CN115070777A - Electric power robot control method, device, equipment and storage medium - Google Patents
Electric power robot control method, device, equipment and storage medium Download PDFInfo
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- CN115070777A CN115070777A CN202210940716.4A CN202210940716A CN115070777A CN 115070777 A CN115070777 A CN 115070777A CN 202210940716 A CN202210940716 A CN 202210940716A CN 115070777 A CN115070777 A CN 115070777A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000002159 abnormal effect Effects 0.000 claims abstract description 114
- 239000004020 conductor Substances 0.000 claims description 17
- 238000004590 computer program Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 238000012423 maintenance Methods 0.000 description 9
- 238000010276 construction Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
Abstract
The application relates to a method, a device, equipment and a storage medium for controlling an electric robot, which relate to the technical field of electric robots, wherein the method comprises the following steps: acquiring actual traveling route information; comparing the actual route information with preset theoretical route information; if the actual route information is different from the theoretical route information, sending abnormal information related to the actual route information to an intelligent terminal of a worker; and if the actual route information is the same as the theoretical route information, moving according to preset theoretical route information. The application has the technical effects that: the robot can automatically correct the advancing direction by comparing the actual advancing route with the preset theoretical route, so that the operation efficiency of the robot in the operation process is improved.
Description
Technical Field
The present disclosure relates to the field of power robots, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a power robot.
Background
With the development of intelligent robot technology, the robot starts to replace manual work in the aspect of electric power operation to carry out work with high risk coefficient such as high-altitude operation and high-voltage operation, in the practical application process, the high-altitude operation robot is used for carrying out high-altitude operation, and the aerial cable can be maintained or overhauled in a track and mechanical arm mode or an unmanned aerial vehicle and mechanical arm mode.
In the construction and maintenance process of the existing power distribution network, operations such as maintenance, construction, cleaning and the like are generally carried out on the power distribution network in a manual mode.
In the construction and maintenance process of the power distribution network, the inventor considers that at least the following problems exist: construction maintenance of the power distribution network is carried out manually, and a large amount of repeated work needs to be carried out manually, so that the maintenance efficiency is low.
Disclosure of Invention
In order to solve the problem that maintenance efficiency is low due to the fact that a large amount of repeated work needs to be carried out when manual maintenance is carried out, the electric power robot control method and the electric power robot control system are provided.
In a first aspect, the present application provides a method for controlling an electric robot, which adopts the following technical solutions: the method comprises the following steps:
acquiring actual traveling route information;
comparing the actual route information with preset theoretical route information;
if the actual route information is different from the theoretical route information, sending abnormal information related to the actual route information to an intelligent terminal of a worker;
and if the actual route information is the same as the theoretical route information, moving according to preset theoretical route information.
Through the technical scheme, the actual traveling route is obtained, the actual route information is compared with the preset theoretical route information, and if the actual route information is different from the theoretical route information, the abnormal information related to the abnormal picture is sent to the intelligent terminal of the worker; if the actual route information is the same as the theoretical route information, the robot moves according to the preset theoretical route information, so that the robot can automatically correct the traveling direction in a mode of comparing the actual traveling route with the preset theoretical route, and the running efficiency of the robot in the running process is improved.
In a specific possible implementation, the sending of the abnormal information related to the abnormal picture to the intelligent terminal of the staff member includes:
acquiring abnormal picture information, wherein the abnormal picture information is a picture at a position where actual route information is different from theoretical route information;
comparing the abnormal picture information with obstacle picture information in a preset abnormal information base, wherein different obstacle picture information and obstacle avoidance operations corresponding to the obstacle picture information are stored in the abnormal information base;
if the abnormal picture information is the same as the obstacle picture information, performing obstacle avoidance operation corresponding to the obstacle picture information;
and if the abnormal picture information is different from the obstacle picture information, sending abnormal information related to the abnormal picture to an intelligent terminal of a worker.
According to the technical scheme, the abnormal picture information is obtained, the abnormal picture information is a picture at a position where the actual route information is different from the theoretical route information, the abnormal picture information is compared with the obstacle picture information in the preset abnormal information library, different obstacle picture information and obstacle avoidance operations corresponding to the obstacle picture information are stored in the abnormal information library, the robot can automatically identify the obstacle picture information, the robot can select different obstacle avoidance operations according to the different obstacle picture information, the possibility of low obstacle avoidance efficiency caused by the fact that the robot takes fixed obstacle avoidance operations after encountering obstacles is reduced, and the obstacle avoidance efficiency of the robot is improved.
In a specific embodiment, the performing the obstacle avoidance operation corresponding to the obstacle picture information includes:
calculating abnormal size information according to the abnormal picture information;
comparing the abnormal size information with a preset obstacle avoidance limit range;
if the abnormal size information is outside the preset obstacle avoidance limit range, canceling the execution of obstacle avoidance operation and sending prompt information of the abnormal size of the obstacle to an intelligent terminal of a worker;
and if the abnormal size information is within the preset obstacle avoidance limit range, performing obstacle avoidance operation corresponding to the obstacle picture information.
By the technical scheme, the abnormal size information is carefully calculated according to the abnormal picture, and the abnormal size information is compared with the preset obstacle avoidance limit range; if the abnormal size information is outside the preset obstacle avoidance limit range, canceling the execution of obstacle avoidance operation and sending prompt information of the abnormal size of the obstacle to an intelligent terminal of a worker; if the abnormal size information is within the preset obstacle avoidance limit range, executing obstacle avoidance operation corresponding to the obstacle picture information of the user; the possibility that the robot cannot return to the theoretical route information because the robot is always in obstacle avoidance operation due to overlarge obstacle size information is reduced, so that the intelligent degree of the robot is improved, and the efficiency of the obstacle avoidance operation is further improved.
In a specific embodiment, the performing the obstacle avoidance operation corresponding to the obstacle picture information includes:
acquiring theoretical route information;
acquiring a coincidence part between the abnormal picture information and the theoretical route information, and acquiring a central point of the coincidence part to set as an obstacle avoidance circle center;
generating obstacle avoidance route information according to a preset obstacle avoidance route width by taking the obstacle avoidance circle center as a center point and the distance between the obstacle avoidance circle center and the outer edge of the obstacle as a radius;
and moving according to the preset obstacle avoidance route information until the actual traveling route information is matched with the theoretical route information again.
According to the technical scheme, theoretical route information is obtained, a superposed part between the abnormal picture information and the theoretical route information is obtained, the central point of the obtained superposed part is set as an obstacle avoidance circle center, the obstacle avoidance circle center is used as the central point, the distance between the obstacle avoidance circle center and the outer edge of the obstacle is used as the radius, obstacle avoidance route information is generated according to the preset obstacle avoidance route width, and the movement is carried out according to the preset obstacle avoidance route information until the actual traveling route information is matched with the theoretical route information again; the robot can automatically avoid the obstacle according to the preset obstacle avoiding route information, and therefore obstacle avoiding efficiency is improved.
In a specific implementation, after the generating the obstacle avoidance route information, the method further includes:
generating steering route information by taking the obstacle avoidance circle center as the center and taking a tangent line of the outer edge of the theoretical route information as the orientation;
respectively generating selective obstacle avoidance information on two sides of the steering route information by taking the steering route information as a dividing line;
respectively calculating the distance for selecting obstacle avoidance information;
and setting the selected obstacle avoidance information with small distance as obstacle avoidance route information.
According to the technical scheme, the obstacle avoidance circle center is used as the center, the selected obstacle avoidance information is generated by taking the tangent line of the outer edge of the theoretical route information as the orientation, the distance of the selected obstacle avoidance information is calculated respectively, the selected obstacle avoidance information with the small distance is set as the obstacle avoidance route information, so that the robot can automatically select the selected obstacle avoidance information with the small distance in the obstacle avoidance operation as the obstacle avoidance route information, and the obstacle avoidance efficiency of the robot is improved.
In a specific possible embodiment, the method further comprises:
when a tool replacing instruction is received, tool replacing information is obtained, wherein the tool replacing information comprises tool image information and mechanical arm replacing information;
acquiring actual tool information;
comparing the actual tool information with the tool image information until the actual tool information is the same as the tool image information;
acquiring position information corresponding to actual tool information;
and controlling the corresponding mechanical arm to carry out preset tool replacing operation according to the mechanical arm replacing information and the position information.
According to the technical scheme, when a tool replacing instruction is received, tool replacing information is obtained and comprises tool image information and mechanical arm replacing information; the method comprises the steps of obtaining actual tool information, comparing the actual tool information with tool image information until the actual tool information is the same as the tool image information, obtaining position information corresponding to the actual tool information, and controlling a corresponding mechanical arm to carry out preset tool replacement operation according to the mechanical arm information and the position information, so that a robot can automatically identify tools in a tool library according to the tool replacement information and the actual tool information and carry out switching operation on matched tools, and the robot can automatically carry out tool switching operation according to scene requirements.
In a specific possible embodiment, the method further comprises:
when a conductor repairing instruction is received, acquiring actual conductor picture information;
acquiring lead spacing information according to the actual lead picture information;
controlling the mechanical arm to carry out grabbing operation on two ends of the broken part of the lead according to the actual lead picture information and the lead spacing information until the mechanical arm grabs the two ends of the broken lead;
acquiring repair coordinate information for repairing two ends of a broken wire corresponding to the wire repair device;
and controlling the mechanical arm to move to the repair coordinate information and carrying out repair operation.
According to the technical scheme, when a conductor repairing instruction is received, actual conductor picture information is obtained, conductor spacing information is obtained according to the actual conductor picture information, the mechanical arm is controlled to carry out grabbing operation on two ends of a conductor fracture part according to the actual conductor picture information and the conductor spacing information until the mechanical arm grabs the two ends of the fractured conductor, repairing coordinate information for repairing the two ends of one fractured conductor by the conductor repairing device is obtained, and the mechanical arm is controlled to move to the repairing coordinate information and carry out repairing operation; the robot can automatically and accurately repair the conducting wire, and therefore the accuracy of the robot in maintenance operation is improved.
In a second aspect, the present application provides an electric robot control device, which adopts the following technical solution: the device comprises:
the system comprises a travelling route acquisition module, a route selection module and a route selection module, wherein the travelling route acquisition module is used for acquiring actual travelling route information;
the route information comparison module is used for comparing the actual route information with preset theoretical route information;
the abnormal information sending module is used for sending abnormal information related to the abnormal picture to an intelligent terminal of a worker if the actual route information is different from the theoretical route information;
and the theoretical route moving module is used for moving according to preset theoretical route information if the actual route information is the same as the theoretical route information.
According to the technical scheme, the actual traveling route is obtained, the actual route information is compared with the preset theoretical route information, and if the actual route information is different from the theoretical route information, the abnormal information related to the abnormal picture is sent to the intelligent terminal of the worker; if the actual route information is the same as the theoretical route information, the robot moves according to the preset theoretical route information, so that the robot can automatically correct the traveling direction in a mode of comparing the actual traveling route with the preset theoretical route, and the running efficiency of the robot in the running process is improved.
In a third aspect, the present application provides a computer device, which adopts the following technical solution: comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes a method of controlling an electric robot as described in any of the above.
Through the technical scheme, the actual traveling route is obtained, the actual route information is compared with the preset theoretical route information, and if the actual route information is different from the theoretical route information, the abnormal information related to the abnormal picture is sent to the intelligent terminal of the worker; if the actual route information is the same as the theoretical route information, the robot moves according to the preset theoretical route information, so that the robot can automatically correct the traveling direction in a mode of comparing the actual traveling route with the preset theoretical route, and the running efficiency of the robot in the running process is improved.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions: a computer program is stored which can be loaded by a processor and which performs any of the above-described power robot control methods.
According to the technical scheme, the actual traveling route is obtained, the actual route information is compared with the preset theoretical route information, and if the actual route information is different from the theoretical route information, the abnormal information related to the abnormal picture is sent to the intelligent terminal of the worker; if the actual route information is the same as the theoretical route information, the robot moves according to the preset theoretical route information, so that the robot can automatically correct the traveling direction in a mode of comparing the actual traveling route with the preset theoretical route, and the running efficiency of the robot in the running process is improved.
In summary, the present application includes at least one of the following beneficial technical effects:
1. acquiring an actual traveling route, comparing actual route information with preset theoretical route information, and if the actual route information is different from the theoretical route information, sending abnormal information related to an abnormal picture to an intelligent terminal of a worker; if the actual route information is the same as the theoretical route information, the robot moves according to the preset theoretical route information, so that the robot can automatically correct the traveling direction in a mode of comparing the actual traveling route with the preset theoretical route, and the running efficiency of the robot in the running process is improved;
2. acquiring theoretical route information, acquiring a superposed part between the abnormal picture information and the theoretical route information, setting a central point of the acquired superposed part as an obstacle avoidance circle center, generating obstacle avoidance route information according to a preset obstacle avoidance route width by taking the obstacle avoidance circle center as the central point and taking the distance between the obstacle avoidance circle center and the outer edge of the obstacle as a radius, and moving according to the preset obstacle avoidance route information until the actual traveling route information is matched with the theoretical route information again; the robot can automatically avoid the obstacle according to the preset obstacle avoiding route information, and therefore obstacle avoiding efficiency is improved.
Drawings
Fig. 1 is a flowchart of a control method of an electric robot in an embodiment of the present application.
Fig. 2 is a schematic diagram for embodying obstacle avoidance route information generated by a robot in the embodiment of the present application.
Fig. 3 is a schematic diagram for embodying selection of obstacle avoidance route information in the embodiment of the present application.
Fig. 4 is a block diagram of a configuration of an electric robot control device according to an embodiment of the present application.
Reference numerals: 401. a travel route acquisition module; 402. a route information comparison module; 403. an abnormal information sending module; 404. a theoretical route movement module; 405. a machine tool change module; 406. and a machine wire repair module.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses a control method of an electric power robot, the method is based on a control system of the electric power robot, the electric power robot is provided with a plurality of mechanical arms, the control system can control the mechanical arms to move, a wire connecting device is arranged on the robot and is controlled by the control system, a tool library is further arranged on the robot, different tools and position information corresponding to the tools are arranged in the tool library, and a worker can control the robot to independently perform maintenance, cleaning and other work through a preset program.
As shown in fig. 1, the method comprises the steps of:
and S10, acquiring the actual traveling route information.
The actual traveling route information is a route image generated by a preset positioning device and a preset camera device in the running process of the robot.
And S11, judging whether the actual route information is the same as the preset theoretical route information.
If the actual route information is the same as the theoretical route information, moving according to preset theoretical route information; and if the actual route information is different from the theoretical route information, sending abnormal information related to the actual route information to the intelligent terminal of the worker, if the actual running route is abnormal, sending a comparison graph of the actual route information and the theoretical route information to the intelligent terminal of the worker, and marking the difference in the comparison graph.
In one embodiment, considering that an obstacle is encountered during the operation of the robot according to the theoretical route information, an obstacle avoidance operation needs to be performed, and the specific obstacle avoidance operation may be performed as follows:
acquiring abnormal picture information, namely obtaining a picture of which the actual route information is different from the theoretical route information; comparing the abnormal picture information with obstacle picture information in a preset abnormal information base, wherein different obstacle picture information and obstacle avoidance operations corresponding to the obstacle picture information are stored in the abnormal information base; if the abnormal picture information is the same as the obstacle picture information, performing obstacle avoidance operation corresponding to the obstacle picture information; if the abnormal picture information is different from the obstacle picture information, sending abnormal information related to the abnormal picture to an intelligent terminal of a worker; the possibility that the robot cannot move according to preset theoretical route information after encountering an obstacle and cannot continue cleaning and other operations is reduced, so that the robot can automatically avoid the obstacle, and the working efficiency of the robot is improved.
In an embodiment, considering that when the size of the obstacle is too large and the obstacle avoidance operation cannot be performed, the size information of the obstacle needs to be acquired, and the specific acquisition operation may be performed as:
acquiring abnormal picture information, and calculating abnormal size information corresponding to the obstacle according to the abnormal picture information and a preset shooting angle; comparing the abnormal size information with a preset obstacle avoidance limit range; if the abnormal size information is outside the preset obstacle avoidance limit range, canceling the execution of obstacle avoidance operation and sending prompt information of the abnormal size of the obstacle to an intelligent terminal of a worker; if the abnormal size information is within the preset obstacle avoidance limit range, obstacle avoidance operation corresponding to the obstacle picture information is executed, so that the robot can automatically perform corresponding obstacle avoidance operation according to the size information of the obstacle, and the obstacle avoidance efficiency of the robot is improved. For example, the preset obstacle avoidance limit range is X-Y, the abnormal size information calculated by the robot according to the abnormal picture information is M, and if the M is located between the X-Y, obstacle avoidance operation corresponding to the obstacle picture information is executed; and if the M is positioned outside the X-Y, canceling the obstacle avoidance operation, and sending prompt information such as 'obstacle size information abnormity' to the intelligent terminal of the worker.
In an embodiment, as shown in fig. 2, in consideration that when the robot performs an obstacle avoidance operation, a corresponding obstacle avoidance route needs to be generated, a specific obstacle avoidance route generation process may be performed as follows:
acquiring theoretical route information; acquiring a superposed part between the abnormal picture information and the obstacle, acquiring a central point of the superposed part, and setting the central point of the superposed part as an obstacle avoidance circle center; generating corresponding obstacle avoidance route information according to the size information of the robot by taking the obstacle avoidance circle center as the circle center of the obstacle avoidance route and the distance between the obstacle avoidance circle center and the outer edge of the obstacle as the radius; moving according to preset obstacle avoidance route information until the actual traveling route information is matched with the theoretical route information again; the robot can automatically generate obstacle avoidance route information, and therefore obstacle avoidance efficiency of the robot is improved.
In one embodiment, as shown in fig. 3, in consideration that after generating the obstacle avoidance route information, the obstacle avoidance route information with the shortest time needs to be selected, a specific selection operation may be performed as follows:
generating steering route information by taking the obstacle avoidance circle center as the center and taking a tangent line of the outer edge of the theoretical route information as the orientation; respectively generating selective obstacle avoidance information on two sides of the steering route information by taking the steering route information as a dividing line; respectively calculating the distance for selecting obstacle avoidance information; setting the selected obstacle avoidance information with small distance as obstacle avoidance route information; the robot can automatically select the obstacle avoidance route information with short distance, so that the robot can quickly pass through the obstacle, and the obstacle avoidance efficiency of the robot is improved.
In one embodiment, considering that the robot needs to perform a tool change operation, a specific change operation may be performed as:
when a tool replacing instruction is received, tool replacing information is obtained, wherein the tool replacing information comprises tool image information and mechanical arm replacing information; acquiring actual tool information; comparing the actual tool information with the tool image information until the actual tool information is the same as the tool image information; acquiring position information corresponding to actual tool information; controlling the corresponding mechanical arm to carry out preset tool replacement operation according to the replacement mechanical arm information and the position information; the robot can independently replace tools, and therefore tool replacement efficiency of the robot is improved. For example, the tool that needs to replace the arm a is H, the image information of the tool H is first acquired, the image information in the tool library is acquired, the image information of different tools in the tool library is compared with the image information of the tool H until the image information of the tools in the tool library matches with the image information of the tool H, the coordinate information corresponding to the tool H in the tool library is acquired, the arm a is controlled to move to the coordinate information corresponding to the tool H in the tool library, and the arm a is controlled to perform a preset tool replacement operation until the tool on the arm a is replaced with the tool H.
In one embodiment, considering that a repair operation needs to be performed on a conductor, a specific repair operation may be performed as:
when a conductor repairing instruction is received, acquiring actual conductor picture information; acquiring lead spacing information according to the actual lead picture information; controlling the mechanical arm to carry out grabbing operation on two ends of the broken part of the lead according to the actual lead picture information and the lead spacing information until the mechanical arm grabs the two ends of the broken lead; acquiring repairing coordinate information for repairing two ends of a broken wire corresponding to the wire repairing device; controlling the mechanical arm to move to the repair coordinate information and carrying out repair operation; the robot can autonomously repair the lead, so that the working efficiency of the robot is improved.
Based on the method, the embodiment of the application further discloses a control device of the electric robot.
As shown in fig. 4, the apparatus includes the following modules:
a travel route acquisition module 401, configured to acquire actual travel route information;
a route information comparison module 402, configured to compare actual route information with preset theoretical route information;
an abnormal information sending module 403, configured to send abnormal information related to the abnormal picture to an intelligent terminal of a worker if the actual route information is different from the theoretical route information;
a theoretical route moving module 404, configured to move according to preset theoretical route information if the actual route information is the same as the theoretical route information.
In an embodiment, the abnormal information sending module 403, configured to send the abnormal information related to the abnormal picture to the intelligent terminal of the staff, includes: acquiring abnormal picture information, wherein the abnormal picture information is a picture at a position where actual route information is different from theoretical route information; comparing the abnormal picture information with obstacle picture information in a preset abnormal information base, wherein different obstacle picture information and obstacle avoidance operations corresponding to the obstacle picture information are stored in the abnormal information base; if the abnormal picture information is the same as the obstacle picture information, performing obstacle avoidance operation corresponding to the obstacle picture information; and if the abnormal picture information is different from the obstacle picture information, sending abnormal information related to the abnormal picture to an intelligent terminal of a worker.
In one embodiment, the abnormal information sending module 403 is further configured to perform an obstacle avoidance operation corresponding to the obstacle picture information, including: calculating abnormal size information according to the abnormal picture information; comparing the abnormal size information with a preset obstacle avoidance limit range; if the abnormal size information is outside the preset obstacle avoidance limit range, canceling the execution of obstacle avoidance operation and sending prompt information of the abnormal size of the obstacle to an intelligent terminal of a worker; and if the abnormal size information is within the preset obstacle avoidance limit range, performing obstacle avoidance operation corresponding to the obstacle picture information.
In one embodiment, the abnormal information sending module 403 is further configured to perform an obstacle avoidance operation corresponding to the obstacle picture information, including: acquiring theoretical route information; acquiring a coincidence part between the abnormal picture information and the theoretical route information, and acquiring a central point of the coincidence part to set as an obstacle avoidance circle center; generating obstacle avoidance route information according to a preset obstacle avoidance route width by taking the obstacle avoidance circle center as a center point and the distance between the obstacle avoidance circle center and the outer edge of the obstacle as a radius; and moving according to the preset obstacle avoidance route information until the actual traveling route information is matched with the theoretical route information again.
In an embodiment, after the abnormal information sending module 403 is further configured to generate the obstacle avoidance route information, the method further includes: generating steering route information by taking the obstacle avoidance circle center as the center and taking a tangent line of the outer edge of the theoretical route information as the orientation; respectively generating selective obstacle avoidance information on two sides of the steering route information by taking the steering route information as a dividing line; respectively calculating the distance for selecting obstacle avoidance information; and setting the selected obstacle avoidance information with small distance as obstacle avoidance route information.
In one embodiment, the machine tool change module 405 is further configured to obtain change tool information when a change tool command is received, the change tool information including tool image information and change robot arm information; acquiring actual tool information; comparing the actual tool information with the tool image information until the actual tool information is the same as the tool image information; acquiring position information corresponding to actual tool information; and controlling the corresponding mechanical arm to carry out preset tool replacement operation according to the replacement mechanical arm information and the position information.
In one embodiment, the machine wire repairing module 406 is further configured to obtain actual wire picture information when a wire repairing instruction is received; acquiring lead spacing information according to the actual lead picture information; controlling the mechanical arm to carry out grabbing operation on two ends of the broken part of the lead according to the actual lead picture information and the lead spacing information until the mechanical arm grabs the two ends of the broken lead; acquiring repairing coordinate information for repairing two ends of a broken wire corresponding to the wire repairing device; and controlling the mechanical arm to move to the repair coordinate information and carrying out repair operation.
The embodiment of the application also discloses computer equipment.
Specifically, the computer device includes a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the above-described one of the electric robot control methods.
The embodiment of the application also discloses a computer readable storage medium.
Specifically, the computer-readable storage medium, which stores a computer program that can be loaded by a processor and executes the above-described electric robot control method, includes, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A method for controlling an electric robot, the method comprising:
acquiring actual traveling route information;
comparing the actual route information with preset theoretical route information;
if the actual route information is different from the theoretical route information, sending abnormal information related to the actual route information to an intelligent terminal of a worker;
and if the actual route information is the same as the theoretical route information, moving according to preset theoretical route information.
2. The method according to claim 1, wherein the sending of the abnormal information related to the abnormal picture to the intelligent terminal of the staff member comprises:
acquiring abnormal picture information, wherein the abnormal picture information is a picture at a position where actual route information is different from theoretical route information;
comparing the abnormal picture information with the obstacle picture information in a preset abnormal information base, wherein different obstacle picture information and obstacle avoiding operations corresponding to the obstacle picture information are stored in the abnormal information base;
if the abnormal picture information is the same as the obstacle picture information, performing obstacle avoidance operation corresponding to the obstacle picture information;
and if the abnormal picture information is different from the obstacle picture information, sending abnormal information related to the abnormal picture to an intelligent terminal of a worker.
3. The method of claim 2, wherein the performing an obstacle avoidance operation corresponding to obstacle picture information comprises:
calculating abnormal size information according to the abnormal picture information;
comparing the abnormal size information with a preset obstacle avoidance limit range;
if the abnormal size information is outside the preset obstacle avoidance limit range, canceling the execution of obstacle avoidance operation and sending prompt information of the abnormal size of the obstacle to an intelligent terminal of a worker;
and if the abnormal size information is within the preset obstacle avoidance limit range, performing obstacle avoidance operation corresponding to the obstacle picture information.
4. The method of claim 3, wherein the performing an obstacle avoidance operation corresponding to obstacle picture information comprises:
acquiring theoretical route information;
acquiring a superposed part between the abnormal picture information and the theoretical route information, and acquiring a central point of the superposed part to be set as an obstacle avoidance circle center;
generating obstacle avoidance route information according to a preset obstacle avoidance route width by taking the obstacle avoidance circle center as a center point and the distance between the obstacle avoidance circle center and the outer edge of the obstacle as a radius;
and moving according to the preset obstacle avoidance route information until the actual traveling route information is matched with the theoretical route information again.
5. The method according to claim 4, wherein after generating the obstacle avoidance route information, the method further comprises:
generating steering route information by taking the obstacle avoidance circle center as the center and taking a tangent line of the outer edge of the theoretical route information as the orientation;
respectively generating selective obstacle avoidance information on two sides of the turning route by taking the turning route information as a dividing line;
respectively calculating the distance for selecting obstacle avoidance information;
and setting the selected obstacle avoidance information with small distance as obstacle avoidance route information.
6. The method of claim 1, further comprising:
when a tool replacing instruction is received, tool replacing information is obtained, wherein the tool replacing information comprises tool image information and mechanical arm replacing information;
acquiring actual tool information;
comparing the actual tool information with the tool image information until the actual tool information is the same as the tool image information;
acquiring position information corresponding to actual tool information;
and controlling the corresponding mechanical arm to carry out preset tool replacement operation according to the replacement mechanical arm information and the position information.
7. The method of claim 1, further comprising:
when a conductor repairing instruction is received, acquiring actual conductor picture information;
acquiring lead spacing information according to actual lead picture information, wherein the guide spacing information is the spacing between leads at two ends of a lead fracture;
controlling the mechanical arm to carry out grabbing operation on two ends of the broken part of the lead according to the actual lead picture information and the lead spacing information until the mechanical arm grabs the two ends of the broken lead;
acquiring repairing coordinate information for repairing two ends of a broken wire corresponding to the wire repairing device;
and controlling the mechanical arm to move to the repair coordinate information and carrying out repair operation.
8. An electric robot control apparatus, characterized in that the apparatus comprises:
a travel route acquisition module (401) for acquiring actual travel route information;
the route information comparison module (402) is used for comparing the actual route information with preset theoretical route information;
the abnormal information sending module (403) is used for sending abnormal information related to the abnormal picture to an intelligent terminal of a worker if the actual route information is different from the theoretical route information;
and a theoretical route moving module (404) for moving according to preset theoretical route information if the actual route information is the same as the theoretical route information.
9. A computer device comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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