication signal.

In some embodiments, when the operation process progress of the machine equipment exceeds the preset progress, it is indicated that the operation of the machine equipment is about to be completed, so that the robot is required to enter a working state for preparation, and when the operation process progress of the machine equipment is smaller than the preset progress, it is indicated that the machine equipment also needs to operate for a long time, so that the robot is required to be controlled to enter a dormant state for energy saving; therefore, in the present application, when generating the corresponding status indication signal based on the reference data, the following four cases are classified:

case 1

The machine equipment comprises upstream equipment or downstream equipment, the operation process progress of the machine equipment indicated by the reference data is greater than or equal to a preset progress, and a state indication signal corresponding to the working state is generated;

for example: if the preset progress is 90%, and the current machine equipment comprises upstream equipment and the operation process progress of the upstream equipment is 95%, a state indication signal corresponding to the working state is generated.

Case 2

The machine equipment comprises upstream equipment or downstream equipment, the operation process progress of the machine equipment indicated by the reference data is smaller than the preset progress, and a state indication signal corresponding to the dormant state is generated;

for example: if the preset progress is 90%, and the current machine equipment comprises upstream equipment and the operation process progress of the upstream equipment is 45%, a state indication signal corresponding to the dormant state is generated.

Case 3

The machine equipment comprises upstream equipment and downstream equipment, the operation process progress of the upstream equipment or the downstream equipment indicated by the reference data is greater than or equal to a preset progress, and a state indication signal corresponding to the working state is generated;

for example: if the preset progress is 90%, and the current machine equipment comprises upstream equipment and downstream equipment and the operation process progress of any one of the upstream equipment or the downstream equipment is 95%, a state indication signal corresponding to the working state is generated.

Case 4

The machine equipment comprises upstream equipment and downstream equipment, the operation process progress of the upstream equipment and the downstream equipment indicated by the reference data is smaller than the preset progress, and a state indication signal corresponding to the dormant state is generated.

For example: and if the preset progress is 90%, and the current machine equipment comprises upstream equipment and downstream equipment, and the operation processes of the upstream equipment and the downstream equipment are smaller than 90%, generating a state indication signal corresponding to the dormant state.

In the present application, in order to further achieve energy saving of the entire robot system, therefore, the sleep state is classified into a deep sleep state and a shallow sleep state; the state indication signals corresponding to the deep sleep state are used for indicating the robot controller to enter the sleep state after being sent to the robot, and simultaneously sending the state indication signals to the servo driver, so that the servo driver can sleep at the same time; the state indication signal corresponding to shallow dormancy is only used for indicating the robot to carry out dormancy.

In a specific implementation, if the machine equipment includes an upstream equipment or a downstream equipment, the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than a preset progress, and when the state indication signal corresponding to the sleep state is generated, the method may be implemented as follows:

if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating a robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to the deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating a robot controller to send the state indication signal corresponding to the deep sleep state to the robot. For example: the preset progress is 90%, and the preset time length is 0.5 hour; if the reference data indicate that the operation process progress of the upstream equipment and the downstream equipment of the robot is 52% and the operation time length is 0.2 hour, determining a state indication signal corresponding to the shallow sleep state to be generated; if the reference data indicates that the working process progress of the upstream equipment and the downstream equipment of the robot is 45% and the working time length is 5 hours, it can be determined that the state indication signal corresponding to the deep sleep state needs to be generated.

In another embodiment, if the machine device includes an upstream device and a downstream device, the job process progress of the upstream device and the downstream device indicated by the reference data is smaller than the preset progress, and the generating the status indication signal corresponding to the sleep status may be implemented in the following six cases:

case 1

The method comprises the steps that the reference data indicate that the operation process progress of upstream equipment of a robot is smaller than a preset progress, the operation duration of the upstream equipment is smaller than a preset duration, a state indication signal corresponding to a shallow sleep state is generated, and the state indication signal corresponding to the shallow sleep state is used for indicating a robot controller to send the state indication signal corresponding to the shallow sleep state to the robot;

for example: the preset progress is 90%, and the preset time length is 0.5 hour; and if the operation duration of the upstream equipment is 0.1 hour and the operation progress is 84%, generating a state indication signal corresponding to the shallow sleep state.

Case 2

The method comprises the steps that reference data indicate that the operation process progress of downstream equipment of a robot is smaller than a preset progress, the operation duration of the downstream equipment is smaller than a preset duration, state indication signals corresponding to shallow sleep states are generated, and the state indication signals corresponding to the shallow sleep states are used for indicating a robot controller to send the state indication signals corresponding to the shallow sleep states to the robot, and then the robot controller enters the sleep states;

For example: the preset progress is 90%, and the preset time length is 0.5 hour; and if the operation duration of the downstream equipment is 0.1 hour and the operation progress is 84%, generating a state indication signal corresponding to the shallow sleep state.

Case 3

The method comprises the steps that reference data indicate that the operation process progress of upstream equipment and downstream equipment of a robot is smaller than a preset progress, the operation time length of the upstream equipment and the downstream equipment is smaller than a preset time length, state indication signals corresponding to shallow sleep states are generated, and the state indication signals corresponding to the shallow sleep states are used for indicating a robot controller to send the state indication signals corresponding to the shallow sleep states to the robot, and then the robot controller enters a sleep state;

for example: the preset progress is 90%, and the preset time length is 0.5 hour; and when the operation time of the upstream equipment and the downstream equipment is 0.2 hour and the operation process progress of the upstream equipment and the downstream equipment is 84%, generating a state indication signal corresponding to the shallow sleep state.

Case 4

The method comprises the steps that the operation process progress of upstream equipment of a robot is indicated to be smaller than a preset progress by reference data, the operation time length of the upstream equipment is longer than or equal to a preset time length, a state indication signal corresponding to a deep sleep state is generated, and the state indication signal corresponding to the deep sleep state is used for indicating a robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then the robot controller enters a sleep state;

For example: the preset progress is 90%, and the preset time length is 0.5 hour; and if the operation duration of the upstream equipment is 2 hours and the operation process progress of the upstream equipment is 84%, generating a state indication signal corresponding to the deep sleep state.

Case 5

The method comprises the steps that the operation process progress of downstream equipment of a robot is indicated to be smaller than a preset progress by reference data, the operation time length of the downstream equipment is longer than or equal to a preset time length, a state indication signal corresponding to a deep sleep state is generated, and the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then the robot controller enters the sleep state;

for example: the preset progress is 90%, and the preset time length is 0.5 hour; and if the operation duration of the downstream equipment is 2 hours and the operation process progress of the downstream equipment is 84%, generating a state indication signal corresponding to the deep sleep state.

Case 6

The method comprises the steps that reference data indicate that the operation process progress of upstream equipment and downstream equipment of a robot is smaller than the preset progress, the operation time length of the upstream equipment and the downstream equipment is longer than or equal to the preset time length, state indication signals corresponding to deep sleep states are generated, and the state indication signals corresponding to the deep sleep states are used for indicating a robot controller to send the state indication signals corresponding to the deep sleep states to the robot, and then the robot controller enters the sleep states.

For example: the preset progress is 90%, and the preset time length is 0.5 hour; and if the operation duration of the upstream equipment and the downstream equipment is 2 hours and the operation process progress of the upstream equipment and the downstream equipment is 84%, generating a state indication signal corresponding to the deep sleep state.

In order to improve the communication efficiency between the robot system and the machine equipment, the application adopts a communication mode of broadcasting messages to receive the reference data and the operation time length of the machine equipment, which are periodically broadcasted by the production line control center.

In the present application, the remote control device may generate the corresponding status indication signal according to the received reference data every time the reference data is received, and since there may be a case where the status indication signals generated twice are the same, in the implementation, it may be determined that the status indication signal generated this time is different from the status indicated by the status indication signal generated last time after the corresponding status indication signal is generated and before the status indication signal is transmitted to the robot through the robot controller. If it is determined that the two generated status indication signals are the same, the generated status indication signal may be ignored. And further avoid the waste of resources caused by the fact that the robot controller recognizes the state indication signal again.

The robot control method provided by the embodiment of the application solves the problem that when the robot is in the remote equipment control mode, the robot system keeps the standby working state continuously due to the long time consumption of the operation of the equipment, and realizes the energy saving and consumption reduction of the whole robot system.

2. Manual operation control mode of demonstrator

The overall flowchart when the robot control method is applied to the demonstrator is as shown in fig. 4, wherein:

in step 401: determining waiting time for waiting before the robot enters a dormant state;

in step 402: determining whether user operation is received within the waiting time;

in step 403: determining the state of the current robot;

in step 404: and determining the type of the generated state indication signal according to the user operation received in the waiting time and the current state of the robot.

In some embodiments, the waiting time length is set according to time consumption of normal complete all teaching operations, and can also be set by a user according to own requirements; when the user does not operate the demonstrator, the demonstrator will not send an operation request control signal to the robot controller, and if the robot controller does not receive any operation request control signal of the demonstrator within the time period T1, the robot controller sends a dormancy signal to inform the robot system to enter a dormancy state; when a user starts to operate the demonstrator, the demonstrator sends an operation request control signal to the robot controller, and if the current robot system is in a dormant state, the robot controller sends a wake-up signal to inform the robot system of entering a working state after receiving the operation request control signal of the demonstrator.

In order to facilitate understanding, a detailed description of a robot control method according to an embodiment of the present application is provided below with reference to two methods, as shown in fig. 5:

in step 501: determining a working mode of the robot, if the robot is in a manual operation control mode of the demonstrator, entering a step 502, otherwise, entering a step 503:

in step 502: determining waiting time length for entering a sleep state, and resetting a waiting time counter; the waiting time counter is used for timing the waiting time for entering the sleep state;

in step 503: receiving process progress and working time reference data of machine equipment;

in step 504: determining whether the user operates the demonstrator, if so, entering step 505, otherwise, entering step 506;

in step 505: determining whether the robot system is in a dormant state, if so, entering step 507, otherwise, entering step 510;

in step 506: the latency counter is incremented, it is determined whether the value of the latency accumulator is less than the sleep latency period, if so, step 510 is entered, otherwise step 511 is entered;

in step 507: waking up the robot to enable the robot to enter a working state;

In step 508: generating a corresponding state indication signal according to the reference data and the working time length;

in step 509: transmitting a state indication signal to the robot system to enable the robot system to enter a state indicated by the state indication signal;

in step 510: maintaining the working state and continuing to work;

in step 511: the robot is put into a sleep state.

As shown in fig. 6, based on the same inventive concept, a robot control device 600 is proposed, comprising:

a receiving module 6001 configured to receive reference data in a remote control mode; wherein the reference data is used for indicating the progress of a working process of a machine device of the robot, wherein the machine device comprises an upstream device and/or a downstream device;

a signal generating module 6002, configured to generate a corresponding status indication signal according to the reference data; the state indication signal is used for indicating a state of the robot to enter, and the state comprises a dormant state or a working state;

a transmitting module 6003, configured to transmit the status indication signal to the robot through the robot controller, so that the robot enters a state indicated by the status indication signal.

In some possible embodiments, the signal generating module 6002, when executing the generating of the corresponding status indication signal from the reference data, is configured to:

If the machine equipment comprises upstream equipment or downstream equipment and the operation process progress of the machine equipment indicated by the reference data is smaller than a preset progress, generating a state indication signal corresponding to a dormant state; or (b)

If the machine equipment comprises upstream equipment and downstream equipment, and the operation process progress of the upstream equipment or the downstream equipment indicated by the reference data is greater than or equal to a preset progress, generating a state indication signal corresponding to a working state; or (b)

the signal generating module 6002 is configured to, when the machine device includes an upstream device or a downstream device and the operation process progress of the machine device indicated by the reference data is smaller than a preset progress, generate a status indication signal corresponding to a sleep status, when the status indication signal is configured to:

If the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or (b)

the signal generating module 6002 is configured to, when the machine device includes an upstream device and a downstream device, and the job process progress of the upstream device and the downstream device indicated by the reference data is smaller than a preset progress, generate a status indication signal corresponding to a sleep status, when the status indication signal is configured to:

If the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering a sleep state; or (b)

If the reference data indicates that the operation process progress of downstream equipment of the robot is smaller than the preset progress and the operation time length of the downstream equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering a sleep state; or (b)

If the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering the sleep state; or (b)

If the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation time length of the downstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering the sleep state.

the signal generating module 6002, when executing the generation of the corresponding status indication signal according to the reference data, is configured to:

In some possible embodiments, after the signal generating module 6002 executes to generate the corresponding status indication signal according to the received reference data, before the sending module 6003 executes to send the status indication signal to the robot through the robot controller, the signal generating module is further configured to:

Having described the robot control method and apparatus according to an exemplary embodiment of the present application, next, an electronic device according to another exemplary embodiment of the present application is described.

Those skilled in the art will appreciate that the various aspects of the application may be implemented as a system, method, or program product. Accordingly, aspects of the application may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system.

In some possible embodiments, an electronic device according to the application may comprise at least one processor and at least one memory. Wherein the memory stores program code which, when executed by the processor, causes the processor to perform the steps in the robot control method according to the various exemplary embodiments of the present application described above in this specification.

An electronic device 130 according to this embodiment of the application is described below with reference to fig. 7. The electronic device 130 shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the application.

As shown in fig. 7, the electronic device 130 is in the form of a general-purpose electronic device. Components of electronic device 130 may include, but are not limited to: the at least one processor 131, the at least one memory 132, and a bus 133 connecting the various system components, including the memory 132 and the processor 131.

Bus 133 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a processor, and a local bus using any of a variety of bus architectures.

Memory 132 may include readable media in the form of volatile memory such as Random Access Memory (RAM) 1321 and/or cache memory 1322, and may further include Read Only Memory (ROM) 1323.

Memory 132 may also include a program/utility 1325 having a set (at least one) of program modules 1324, such program modules 1324 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment.

The electronic device 130 may also communicate with one or more external devices 134 (e.g., keyboard, pointing device, etc.), one or more devices that enable a user to interact with the electronic device 130, and/or any device (e.g., router, modem, etc.) that enables the electronic device 130 to communicate with one or more other electronic devices. Such communication may occur through an input/output (I/O) interface 135. Also, electronic device 130 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 136. As shown, network adapter 136 communicates with other modules for electronic device 130 over bus 133. It should be appreciated that although not shown in fig. 7, other hardware and/or software modules may be used in connection with electronic device 130, including, but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.

In some possible embodiments, aspects of a robot control method provided by the present application may also be implemented in the form of a program product comprising program code for causing a computer device to carry out the steps of a robot control method according to the various exemplary embodiments of the application as described herein above, when the program product is run on a computer device.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The program product for robotic control of embodiments of the application may employ a portable compact disc read only memory (CD-ROM) and comprise program code and may run on an electronic device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the consumer electronic device, partly on the consumer electronic device, as a stand-alone software package, partly on the consumer electronic device, partly on the remote electronic device, or entirely on the remote electronic device or server. In the case of remote electronic devices, the remote electronic device may be connected to the consumer electronic device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external electronic device (e.g., connected through the internet using an internet service provider).

It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. Indeed, the features and functions of two or more of the elements described above may be embodied in one element in accordance with embodiments of the present application. Conversely, the features and functions of one unit described above may be further divided into a plurality of units to be embodied.

Furthermore, although the operations of the methods of the present application are depicted in the drawings in a particular order, this is not required to either imply that the operations must be performed in that particular order or that all of the illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A robot control method, characterized by being applied to a remote control device, the method comprising:

generating a corresponding state indication signal according to the reference data; the state indication signal is used for indicating a state of the robot to enter, and the state comprises a dormant state or a working state; wherein the generating a corresponding status indication signal according to the reference data includes: if the machine equipment comprises upstream equipment or downstream equipment and the operation process progress of the machine equipment indicated by the reference data is smaller than a preset progress, generating a state indication signal corresponding to a dormant state; or if the machine equipment comprises upstream equipment and downstream equipment, and the operation process progress of the upstream equipment and the downstream equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to the sleep state; wherein the sleep state includes: a deep sleep state or a shallow sleep state; if the machine equipment comprises upstream equipment or downstream equipment and the operation process progress of the machine equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to a sleep state, wherein the state indication signal comprises: if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot; or if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering a sleep state; if the machine equipment includes an upstream equipment and a downstream equipment, and the working process progress of the upstream equipment and the downstream equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to a sleep state, including: if the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot; or if the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering a sleep state; or if the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation duration of the downstream equipment is smaller than the preset duration, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or if the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation time length of the downstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering a sleep state;

2. The method of claim 1, wherein the duration of operation of the machine device is determined by:

3. The method according to any one of claims 1-2, wherein the receiving the reference data comprises:

4. A method according to claim 3, wherein after generating the corresponding status indication signal from the received reference data, the method further comprises, before sending the status indication signal to the robot via the robot controller:

5. A robot control apparatus for use in a remote control device, the apparatus comprising:

the signal generation module is used for generating a corresponding state indication signal according to the reference data; the state indication signal is used for indicating a state of the robot to enter, and the state comprises a dormant state or a working state; wherein the signal generating module is configured to, when executing generating a corresponding status indication signal according to the reference data: if the machine equipment comprises upstream equipment or downstream equipment and the operation process progress of the machine equipment indicated by the reference data is smaller than a preset progress, generating a state indication signal corresponding to a dormant state; or if the machine equipment comprises upstream equipment and downstream equipment, and the operation process progress of the upstream equipment and the downstream equipment indicated by the reference data is smaller than the preset progress, generating a state indication signal corresponding to the sleep state; wherein the sleep state includes: a deep sleep state or a shallow sleep state; the signal generating module is configured to, when the machine device includes an upstream device or a downstream device and the operation process progress of the machine device indicated by the reference data is smaller than the preset progress, generate a state indication signal corresponding to a sleep state, if the state indication signal is configured to: if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering a sleep state; or if the reference data indicates that the operation process progress of the machine equipment of the robot is smaller than the preset progress and the operation time length of the machine equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot; the signal generation module is configured to, when the machine device includes an upstream device and a downstream device, and the job process progress of the upstream device and the downstream device indicated by the reference data is smaller than the preset progress, generate a status indication signal corresponding to a sleep status, if the status indication signal is configured to: if the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is smaller than the preset time length, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or if the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation duration of the downstream equipment is smaller than the preset duration, generating a state indication signal corresponding to a shallow sleep state, wherein the state indication signal corresponding to the shallow sleep state is used for indicating the robot controller to send the state indication signal corresponding to the shallow sleep state to the robot, and then entering the sleep state; or if the reference data indicates that the operation process progress of the upstream equipment of the robot is smaller than the preset progress and the operation time length of the upstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering a sleep state; or if the reference data indicates that the operation process progress of the downstream equipment of the robot is smaller than the preset progress and the operation time length of the downstream equipment is longer than or equal to the preset time length, generating a state indication signal corresponding to a deep sleep state, wherein the state indication signal corresponding to the deep sleep state is used for indicating the robot controller to send the state indication signal corresponding to the deep sleep state to the robot, and then entering a sleep state;

6. The apparatus of claim 5, wherein the length of operation of the machine device is determined by:

7. The apparatus according to any one of claims 5-6, wherein the receiving module, when executing receiving the reference data, is configured to:

8. The apparatus of claim 7, wherein the signal generation module is further configured to, after the signal generation module performs generating the corresponding status indication signal based on the received reference data, before the transmission module performs the status indication signal to the robot via the robot controller:

9. An electronic device comprising at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-4.

10. A computer storage medium, characterized in that the computer storage medium stores a computer program for causing a computer to perform the method of any one of claims 1-4.