CN115213887A - Robot control method, device, medium, and electronic apparatus - Google Patents

Robot control method, device, medium, and electronic apparatus Download PDF

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Publication number
CN115213887A
CN115213887A CN202110739313.9A CN202110739313A CN115213887A CN 115213887 A CN115213887 A CN 115213887A CN 202110739313 A CN202110739313 A CN 202110739313A CN 115213887 A CN115213887 A CN 115213887A
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China
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joint
current task
joint actuator
abnormal
current
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CN202110739313.9A
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Chinese (zh)
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高斌
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Cloudminds Shanghai Robotics Co Ltd
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Cloudminds Shanghai Robotics Co Ltd
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Priority to CN202110739313.9A priority Critical patent/CN115213887A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The disclosure relates to a robot control method, a robot control device, a robot control medium and electronic equipment, which belong to the field of robots and can reduce the failure rate of the robots in executing tasks. A robot control method comprising: acquiring the current task difficulty and the current damage condition of each joint actuator; based on the current task difficulty and the current damage condition, planning a path aiming at each action, and predicting the damage condition of each joint actuator when the current task is completed; and if the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding action planning path when the current task is executed, controlling the corresponding joint actuator to execute the current task along the corresponding action planning path.

Description

Robot control method, device, medium, and electronic apparatus
Technical Field
The present disclosure relates to the field of robots, and in particular, to a robot control method, apparatus, medium, and electronic device.
Background
In the related art, after a robot (particularly, a robot with an actuator) receives an action execution command, the robot executes an action directly according to the command, which results in a high task failure rate.
Disclosure of Invention
An object of the present disclosure is to provide a robot control method, apparatus, medium, and electronic device capable of reducing a failure rate of a robot in performing a task.
In order to achieve the above object, the present disclosure provides a robot control method including: acquiring the current task difficulty and the current damage condition of each joint actuator; based on the current task difficulty and the current damage condition, planning a path aiming at each action, and predicting the damage condition of each joint actuator when the current task is completed; and if the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding action planning path when the current task is executed, controlling the corresponding joint actuator to execute the current task along the corresponding action planning path.
Optionally, the method further comprises: and if the prediction result indicates that the corresponding joint actuator has an abnormality in the corresponding motion planning path when the current task is executed, controlling a member formed by the joint actuator which is predicted not to have the abnormality to execute the current task along the corresponding motion planning path.
Optionally, in a case that the current task needs joint execution of parent-child joint actuators, the predicting damage of each of the joint actuators when the current task is completed includes: and predicting the damage condition of each joint actuator when the current task is completely executed based on the task proportion weight of the parent joint actuator and the child joint actuator in the parent-child joint actuators.
Optionally, the anomaly comprises at least one of: the method comprises the steps of abnormal joint/rotating shaft overvoltage, abnormal joint/rotating shaft undervoltage, abnormal joint/rotating shaft locked rotor, abnormal joint/rotating shaft overheating, abnormal joint/rotating shaft reading and writing parameters, abnormal joint/rotating shaft multi-turn counting, abnormal temperature sensor, abnormal CAN communication, step exceeding of a preset threshold, DRV protection, abnormal encoder, brake error, corresponding overtime of emergency frames and corresponding overtime of SOE.
Optionally, the method further comprises: controlling the respective joint actuator to perform a subsequent task using the respective joint actuator within a preset time from controlling the respective joint actuator to perform the current task along the respective motion planning path.
Optionally, the method further comprises: and feeding back the prediction result to a user.
The present disclosure also provides a robot control apparatus, including: the acquisition module is used for acquiring the current task difficulty and the current damage condition of each joint actuator; the prediction module is used for predicting the damage condition of each joint actuator when the current task is executed according to each action planning path based on the current task difficulty and the current damage condition; and the control module is used for controlling the corresponding joint actuator to execute the current task along the corresponding motion planning path if the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding motion planning path when the current task is executed.
Optionally, the control module is further configured to: and if the prediction result indicates that the corresponding joint actuator has an abnormality in the corresponding motion planning path when the current task is executed, controlling a member formed by the joint actuator which is predicted not to have the abnormality to execute the current task along the corresponding motion planning path.
Optionally, the prediction module is further configured to: and under the condition that the current task needs to be executed by the father and son joint actuators in a combined manner, predicting the damage condition of each joint actuator when the current task is executed completely based on the task proportion weight of the father joint actuator and the son joint actuator in the father and son joint actuators.
Optionally, the anomaly comprises at least one of: the method comprises the steps of abnormal joint/rotating shaft overvoltage, abnormal joint/rotating shaft undervoltage, abnormal joint/rotating shaft locked rotor, abnormal joint/rotating shaft overheating, abnormal joint/rotating shaft reading and writing parameters, abnormal joint/rotating shaft multi-turn counting, abnormal temperature sensor, abnormal CAN communication, step exceeding of a preset threshold, DRV protection, abnormal encoder, brake error, corresponding overtime of emergency frames and corresponding overtime of SOE.
Optionally, the control module is further configured to control the corresponding joint actuator to execute a subsequent task within a preset time from the control of the corresponding joint actuator to execute the current task along the corresponding motion planning path.
Optionally, the apparatus further comprises a feedback module for feeding back the prediction result to a user.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the present disclosure.
The present disclosure also provides an electronic device, including: a memory having a computer program stored thereon; a processor for executing the computer program in the memory to implement the steps of the method of the present disclosure.
By adopting the technical scheme, the damage condition of each joint actuator when the current task is completed can be predicted for each action planning path based on the current task difficulty and the current damage condition, and the corresponding joint actuator is controlled to execute the current task along the corresponding action planning path under the condition that the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding action planning path when the current task is completed, so that the influence of the damaged joint on the task success rate can be reduced, and the failure rate of the robot in executing the task is greatly reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart of a robot control method according to an embodiment of the present disclosure.
Fig. 2 is a schematic block diagram of a robot control device according to an embodiment of the present disclosure.
FIG. 3 is a block diagram illustrating an electronic device in accordance with an example embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
Fig. 1 is a flowchart of a robot control method according to an embodiment of the present disclosure. As shown in fig. 1, the method includes the following steps S11 to S13.
In step S11, the current task difficulty and the current damage condition of each joint actuator are acquired.
The task difficulty may be preset, for example, the difficulty level of the robot for grabbing the cup may be preset to 6, and the difficulty level of the robot for grabbing the paper may be preset to 7, and so on. Wherein, the higher the difficulty level, the greater the task difficulty.
The current damage status of each joint actuator can be reported to the server by the robot.
In step S12, based on the current task difficulty and the current damage situation, a path is planned for each action, and the damage situation of each joint actuator when the current task is completed is predicted.
In this step, any feasible prediction method may be used to predict the damage of each joint actuator when the current task is completed, for example, a neural network may be used to predict the damage.
The action planning path is a path which is planned for the robot by the server through the visual camera and is required to be traveled for completing the current task.
In some embodiments, in the case that the current task needs to be executed jointly by the parent-child joint actuators, the damage condition of each joint actuator when the current task is finished can be predicted based on the task proportion weight of the parent joint actuator and the child joint actuator in the parent-child joint actuators. That is, the parent joint actuator has a heavier duty cycle and the child joint actuator has a lighter duty cycle. For example, since the shoulder joint, the elbow joint, and the wrist joint are used to perform the panning operation, and the shoulder joint plays a key role, the duty ratio of the shoulder joint may be set to 70%, the duty ratio of the elbow joint may be set to 20%, and the duty ratio of the wrist joint may be set to 10%. Therefore, the joint condition of each joint actuator when the current task is completely executed can be more reasonably predicted according to the task proportion weight of each joint actuator.
In step S13, if the prediction result indicates that no abnormality occurs in the corresponding motion planning path when the current task is completed, the corresponding joint actuator is controlled to execute the current task along the corresponding motion planning path.
The anomaly may include at least one of: the method comprises the following steps of abnormal joint/rotating shaft overvoltage, abnormal joint/rotating shaft undervoltage, abnormal joint/rotating shaft locked rotor, abnormal joint/rotating shaft overheating, abnormal joint/rotating shaft reading and writing parameters, abnormal joint/rotating shaft multi-turn counting, abnormal temperature sensor, abnormal Controller Area Network (CAN) communication, step exceeding a preset threshold, DRV protection, abnormal encoder, brake holding error, corresponding overtime of emergency frames, corresponding overtime of SOE and the like. If any one of the above abnormalities of the joint actuator is predicted, the joint actuator cannot work normally, and if the abnormality is not predicted, the joint actuator can finish the task normally. For example, if the temperature of the joint/rotation shaft is set to exceed 50 degrees, which may cause the joint/rotation shaft to fail to work normally, and the temperature of the joint/rotation shaft after the current task is performed is 40 degrees through the prediction process according to the embodiment of the present disclosure, it is considered that the joint/rotation shaft has no overheat abnormality, which may be sufficient for the current task, and conversely, if the temperature of the joint/rotation shaft after the current task is performed is 60 degrees through the prediction process according to the embodiment of the present disclosure, it is considered that the joint/rotation shaft has overheat abnormality, which may not be sufficient for the current task.
By adopting the technical scheme, the damage condition of each joint actuator when the current task is completed can be predicted for each action planning path based on the current task difficulty and the current damage condition, and the corresponding joint actuator is controlled to execute the current task along the corresponding action planning path under the condition that the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding action planning path when the current task is completed, so that the influence of the damaged joint on the task success rate can be reduced, and the failure rate of the robot in executing the task is greatly reduced.
In some embodiments, the robot control method according to embodiments of the present disclosure further includes: and executing the subsequent task by using the corresponding joint actuator within the preset time from the control of the corresponding joint actuator to execute the current task along the corresponding motion planning path. For example, assuming that it is currently predicted that the left robot hand is competent for the current task, the following tasks are executed by the left robot hand within a preset time thereafter. Since the joint actuator is low in probability of being damaged in a short time, the configuration can greatly reduce the consumption of the computing resources of the server, and provide the control efficiency of the robot.
In some embodiments, a method according to embodiments of the present disclosure further comprises: the prediction result is fed back to the user, for example, by a robot limb, voice, or the like. By feeding back the prediction results to the user, the user can more intuitively understand the task competence of each joint actuator.
In some embodiments, a method according to embodiments of the present disclosure further comprises: and if the prediction result indicates that the corresponding joint actuator has an abnormality in the corresponding motion planning path when the current task is executed, controlling a member formed by the joint actuator which is predicted not to have the abnormality to execute the current task along the corresponding motion planning path. For example, assuming that it is currently predicted that an abnormality occurs in the elbow joint of the left arm of the robot when the current task is completed, the right arm of the robot is controlled to perform the current task based on the prediction result. By adopting the technical scheme, when the joint damage degree of one executing component (namely, the robot executing component which comprises at least one joint actuator to complete the task, such as a left arm) is predicted to be high, the other executing component (such as a right arm) is adjusted to be used for executing the current task, and the failure rate of the robot executing the task is greatly reduced.
Fig. 2 is a schematic block diagram of a robot control device according to an embodiment of the present disclosure. As shown in fig. 2, the apparatus includes: the acquisition module 21 is used for acquiring the current task difficulty and the current damage condition of each joint actuator; the prediction module 22 is used for planning a path according to each action based on the current task difficulty and the current damage condition and predicting the damage condition of each joint actuator when the current task is completed; and the control module 23 is configured to control the corresponding joint actuator to execute the current task along the corresponding action planning path if the prediction result indicates that no abnormality occurs in the corresponding action planning path when the current task is executed.
By adopting the technical scheme, the damage condition of each joint actuator when the current task is finished can be predicted for each action planning path based on the current task difficulty and the current damage condition, and the corresponding joint actuator is controlled to execute the current task along the corresponding action planning path under the condition that the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding action planning path when the current task is finished, so that the influence of the damaged joint on the task success rate can be reduced, and the failure rate of the robot in executing the task is greatly reduced.
Optionally, the control module 23 is further configured to: and if the prediction result indicates that the corresponding joint actuator has an abnormality in the corresponding motion planning path when the current task is executed, controlling a member formed by the joint actuator which is predicted not to have the abnormality to execute the current task along the corresponding motion planning path.
Optionally, the predicting module 22 is further configured to, when the current task needs to be executed by the parent-child joint actuators in a combined manner, predict a damage condition of each joint actuator when the current task is completed, based on a task proportion weight of the parent joint actuator and the child joint actuator in the parent-child joint actuators.
Optionally, the anomaly comprises at least one of: the method comprises the steps of joint/rotating shaft overvoltage abnormity, joint/rotating shaft undervoltage abnormity, joint/rotating shaft locked-rotor abnormity, joint/rotating shaft overheating abnormity, joint/rotating shaft reading and writing parameter abnormity, joint/rotating shaft multi-turn counting abnormity, temperature sensor abnormity, CAN communication abnormity, step exceeding preset threshold, DRV protection, encoder abnormity, band-type brake error, corresponding overtime of emergency frame and corresponding overtime of SOE.
Optionally, the control module 23 is further configured to: controlling the respective joint actuator to perform a subsequent task using the respective joint actuator within a preset time from controlling the respective joint actuator to perform the current task along the respective motion planning path.
Optionally, the robot control apparatus further comprises: and the feedback module is used for feeding back the prediction result to the user.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 3 is a block diagram of an electronic device 700 shown in accordance with an example embodiment. As shown in fig. 3, the electronic device 700 may include: a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input/output (I/O) interface 704, and a communication component 705.
The processor 701 is configured to control the overall operation of the electronic device 700, so as to complete all or part of the steps in the robot control method. The memory 702 is used to store various types of data to support operation at the electronic device 700, such as instructions for any application or method operating on the electronic device 700 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The Memory 702 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk. The multimedia components 703 may include screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving an external audio signal. The received audio signal may further be stored in the memory 702 or transmitted through the communication component 705. The audio assembly further comprises at least one speaker for outputting audio signals. The I/O interface 704 provides an interface between the processor 701 and other interface modules, such as a keyboard, mouse, buttons, and the like. These buttons may be virtual buttons or physical buttons. The communication component 705 is used for wired or wireless communication between the electronic device 700 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC for short), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 705 may thus include: wi-Fi modules, bluetooth modules, NFC modules, and the like.
In an exemplary embodiment, the electronic Device 700 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the robot control method described above.
In another exemplary embodiment, there is also provided a computer-readable storage medium including program instructions, which when executed by a processor, implement the steps of the robot control method described above. For example, the computer readable storage medium may be the above-described memory 702 including program instructions executable by the processor 701 of the electronic device 700 to perform the above-described robot control method.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. To avoid unnecessary repetition, the disclosure does not separately describe various possible combinations.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (10)

1. A robot control method, comprising:
acquiring the current task difficulty and the current damage condition of each joint actuator;
based on the current task difficulty and the current damage condition, planning a path aiming at each action, and predicting the damage condition of each joint actuator when the current task is completed;
and if the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding action planning path when the current task is executed, controlling the corresponding joint actuator to execute the current task along the corresponding action planning path.
2. The method of claim 1, further comprising: and if the prediction result indicates that the corresponding joint actuator has an abnormality in the corresponding motion planning path when the current task is executed, controlling a member formed by the joint actuator which is not predicted to have the abnormality to execute the current task along the corresponding motion planning path.
3. The method of claim 1, wherein in the case that the current task requires joint execution of parent-child joint actuators, the predicting damage to each of the joint actuators at the completion of the current task comprises:
and predicting the damage condition of each joint actuator when the current task is executed completely based on the task proportion weight of the parent joint actuator and the child joint actuator in the parent-child joint actuators.
4. The method of claim 1, wherein the anomaly comprises at least one of: the method comprises the steps of abnormal joint/rotating shaft overvoltage, abnormal joint/rotating shaft undervoltage, abnormal joint/rotating shaft locked rotor, abnormal joint/rotating shaft overheating, abnormal joint/rotating shaft reading and writing parameters, abnormal joint/rotating shaft multi-turn counting, abnormal temperature sensor, abnormal CAN communication, step exceeding of a preset threshold, DRV protection, abnormal encoder, brake error, corresponding overtime of emergency frames and corresponding overtime of SOE.
5. The method of claim 1, further comprising:
controlling the respective joint actuator to perform a subsequent task using the respective joint actuator within a preset time from controlling the respective joint actuator to perform the current task along the respective motion planning path.
6. The method of claim 1, further comprising:
and feeding back the prediction result to a user.
7. A robot control apparatus, comprising:
the acquisition module is used for acquiring the current task difficulty and the current damage condition of each joint actuator;
the prediction module is used for planning a path aiming at each action based on the current task difficulty and the current damage condition and predicting the damage condition of each joint actuator when the current task is completed;
and the control module is used for controlling the corresponding joint actuator to execute the current task along the corresponding motion planning path if the prediction result indicates that the corresponding joint actuator is not abnormal in the corresponding motion planning path when the current task is executed.
8. The device of claim 7, wherein the control module is further configured to control the member of joint actuators that is not predicted to have an abnormality to execute the current task along the motion planning path corresponding thereto if the prediction indicates that the corresponding joint actuator has an abnormality in the corresponding motion planning path at the completion of the current task.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
10. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 6.
CN202110739313.9A 2021-06-30 2021-06-30 Robot control method, device, medium, and electronic apparatus Pending CN115213887A (en)

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Application Number Priority Date Filing Date Title
CN202110739313.9A CN115213887A (en) 2021-06-30 2021-06-30 Robot control method, device, medium, and electronic apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110739313.9A CN115213887A (en) 2021-06-30 2021-06-30 Robot control method, device, medium, and electronic apparatus

Publications (1)

Publication Number Publication Date
CN115213887A true CN115213887A (en) 2022-10-21

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Application Number Title Priority Date Filing Date
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