CN114670206A - Robot control method, device, cooperative robot and storage medium - Google Patents
Robot control method, device, cooperative robot and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a robot control method, a device, a cooperative robot and a storage medium, and relates to the technical field of automation, wherein the method is applied to the cooperative robot and comprises the following steps: and when the operation of the cooperative robot is abnormal, resetting the state, responding to the state resetting, obtaining a running track and a running state from the current path point to the original point based on the current path point of the cooperative robot and the prestored path points passing through the cooperative robot in the process of running from the original point to the current path point, and returning to the original point according to the running track and the running state, thereby realizing the reliable processing of the operation abnormity.
Description
Technical Field
The invention relates to the technical field of automation, in particular to a robot control method, a robot control device, a cooperative robot and a storage medium.
Background
With the development of automation technology, cooperative robots used in cooperation with other external devices have been widely used in a large number, and higher requirements are also placed on the aspects of performance, convenience, safety, and the like of the cooperative robots. For example, in some scenarios, it is necessary to enable the cooperative robot to return to a set position such as a starting point (origin) in case of an abnormal operation of the cooperative robot, such as a stop (including but not limited to a manual stop, an emergency stop, a collision stop, a power outage restart, etc.).
In the prior art, no clear requirement is made on a specific path for returning to a starting point, and when an abnormality occurs, the cooperative robot cannot safely return to the starting point, so that the friendliness and convenience of user use are greatly reduced, and the popularization of the cooperative robot is influenced. Therefore, how to realize reliable processing of the operation abnormity of the cooperative robot is a technical problem needing to be researched.
Disclosure of Invention
One of the objects of the present invention includes, for example, providing a robot control method, apparatus, cooperative robot, and storage medium to at least partially achieve reliable handling of a cooperative robot operation abnormality.
Embodiments of the invention may be implemented as follows:
in a first aspect, an embodiment of the present invention provides a robot control method, which is applied to a cooperative robot, and the method includes:
monitoring whether the operation of the cooperative robot is abnormal or not;
performing state reset when the operation of the cooperative robot is abnormal;
responding to the state reset, and obtaining a running track and a running state from the current path point to the origin point based on the current path point of the cooperative robot and prestored path points which are passed by the cooperative robot in the process of running from the origin point to the current path point;
and returning to the origin according to the running track and the running state.
In an optional embodiment, a Record Motion interface is disposed on the cooperative robot, and the method further includes a step of recording each path point location, where the step includes:
and calling the Record Motion interface according to a set rule after the cooperative robot executes each Motion instruction from the origin, and recording the current path point position.
In an alternative embodiment, the setting rule includes at least one of:
after the cooperative robot executes each Motion instruction, calling the Record Motion interface and recording the current path point position;
after the cooperative robot executes each Motion instruction, calling the Record Motion interface according to a preset interval, and recording the current path point position; the preset interval comprises at least one of a time interval and a distance interval;
and after the cooperative robot executes each Motion instruction, judging whether the current path point position is located in a set position recording interval, if so, calling the Record Motion interface to Record the current path point position.
In an optional embodiment, the path point location includes coordinate system information, a running state, and a path point location obtaining time of the cooperative robot;
the step of obtaining the running track and running state from the current path point back to the origin point includes:
obtaining a running track returning from the current path point location to the original point based on the coordinate system information of the current path point location of the cooperative robot, and the recorded coordinate system information of each path point location and the sequence of the acquisition time;
obtaining the running state of the corresponding path point position in the running track returning to the original point based on the running state of each path point position; wherein the running state comprises running speed, direction and acceleration.
In an optional embodiment, the path point location includes coordinate system information and an operation state of the cooperative robot;
the step of obtaining the running track and running state from the current path point back to the origin point includes:
based on coordinate system information, starting from an origin, recording a path point location every time, and connecting a newly recorded path point location with a previous path point location, wherein a first recorded path point location is connected with the origin, a second recorded path point location is connected with the first path point location, a Nth recorded path point location is connected with an N-1 th path point location, and N is more than or equal to 2;
connecting the current path point position with which the cooperative robot is abnormal with the Nth path point position to obtain a running track returning from the current path point position to the origin;
obtaining the running state of the corresponding path point in the running track returning to the original point based on the running state of each path point; wherein the running state comprises running speed, direction and acceleration.
In an optional embodiment, a Clear back to phone interface is further provided on the cooperative robot, and the method further includes:
under the condition of meeting the set conditions, calling the Clear back to phone interface, and deleting each pre-stored path point location;
the setting condition includes at least one of:
the collaborative robot has returned to an origin;
the cooperative robot has completed the work of the current cycle;
and receiving an active calling instruction.
In an optional embodiment, the step of performing a state reset includes:
executing power-off operation;
responding to a power-on command, outputting a triggering command to an upper computer which is in communication connection with the cooperative robot, wherein the triggering command represents that the cooperative robot is started and ready to receive data, so that the upper computer returns a rewinding command in response to the triggering command;
the responding to the state reset comprises: in response to the rewind instruction.
In a second aspect, an embodiment of the present invention provides a robot control apparatus, which is applied to a cooperative robot, and includes:
the state detection module is used for monitoring whether the operation of the cooperative robot is abnormal or not;
the abnormality processing module is used for resetting the state when the operation of the cooperative robot is abnormal; responding to the state reset, and obtaining a running track and a running state from the current path point to the origin point based on the current path point of the cooperative robot and prestored path points which are passed by the cooperative robot in the process of running from the origin point to the current path point; and returning to the origin according to the running track and the running state.
In a third aspect, an embodiment of the present invention provides a cooperative robot, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the robot control method of any of the preceding embodiments when executing the program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a computer program, and the computer program controls, when running, a cooperative robot in which the computer-readable storage medium is located to execute the robot control method according to any one of the foregoing embodiments.
The beneficial effects of the embodiment of the invention include, for example: by pre-storing each path point passing through the cooperative robot in the process of running from the original point to the abnormal current path point, under the condition that the operation of the cooperative robot is abnormal, the running track and the running state of the cooperative robot returning to the original point from the current path point are obtained based on the analysis of the pre-stored path points, so that the cooperative robot can return to the original point according to the original path.
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 illustrates an exemplary scene schematic diagram of a cooperative robot according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating an application scenario provided by an embodiment of the present invention.
Fig. 3 is a schematic flow chart illustrating a robot control method according to an embodiment of the present invention.
Fig. 4 shows an exemplary structural block diagram of a robot control device according to an embodiment of the present invention.
Icon: 100-a cooperative robot; 110-a memory; 120-a processor; 130-a communication module; 140-robot control means; 141-state detection module; 142-exception handling module.
Detailed Description
Nowadays, if an abnormality occurs in the cooperative robot during operation, the cooperative robot often needs to return to a starting point first after restarting, and a specific path for returning to the starting point is not determined at present, so that collision and the like may occur in the process of returning to the starting point in some scenes, and reliability is affected.
In order to improve the running reliability of the cooperative robot, it may be considered to set a public safety point, and when an abnormality occurs during the movement of the cooperative robot, such as an accident, after the cooperative robot is restarted, the cooperative robot first moves to the public safety point and then returns to the starting point position from the public safety point.
Referring to fig. 1, for example, when the processing host and the robot arm cooperate to form a cooperative robot, when the relative spatial area where the robot arm and the processing host are located is large, such as the area a in fig. 1, since the area a has sufficient space for setting the public safety point, the robot arm may move to the public safety point first and then return to the starting point.
However, when the relative spatial area where the robot arm and the processing host are located is small, such as the area B in fig. 1, the public safety point is difficult to determine because the space is too narrow, and the robot arm cannot move to the public safety point first and then return to the starting point. In a similar scene, a specific path for the mechanical arm to return to the starting point is indefinite, due to a small relative spatial area, in the process of returning to the starting point by the mechanical arm, abnormalities such as collision and the like may occur, the path planning time may be long due to the indefinite return path, the time for the mechanical arm to return to the starting point is long, and normal operation can be performed again after a long time.
In a scene that the processing host and the mechanical arm work cooperatively to form the cooperative robot, there may be obstacles, object placement points, and the like, please refer to fig. 1, which is not described in this embodiment.
Based on the above research, the embodiments of the present invention provide a robot control scheme, in which an initial position (starting point) is used as an origin of a cooperative robot, and each path point is recorded during the operation of the cooperative robot. When the cooperative robot is in an abnormal state such as collision and sudden stop, the path point locations are recorded and the origin point returning program is configured, so that after the state of the cooperative robot is reset, the cooperative robot can safely return to the origin point by executing each path point location in the origin point returning program in a reverse order without collision. Therefore, the problem that the relative space is too narrow and cannot be safely returned to the original point is solved, and the reliability of exception handling is ensured.
The defects existing in the above solutions are the results obtained after the inventor has practiced and studied carefully, so the discovery process of the above problems and the solutions proposed by the embodiments of the present invention below to the above problems should be the contributions of the inventor in the invention process.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
Referring to fig. 2, which is a block schematic diagram of a cooperative robot 100 provided in this embodiment, the cooperative robot 100 in this embodiment may include a server, a processing device, a processing platform, and the like, which are capable of performing data interaction and processing, and may further include a component capable of performing work, such as a robot arm. The collaborative robot 100 includes a memory 110, a processor 120, and a communication module 130. The memory 110, the processor 120 and the communication module 130 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 110 is used to store programs or data. The Memory 110 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor 120 is used to read/write data or programs stored in the memory 110 and perform corresponding functions.
The communication module 130 is configured to establish a communication connection between the cooperative robot 100 and another communication terminal through the network, and to transmit and receive data through the network.
It should be understood that the configuration shown in fig. 2 is merely a schematic diagram of the cooperative robot 100, and the cooperative robot 100 may include more or less components than shown in fig. 2, or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof. For example, the collaborative robot 100 may also include a robot arm having one or more joints, which is controlled directly by the processor 120 or by the processor 120 issuing instructions through the communication module 130.
Referring to fig. 3, a flowchart of a robot control method according to an embodiment of the present invention may be executed by the cooperative robot 100 shown in fig. 2, for example, may be executed by the processor 120 in the cooperative robot 100. The robot control method includes S110, S120, and S130.
And S110, monitoring whether the operation of the cooperative robot is abnormal or not.
And S120, resetting the state when the cooperative robot runs abnormally.
And S130, responding to the state reset, and obtaining a running track and a running state from the current path point to the origin point based on the current path point of the cooperative robot and each pre-stored path point passing through the cooperative robot in the process of running from the origin point to the current path point.
And S140, returning to the origin according to the running track and the running state.
By pre-storing each path point location through which the cooperative robot passes, the running track and running state of the cooperative robot returning to the original point can be analyzed and obtained based on the pre-stored path point locations, so that the cooperative robot can return to the original point according to the original path, collision is avoided in the returning process, and reliability is improved.
In S110, the operation abnormality of the cooperative robot may be flexibly set, for example, in the case where the cooperative robot includes a robot arm, the robot arm may be manually stopped, suddenly stopped, stopped in collision, deviated from a predetermined operation direction, and operated at a speed outside a set interval.
The mode of monitoring whether the operation of the cooperative robot is abnormal or not can be flexibly selected, for example, the operation of the cooperative robot can be monitored in real time or at set intervals through a collecting device such as a sensor integrated with the cooperative robot, and whether the operation of the cooperative robot is abnormal or not is determined based on monitoring data.
For another example, the operation of the cooperative robot may be monitored in real time or at set intervals by a collecting device such as a camera or the like independent of the cooperative robot, and whether the operation of the cooperative robot is abnormal or not may be determined based on the monitoring image or the video.
For another example, the operation of the cooperative robot may be monitored by a collecting device, such as a sensor, integrated with the cooperative robot and a collecting device, such as a camera, independent of the cooperative robot, and the monitoring data, the monitoring image and the video may be combined to determine whether the operation of the cooperative robot is abnormal.
In S120, the process of resetting the state can be flexibly set. For example, in the case where an abnormality occurs in the operation, a power-off operation may be performed to avoid enlargement of the influence of the abnormality. In the case of receiving a power-up command, a trigger command may be output to an upper computer communicatively connected to the cooperative robot in response to the power-up command, where the trigger command indicates that the cooperative robot has started and is ready to receive data, so that the upper computer returns a rewind command in response to the trigger command.
For another example, when the operation is abnormal, the power-off operation can be immediately executed, and after a set condition is met, such as a preset time length is reached and an operation instruction is received, the power-on operation is automatically executed again, and a rewind instruction is automatically called.
Accordingly, the resetting in S130 in response to the state may include: in response to the rewind instruction.
In S130, the pre-stored path points may have a plurality of obtaining manners, for example, the path points passed by the cooperative robot may be determined and stored according to monitoring data obtained by a collecting device integrated with the cooperative robot, such as a sensor.
For another example, each path point where the cooperative robot passes may be determined and stored by a monitoring image or video obtained by monitoring by an acquisition device such as a camera or the like independent from the cooperative robot.
For another example, a Record Motion interface may be provided on the cooperative robot, and accordingly, each path point may be recorded in the following manner: and calling the Record Motion interface according to a set rule after the cooperative robot executes each Motion instruction from the origin, and recording the current path point position.
The setting rule can be flexibly set, and exemplarily, the setting rule can include at least one of the following:
in a first mode, after the cooperative robot executes each Motion instruction, the Record Motion interface is called, and the current path point position is recorded.
By recording the path point location after each motion instruction is executed, the comprehensiveness of the path point location record can be ensured, and the accuracy of path restoration in the subsequent process of returning to the original point is further ensured.
In a second mode, after the cooperative robot executes each Motion instruction, calling the Record Motion interface according to a preset interval, and recording the current path point position; wherein the preset interval comprises at least one of a time interval and a distance interval.
And path point positions are recorded according to preset intervals, so that the regularity of the path point position recording can be ensured, and the convenience of path restoration in the subsequent process of returning to the original point is further ensured.
And in a third mode, after the cooperative robot executes each Motion instruction, judging whether the current path point location is located in a set position recording interval, if so, calling the Record Motion interface to Record the current path point location.
The position recording interval can be preset and designated by a user, and can also be set after the processing equipment analyzes and plans the big data for different scenes. Only the path point positions in the position recording interval are recorded, so that the reasonability of the position recording interval is ensured, and the storage occupation is reduced.
In this embodiment, the path point may include a variety of information. For example, the path point location may include coordinate system information, an operating state, and a path point location acquisition time of the collaborative robot. For another example, the path point location may include coordinate system information and an operating state of the collaborative robot.
Wherein, in the case that the cooperative robot includes a robot arm, the coordinate system information may include position coordinates of each joint point of the robot arm; pose coordinates of the mechanical arm; the position coordinates of the expansion axis; coordinates of the workpiece, tool; offset, etc. The operating state may include operating speed, direction, acceleration, and the like.
In the case where the robot arm of the cooperative robot includes a plurality of joint points, the operation state included in a certain path point position may be an operation state of one or more joint points. Namely: the motion instructions executed by the cooperative robot may be to control the operation of one or more joints.
Based on the difference of the information included in the path point location, the manner of obtaining the running trajectory and running state from the current path point location back to the origin point based on each path point location in S130 may be flexibly selected. For example, when the path point location includes coordinate system information, a running state, and path point location obtaining time of the cooperative robot, a running trajectory returning from the current path point location to the origin may be obtained based on the coordinate system information of the current path point location of the cooperative robot, and the recorded sequence of the coordinate system information and the obtaining time of each path point location. And obtaining the running state of the corresponding path point position in the running track returning to the original point based on the running state of each path point position.
For another example, in the case that the path point location includes coordinate system information and an operation state of the cooperative robot, a newly recorded path point location may be connected to the previous path point location every time one path point location is recorded from the origin based on the coordinate system information, where a first recorded path point location is connected to the origin, a second recorded path point location is connected to the first recorded path point location, an nth recorded path point location is connected to the N-1 th path point location, and N is greater than or equal to 2. And connecting the current path point position with which the cooperative robot is abnormal with the Nth path point position to obtain a running track returning from the current path point position to the origin. And obtaining the running state of the corresponding path point in the running track returning to the origin point based on the running state of each path point.
The mode of obtaining the running state of the corresponding path point location in the running track returning to the origin point based on the running state of each path point location can be flexibly set. For example, during the process of directly running the cooperative robot from the origin to the current path point location where the abnormality occurs, the running state "mirror image" of each path point location may be the running state of each path point location in the running track returning from the current path point location where the abnormality occurs to the origin. For example, if the running state of the cooperative robot at the route point location a during the process from the origin to the current route point location where the abnormality occurs is the speed a, the direction a, and the acceleration a, then the speed a, the acceleration a, and the direction opposite to the direction a are taken as the running state of the cooperative robot at the route point location a during the process from the current route point location where the abnormality occurs back to the origin. Therefore, the consistency of the running states of the cooperative robots at the same path point position in the reciprocating process is ensured.
For example, the data related to the speed in the running state of each route point during the travel of the cooperative robot from the origin to the current route point where the abnormality occurs may be multiplied by a set coefficient to be used as the running state of each route point in the travel locus returning from the current route point where the abnormality occurs to the origin.
Wherein the set coefficient may be greater than 0 and less than 1. By setting the setting coefficient to be larger than 0 and smaller than 1, the cooperative robot can return to the original point at a lower speed in the process of returning than in the process of going, and the running reliability is ensured.
The setting coefficient may be larger than 1. By setting the setting coefficient to be larger than 1, the cooperative robot can return to the original point at a higher speed in the process of returning than in the process of going, and the running efficiency is ensured.
The above-mentioned acquisition of the operation trajectory and the operation state is only an example, and may be other in the implementation process. For example, each path point may include an operation instruction corresponding to the path point, and accordingly, in the process of returning to the origin, the operation instruction returned by each path point may be obtained based on the previous operation instruction of each path point (the operation instruction returned by executing the operation instruction at the path point may return to the previous path point). This embodiment does not exemplify this.
In order to reduce the hard disk occupancy rate, each pre-stored path point can be deleted under the condition that the set condition is met. For example, a Clear back to phone interface may be provided on the cooperative robot, and in a case that a set condition is met, the Clear back to phone interface may be called to delete each pre-stored path point.
The setting conditions may be flexibly set, and may include, for example, that the cooperative robot has returned to the origin, that the cooperative robot has completed the job of the current cycle, that the user performs the deletion operation, and the like. Under the conditions that the collaborative robot returns to the original point, the operation of the current period is finished, the user deletes the path point positions recorded in the current operation process, the occupation of the hard disk storage can be released in time, the storage utilization rate of the hard disk is improved, meanwhile, the influence on the next operation can be avoided, the collaborative robot returns according to the original path by using a smaller hard disk occupation, a smaller data volume and a more convenient processing mode, the collision is avoided in the returning process, and the reliability, convenience and efficiency of the abnormal operation processing are improved.
In order to more clearly illustrate the implementation process of the present invention, the following scenario is illustrated as an example.
Under the condition that the cooperative robot is provided with a Record Motion interface and a Clear back to photo interface, an initial point location of the cooperative robot is used as an origin, and in the process that the cooperative robot starts to move normally from the origin, the call of the Record Motion interface is added after each Motion command PTP/LIN for recording the path points of the path points which are already moved currently, wherein each path point location is recorded in a set return origin point file such as a back top home.
And monitoring the running condition of the cooperative robot, immediately powering off the cooperative robot when the cooperative robot is abnormal in manual stop, emergency stop, collision stop and the like, automatically outputting a DO signal to the upper computer after being electrified again, and informing the upper computer that the cooperative robot is started and ready to receive data at present.
And the upper computer responds to the DO signal and sends a DI signal to the cooperative robot, and the DI signal represents that a 'rewinding' instruction is issued to the cooperative robot.
And after receiving the DI signal, the cooperative robot obtains a running track returning to the original point from the current abnormal path point based on each path point position recorded in the original point returning file, returns to the original point according to the running track according to the original path, and sets the running state of each path point position in the original point returning process to be consistent with the running state in the original point starting process.
And under the condition that the original point is successfully returned along the running path and the operation of the current period is successfully completed, the cooperative robot calls a Clear back to phone interface, clears each path point position recorded in the original point file and releases the storage space.
According to the scheme provided by the embodiment of the invention, the point location of the path of the cooperative robot is recorded in the origin point returning file, so that the origin point returning file can be executed after the cooperative robot is restarted after power failure when the cooperative robot is abnormal, such as manual mechanical arm stop, emergency stop, collision stop, power failure restart and the like, and the origin point is returned according to the original path, so that the fact that collision cannot occur in the process of returning to the origin point is reliably ensured. The use safety and the convenience of the cooperative robot are greatly improved, and the cooperative robot plays a positive role in popularization and promotion of the cooperative robot in industrial environment fields and consumption fields.
In order to perform the corresponding steps in the above embodiments and various possible modes, an implementation mode of the robot control device is given below. Referring to fig. 4, fig. 4 is a functional block diagram of a robot controller 140 according to an embodiment of the present invention, where the robot controller 140 can be applied to the cooperative robot 100 shown in fig. 2. It should be noted that the basic principle and the generated technical effect of the robot control device 140 provided in the present embodiment are the same as those of the above method embodiments, and for the sake of brief description, no part of the present embodiment is mentioned, and reference may be made to the corresponding contents in the above method embodiments. The robot controller 140 includes a state detection module 141 and an abnormality processing module 142.
The state detection module 141 is configured to monitor whether an operation of the cooperative robot is abnormal.
The exception handling module 142 is configured to perform a state reset when an exception occurs in the operation of the cooperative robot; responding to the state reset, and obtaining a running track and a running state from the current path point to the origin point based on the current path point of the cooperative robot and prestored path points which are passed by the cooperative robot in the process of running from the origin point to the current path point; and returning to the origin according to the running track and the running state.
On the basis, the embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a computer program, and the computer program controls, when running, the cooperative robot in which the computer-readable storage medium is located to execute the robot control method.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A robot control method applied to a cooperative robot, the method comprising:
monitoring whether the operation of the cooperative robot is abnormal or not;
performing state resetting when the running of the cooperative robot is abnormal;
responding to the state reset, and obtaining a running track and a running state from the current path point to the origin point based on the current path point of the cooperative robot and prestored path points which are passed by the cooperative robot in the process of running from the origin point to the current path point;
and returning to the origin according to the running track and the running state.
2. The robot control method according to claim 1, wherein a Record Motion interface is provided on the cooperative robot, and the method further comprises a step of recording each path point, the step comprising:
and calling the Record Motion interface according to a set rule after the cooperative robot executes each Motion instruction from the origin, and recording the current path point position.
3. The robot control method according to claim 2, wherein the setting rule includes at least one of:
after the cooperative robot executes each Motion instruction, calling the Record Motion interface and recording the current path point position;
after the cooperative robot executes each Motion instruction, calling the Record Motion interface according to a preset interval, and recording the current path point position; the preset interval comprises at least one of a time interval and a distance interval;
and after the cooperative robot executes each Motion instruction, judging whether the current path point position is located in a set position recording interval, if so, calling the Record Motion interface to Record the current path point position.
4. The robot control method according to claim 2, wherein the path point location includes coordinate system information, a running state, and a path point location acquisition time of the cooperative robot;
the step of obtaining the running track and running state from the current path point back to the origin point includes:
obtaining a running track returning from the current path point location to the original point based on the coordinate system information of the current path point location of the cooperative robot, and the recorded coordinate system information of each path point location and the sequence of the acquisition time;
obtaining the running state of the corresponding path point position in the running track returning to the original point based on the running state of each path point position; wherein the running state comprises running speed, direction and acceleration.
5. The robot control method according to claim 2, wherein the path point location includes coordinate system information and an operation state of the cooperative robot;
the step of obtaining the running track and running state from the current path point back to the origin point includes:
based on coordinate system information, starting from an origin, recording a path point location every time, and connecting a newly recorded path point location with a previous path point location, wherein a first recorded path point location is connected with the origin, a second recorded path point location is connected with the first path point location, a Nth recorded path point location is connected with an N-1 th path point location, and N is more than or equal to 2;
connecting the current path point position with which the cooperative robot is abnormal with the Nth path point position to obtain a running track returning from the current path point position to the origin;
obtaining the running state of the corresponding path point position in the running track returning to the original point based on the running state of each path point position; wherein the running state comprises running speed, direction and acceleration.
6. The robot control method according to claim 2, wherein a Clear back to phone interface is further provided on the cooperative robot, the method further comprising:
under the condition of meeting the set conditions, calling the Clear back to phone interface, and deleting each pre-stored path point location;
the setting condition includes at least one of:
the collaborative robot has returned to an origin;
the cooperative robot has completed the work of the current cycle;
and receiving an active calling instruction.
7. The robot control method according to claim 1, wherein the step of performing the state reset includes:
executing power-off operation;
responding to a power-on command, outputting a triggering command to an upper computer which is in communication connection with the cooperative robot, wherein the triggering command represents that the cooperative robot is started and ready to receive data, so that the upper computer returns a rewinding command in response to the triggering command;
the responding to the state reset comprises: in response to the rewind instruction.
8. A robot control apparatus applied to a cooperative robot, the robot control apparatus comprising:
the state detection module is used for monitoring whether the operation of the cooperative robot is abnormal or not;
the abnormality processing module is used for resetting the state when the operation of the cooperative robot is abnormal; responding to the state reset, and obtaining a running track and a running state from the current path point to the origin point based on the current path point of the cooperative robot and prestored path points which are passed by the cooperative robot in the process of running from the origin point to the current path point; and returning to the origin according to the running track and the running state.
9. A collaborative robot, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the robot control method of any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a computer program which, when executed, controls a cooperative robot in which the computer-readable storage medium is located to perform the robot control method of any one of claims 1 to 7.
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