CN115922686A - Robot, method and apparatus for controlling robot, and computer-readable storage medium - Google Patents

Abstract

The invention provides a robot, a control method thereof, a control device and a computer readable storage medium. The robot can travel along a preset travel track, a starting point, an end point and a separation point located between the starting point and the end point are arranged on the preset travel track, and the control method of the robot comprises the following steps: after a zero returning instruction is obtained, judging the position of the robot; and when the robot is positioned between the separation point or between the separation point and the end point, the robot is controlled to travel from the current position to the end point to a second zero point. According to the method, two routes of returning to the zero position in opposite directions are provided for the robot according to the position relation between the robot and the separation point, so that the system can control the robot to return to the zero position according to one route of returning to the zero position according to the position of the robot, and the risk of collision with other working robots on the workbench is avoided.

Description

Robot, method and apparatus for controlling robot, and computer-readable storage medium

Technical Field

The present application relates to the field of robotics, and in particular, to a robot, a control method thereof, a control apparatus thereof, and a computer-readable storage medium.

Background

At present, in the automation operation of a factory, a robot may need to perform several processes and enter different stations to perform operation, so that a situation that multiple robots sequentially work on the same workbench occurs, however, when a robot enters a next workbench after a certain workbench works, some emergency situations may occur to enable the robot to return to a zero position and be in a waiting state, and in the prior art, the robot is usually controlled to return to a primary path, so that the robot is easy to collide with a robot on the previous workbench.

Therefore, the invention provides a control method of a robot, so that the robot can select different zero-resetting tracks according to different positions after acquiring a zero-resetting instruction to avoid collision with other robots in a working state, which is a problem to be solved at present.

Disclosure of Invention

The present invention is directed to solving or improving at least one of the above technical problems.

A first aspect of the present invention is to provide a control method of a robot.

A second aspect of the present invention is to provide a control device for a robot.

A third aspect of the present invention is to provide a robot.

A fourth aspect of the present invention is to provide a computer-readable storage medium.

The technical scheme of the first aspect of the invention provides a control method of a robot, the robot can run along a preset running track, a starting point, an end point and a separation point between the starting point and the end point are arranged on the preset running track, and the control method of the robot comprises the following steps: after a zero returning instruction is obtained, judging the position of the robot; and when the robot is positioned between the separation point or between the separation point and the end point, the robot is controlled to travel from the current position to the end point to a second zero point.

According to the robot control method provided by the invention, firstly, a preset running track can be set for the robot through a specific program or a teaching mode, so that the robot can run on the preset running track, the preset running track comprises a starting point and an end point, a separation point is also arranged between the starting point and the end point, and further, the separation point is a workbench on the running track, so that after the robot acquires a zero-returning instruction, the track of the zero-returning position of the robot can be determined according to the position of the robot. Specifically, when the robot is located between the starting point and the separation point, it is indicated that the robot does not reach the position of the workbench, and after the zero returning instruction is received, the robot is controlled to return to the first zero returning point from the current position to the starting point, so that collision with the working robot on the workbench can be avoided. In the returning process, the original path can be returned to the starting point along the preset running track, or the original path can be returned to the first zero-returning point along the programmed track. The first zero-back point may or may not be a starting point; when the robot is located between the separation point and the terminal point, the robot is indicated to pass through the position of the workbench, and after the zero returning instruction is received, the robot is controlled to drive to the second zero returning point from the current position to the terminal point, so that collision with the working robot on the workbench can be avoided. Of course, during the driving to the second zero-crossing point, the vehicle may also be driven to the end point along a preset driving track, or driven to the second zero-crossing point along a programmed track. The second zero-back point may be an end point or not; in the actual working process, the working table is used as a separation point, and two zero returning routes in opposite directions are provided for the robot according to the position relation between the robot and the separation point, so that the system can control the robot to return to the zero position according to one of the zero returning routes according to the position of the robot, and the risk that the robot can only be controlled to return according to the original path of the driving track and collide with other working robots on the working table in the prior art is avoided. In addition, different return paths can be programmed for the robot according to actual conditions in the process of returning the zero position of the robot, so that various different driving tracks are provided for returning the zero position of the robot, the user experience is improved, and more controllability is provided for the robot.

In the above technical solution, the step of controlling the robot to travel from the current position to the starting point to the first zero-back point specifically includes: and controlling the robot to travel to the starting point along a preset travel track from the current position to the starting point.

In the technical scheme, the robot can be controlled to return to the starting point along the preset running track to return to the first zero-returning point. Specifically, the preset traveling track of the robot traveling can be generated through teaching and other modes, in the process of teaching the robot, the point position sequence of a plurality of traveling points on the preset track is recorded, after a zero-returning instruction is received, the device can automatically sequence the traveling points on the preset track, and the robot can return to the starting point according to the original point position sequence on the preset traveling track. According to the scheme, the robot is controlled to return to the starting point along the original road of the preset running track only by controlling the robot to return to the starting point along the original road of the preset running track without additionally arranging devices such as a high-volume GPS (global positioning system) positioning device and the like, and the robot is controlled to return to the first-return zero point along the original road of the preset running track, so that the safety of the running process of the robot is ensured, and meanwhile, the operation of a user is very simple.

In the above technical solution, the step of controlling the robot to travel from the current position to the end point to the second zero point specifically includes: and controlling the robot to travel to the terminal point along the preset travel track from the current position to the terminal point.

In the technical scheme, the robot can be controlled to move forward to the end point along the preset running track so as to return to the second zero return point. Similarly, the point location sequence of a plurality of driving points on the preset track can be recorded in the teaching process of the robot, so that after the zero returning instruction is received, the device can automatically sequence the plurality of driving points on the preset track, and the robot can advance to the second zero returning point according to the point location sequence of the plurality of driving points on the preset driving track. According to the scheme, the robot is controlled to move forward to the terminal point to return to the second zero point according to the preset running track without additionally arranging devices such as a high-volume GPS (global positioning system) positioning device and the like, and the robot is controlled to move forward to the terminal point along the preset running track to return to the second zero point, so that the safety of the robot in the running process is ensured, and the operation of a user is very simple.

In the above technical solution, the preset travel track includes a plurality of first type travel points located between the starting point and the separation point and a plurality of second type travel points located between the ending point and the separation point, and the step of determining the position of the robot specifically includes: and acquiring a driving point close to the robot and judging the type of the close driving point, judging that the robot is positioned between the starting point and the separation point when judging that the close driving point is the first type driving point, and judging that the robot is positioned between the terminal point and the separation point when judging that the close driving point is the second type driving point.

In the technical scheme, a plurality of first-type driving points can be set between the starting point and the separation point through manual programming, and a plurality of second-type driving points are set between the terminal point and the separation point, so that after the zero returning instruction is obtained, the control device can obtain the driving point close to the robot according to the position of the robot and judge the type of the close driving point, when the close driving point is the first-type driving point, the robot can be determined to be between the starting point and the separation point, the robot is controlled to drive to the first zero returning point towards the starting point at the moment, when the close driving point is the second-type driving point, the robot can be determined to be between the separation point and the terminal point at the moment, and the robot is controlled to drive to the second zero returning point towards the terminal point at the moment. Of course, in this embodiment, when teaching the robot, point location information of a plurality of travel points between the starting point and the end point may be recorded, specifically, a travel point between the starting point and the separation point is recorded as a first type of travel point, and a travel point between the end point and the separation point is recorded as a second type of travel point, so that the position of the robot at that moment may also be determined after the zero-return instruction is obtained. This application is through carrying out the mark of two kinds of different grade types to the point on predetermineeing the orbit of traveling, like this in the position of later stage judgement robot, only need judge the type that the point of traveling that closes on with the robot can judge the position of robot, need not positioner such as high position sensor and GPS, the operation is got up very simply.

According to the technical scheme, teaching information is obtained, and the preset driving track is generated based on the teaching information.

According to the technical scheme, the robot can be taught manually, the teaching information can be acquired by the device, then the teaching information is stored to determine the preset running route of the robot, the preset running track of the robot is generated in a teaching mode, different preset running tracks can be generated for the robot according to the actual working condition of a workshop, and the robot can flexibly deal with various complex working environments.

In the above technical solution, the step of obtaining teaching information and generating a preset travel track based on the teaching information includes: in the process of teaching the robot, determining a preset driving track based on teaching information, and a starting point, an end point and a separation point of the preset driving track, setting a plurality of driving points on the preset driving track, and recording driving information of the robot on the driving points and the separation point; when the robot is controlled to run along the preset running track, the robot is controlled to run according to the running points and the running information corresponding to the running points.

According to the technical scheme, a preset running track for the robot to run is generated through a teaching process of the robot, and meanwhile, a plurality of running points on the running track are determined according to the preset running track, a starting point, an end point and a separation point on the preset running track, so that running information of the running points on the running track can be recorded in the teaching process, and the robot can be controlled to run to a zero point according to the running points and corresponding running information in a process of controlling the robot to return to a zero position in a later period. According to the method, the plurality of driving points on the preset driving track are recorded in the teaching process, so that the robot can return to the zero position according to the driving information corresponding to the plurality of driving points, and the safety of the robot in the returning process is ensured.

In the above technical solution, the preset driving track includes a plurality of driving points, and the control method of the robot further includes: and sequencing all the running points on the preset running track in sequence, and controlling the robot to run along the sequence of all the running points when the robot is controlled to run along the preset running track.

In the technical scheme, after the instruction of returning to the zero position is obtained, the device can sequence the plurality of running points on the preset running track according to the sequence in the teaching process, so that when the robot is controlled to run along the preset running track, the robot can be controlled to run to the first return zero point or the second return zero point along the sequence of all the running points. According to the method, after the device acquires the zero-returning instruction, the device can automatically sequence the multiple driving points on the preset driving track, so that the robot can be controlled to return to the zero point along the sequence of the multiple driving points, the operation is simple, and a high-volume position sensor, a GPS positioning device and the like are not needed.

In the above technical solution, the control method of the robot further includes: acquiring increase and decrease information of the driving points, updating the preset driving track based on the increase and decrease information, and reordering the driving points on the updated preset driving track; and when the robot is controlled to run along the preset running track, the robot is controlled to run in sequence according to the running points after reordering.

In the technical scheme, a worker can increase the driving points or reduce the existing driving points between any two adjacent driving points according to needs, so that after the device acquires the increase and decrease information, the device can form a new preset track for the robot again according to the increase and decrease information and reorder all the driving points on the new preset track, and thus when the robot is controlled to return to the zero point along the preset track, the robot can be controlled to return to the zero point along a plurality of driving points on the new preset track in sequence. The method can increase or decrease the driving points at will according to the requirement at the later stage, so that the robot can freely respond to the complex working environment, namely in the process of returning to the zero position of the robot, when the action of the robot at a certain position needs to be increased or decreased, only the corresponding driving points need to be increased or decreased at the position, the device can reorder all the increased or decreased driving points, so that the robot can be controlled to perform the corresponding action when the robot drives to the position, the method can not cause the disorder of the control device due to the increase or decrease of the driving points, the single route of returning to the zero position of the robot is solved, and the robot can safely return to the zero position in various complex changing working environments.

In the above technical solution, the process of controlling the robot to sequentially travel according to the reordered travel points includes: acquiring point location information of a current driving point, and controlling the robot to move to the next driving point based on the point location information; the point location information comprises one or more of a driving point name, cartesian coordinate data, attitude data, a motion mode, a speed during motion and acceleration.

According to the technical scheme, when the robot is controlled to run according to the plurality of running points which are rearranged, the point location information of each running point is obtained, then the robot moves to the next running point in sequence according to the point location information of each running point, and then the robot returns to the zero point. The point location information comprises information such as the motion speed, the motion acceleration and the motion mode of the robot, the motion attitude of the robot, the motion name and the Cartesian coordinates of the point and the like. According to the scheme, the robot is controlled to run according to the running information of each running point, so that not only is the running route of the robot controlled, but also the information such as the running posture, the running speed and the like of each running point in the running process of the robot is controlled, and the collision with other objects in the process of returning to the zero position is avoided. Certainly, the point location information of each driving point can be stored in the teaching process, so that when the robot is controlled to return to the zero position, the point location information of each driving point passing through the robot in the zero return process can be consistent with the point location information of each point in the robot teaching process, and the safety of the robot in the zero return process is improved.

In the above technical solution, the method for controlling a robot further includes: and in the process that the robot runs along the first zero-returning point or the second zero-returning point, after the interrupt instruction is obtained, controlling the robot to return to the position where the robot is located when the robot obtains the zero-returning instruction according to the zero-returning track.

In the technical scheme, the control method of the robot further comprises the step of inputting an interrupt instruction manually in the process of returning the robot to the first zero-returning point or the second zero-returning point, so that the robot can be interrupted to continue moving to the first zero-returning point or the second zero-returning point after the interrupt instruction is received by the device, and the robot is controlled to return to the position where the robot is located when the zero-returning instruction is obtained by the robot, so that the zero-returning process of the robot can be interrupted timely according to the actual working condition when the robot does not need to return to the zero position and needs to continue working, and the problem that the robot cannot be interrupted after receiving the zero-returning instruction to influence the next working is avoided.

In the above technical solution, the method for controlling a robot further includes: and after the robot returns to the first zero-back point or the second zero-back point, controlling the robot to reset to an initial in-position state and generating a in-position signal.

In this embodiment, the method for controlling a robot further includes: when the robot returns to the position of the first zero-returning point or the second zero-returning point, the device can control the robot to automatically reset to the initial in-position state and simultaneously control the robot to send out in-position signals, so that the main program in the workshop can receive the corresponding in-position signals to know the state of the robot, and a new task can be distributed to the robot at any time.

In the above technical solution, the starting point and the ending point are the same position or the starting point and the ending point are two different positions.

In the technical scheme, the starting point and the end point are different positions, the starting point and the end point can be the same position, when the starting point and the end point are the same position, the preset running track of the robot running is a closed annular track, at the moment, when the robot is controlled to return to the starting point, the robot can be controlled to reversely run to the starting point along the preset running track, and when the robot is controlled to return to the end point, the robot can be controlled to forwardly run to the end point along the preset running track.

In the technical scheme, the robot can travel along a plurality of preset travel tracks, and the plurality of preset travel tracks are connected end to end.

In the technical scheme, the robot can travel along a plurality of preset travel tracks, the preset travel tracks are connected end to end, namely the end point of the previous preset track is the start point of the next preset track, therefore, no matter which preset travel track the robot moves to, after the zero return instruction is obtained, the robot can determine the nearest start point and end point according to the position of the robot, and meanwhile, different travel tracks are selected to return to the zero position according to the backward sequence of the nearest separation point on the preset travel tracks. The method is more suitable for a production line, and each robot corresponds to a plurality of different working tables, so that no matter which working table the robot moves to, different running tracks can be selected to return to the zero position according to the position relation between the robot and the nearby working tables.

A second aspect of the present invention provides a robot control device, including: and the processor comprises a memory and a processing unit, executable instructions are stored in the memory, and the steps of the control method of the robot in the first aspect of the application are realized when the processor executes the executable instructions stored in the memory.

According to the control device provided by the present invention, a computer program that can execute the control method of the robot according to any one of the first aspect is stored in a memory, and when the computer program is executed by a processor, the control method is realized, whereby the return-to-zero trajectory of the robot can be controlled. Since the control device provided by the present invention is capable of executing the control method provided by any of the above technical solutions of the first aspect, the control device provided by the present application has all the beneficial effects of the control method provided by any of the technical solutions of the first aspect of the present invention, and is not described herein again.

The technical scheme of the third aspect of the invention provides a robot, which comprises the control device of the robot provided by the second aspect of the invention.

An aspect of the fourth aspect of the present invention provides a computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the method for controlling a robot provided in any one of the first aspect of the present application.

According to the computer-readable storage medium provided by the present invention, a computer program needs to be stored in a computer-readable medium, which ensures that the computer program can be executed by a processor, so as to realize that the zero-returning bit trajectory of the robot can be rapidly controlled by the control method, and since the computer-readable storage medium provided by the present invention can store the computer program for realizing the control method of the robot according to any one of the first aspects, the computer-readable storage medium provided by the present invention has all the beneficial effects of the control method of the robot according to any one of the first aspects of the present invention, and is not described herein again.

Additional aspects and advantages in accordance with the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of embodiments according to the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart illustrating a control method of a robot according to the present invention;

fig. 2 is a flowchart showing the steps of determining a return instruction for suspension in the control method of the robot according to the present invention;

fig. 3 is a flowchart of a control procedure of the control method of the robot according to the present invention;

fig. 4 is a schematic diagram illustrating a motion trajectory of a robot in a scenario of a control method of the robot according to the present invention;

fig. 5 shows a motion trajectory schematic diagram of a robot in another scenario of the control method of the robot provided by the present invention;

fig. 6 shows a schematic diagram of a motion trajectory of a robot in yet another scenario of the control method of the robot provided by the present invention;

fig. 7 is a technical block diagram of a control apparatus of a robot according to the present invention.

The correspondence between the part names and the reference numbers in fig. 7 is as follows:

the system comprises a program template 1, a command module 2, a background program module 3, a display unit 4, an encryption module 5, an interruption module 6 and a PLC control module 6.

Detailed Description

In order that the above aspects, features and advantages of the embodiments according to the present invention can be more clearly understood, embodiments according to the present invention will be described in further detail below with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of embodiments according to the invention, however, embodiments according to the invention may be practiced in other ways than those described herein, and therefore the scope of protection of embodiments according to the invention is not limited by the specific embodiments disclosed below.

Example one

As shown in fig. 1, the present embodiment provides a control method for a robot, where the robot is capable of traveling along a preset traveling track, and a starting point, an ending point, and a separation point located between the starting point and the ending point are arranged on the preset traveling track, and the control method for the robot specifically includes the following steps:

s102: acquiring a zero bit returning instruction;

s104: judging the position of the robot; when the robot is located between the starting point and the separation point, S106 is executed; when the robot is located at the separation point or between the separation point and the terminal point, executing S108;

s106: controlling the robot to drive from the current position to the starting point to a first zero-back point;

s108: and controlling the robot to travel to a second zero point from the current position to the end point.

According to the robot control method provided by the embodiment, a preset running track can be set for the robot through a specific program or a teaching mode, so that the robot can run on the preset running track, the preset running track comprises a starting point and an end point, a separation point is further arranged between the starting point and the end point, and the separation point is a workbench on the running track, so that after the robot obtains a zero returning instruction, the track of the zero returning position of the robot can be determined according to the position of the robot. Specifically, when the robot is located between the starting point and the separation point, it is indicated that the robot does not reach the position of the workbench, and after the zero returning instruction is received, the robot is controlled to return to the first zero returning point from the current position to the starting point, so that collision with the working robot on the workbench can be avoided. In the returning process, the original path can be returned to the starting point along the preset running track, or the original path can be returned to the first zero-returning point along the programmed track. The first zero-back point may or may not be a starting point; when the robot is located between the separation point and the terminal point, the robot is indicated to pass through the position of the workbench, and after the zero returning instruction is received, the robot is controlled to drive from the current position to the terminal point to the second zero returning point, so that collision with the robot working on the workbench can be avoided. Of course, during the driving to the second zero-crossing point, the vehicle may also be driven to the end point along a preset driving track, or driven to the second zero-crossing point along a programmed track. The second zero-back point may be an end point or not; in the actual working process, the working table is used as a separation point, and two zero returning routes in opposite directions are provided for the robot according to the position relation between the robot and the separation point, so that the system can control the robot to return to the zero position according to one of the zero returning routes according to the position of the robot, and the risk that the robot can only be controlled to return according to the original path of the driving track and collide with other working robots on the working table in the prior art is avoided. In addition, different return paths can be programmed for the robot according to actual conditions in the process of returning the zero position of the robot, so that various different driving tracks are provided for returning the zero position of the robot, the user experience is improved, and more controllability is provided for the robot.

In the above embodiment, the robot may be controlled to return to the starting point along the preset driving track to return to the first returning zero point. Specifically, the preset running track for running of the robot can be generated through teaching and other modes, in the teaching process of the robot, the point location sequence of a plurality of running points on the preset track is recorded, so that after a zero-returning instruction is received, the device can automatically sequence the running points on the preset track, and the robot can return to the starting point according to the original point location sequence on the preset running track. According to the scheme, the robot is controlled to return to the starting point along the original road of the preset running track only by controlling the robot to return to the starting point along the original road of the preset running track without additionally arranging devices such as a high-volume GPS (global positioning system) positioning device and the like, and the robot is controlled to return to the first-return zero point along the original road of the preset running track, so that the safety of the running process of the robot is ensured, and meanwhile, the operation of a user is very simple.

In the above embodiment, the robot may be controlled to advance to the end point along the preset travel track to return to the second return-to-zero point. Similarly, the point location sequence of a plurality of driving points on the preset track can be recorded in the teaching process of the robot, so that after the zero returning instruction is received, the device can automatically sequence the plurality of driving points on the preset track, and the robot can move forward to the second zero returning point according to the point location sequence of the plurality of driving points on the preset driving track. According to the scheme, the robot is controlled to move forward to the terminal point to return to the second zero point according to the preset running track without additionally arranging devices such as a high-volume GPS (global positioning system) positioning device and the like, and the robot is controlled to move forward to the terminal point along the preset running track to return to the second zero point, so that the safety of the robot in the running process is ensured, and the operation of a user is very simple.

In the above embodiment, it may be manually programmed to set a plurality of first-type driving points between the starting point and the separation point, and set a plurality of second-type driving points between the ending point and the separation point, so that after the zero-returning instruction is obtained, the control device may obtain, according to the position of the robot, a driving point close to the robot, and determine the type of the running point close to the robot, and when the driving point close to the robot is the first-type driving point, it may be determined that the robot is between the starting point and the separation point at this time, and at this time, the robot is controlled to drive to the first-return zero point in the direction of the starting point, and when the driving point close to the driving point is the second-type driving point, it may be determined that the robot is between the separation point and the ending point at this time, and at this time, the robot is controlled to drive to the second-return zero point in the direction of the ending point. Of course, in this embodiment, when teaching the robot, point location information of a plurality of travel points between the starting point and the end point may be recorded, specifically, a travel point between the starting point and the separation point is recorded as a first type of travel point, and a travel point between the end point and the separation point is recorded as a second type of travel point, so that the position of the robot at that moment may also be determined after the zero-return instruction is obtained. This application is through carrying out the mark of two kinds of different grade types to the point on predetermineeing the orbit of traveling, like this in the position of later stage judgement robot, only need judge the type that the point of traveling that closes on with the robot can judge the position of robot, need not positioner such as high position sensor and GPS, the operation is got up very simply.

In the above embodiment, the robot may be taught manually, so that the device may acquire the teaching information, and then store the teaching information to determine the preset traveling route of the robot, and the preset traveling track of the robot generated by the teaching mode may generate different preset traveling tracks for the robot according to the actual working conditions of the workshop, so that the robot may flexibly cope with various complex working environments.

Furthermore, a preset running track of the robot running is generated through a process of teaching the robot, and meanwhile, a plurality of running points on the running track are determined according to the preset running track, a starting point, an end point and a separation point on the preset running track, so that running information of the running points on the running track can be recorded in the teaching process, and the robot can be controlled to run to a zero point according to the running points and corresponding running information in the process of controlling the robot to return to the zero position in the later period. According to the method, the multiple driving points on the preset driving track are recorded in the teaching process, so that the robot can return to the zero position according to the driving information corresponding to the multiple driving points, and the safety of the robot in the returning process is ensured.

Further, after the instruction of returning to the zero position is obtained, the device can sequence the plurality of running points on the preset running track according to the sequence in the teaching process, so that when the robot is controlled to run along the preset running track, the robot can be controlled to sequentially run to the first return zero point or the second return zero point along the sequence of all the running points. According to the method, after the device acquires the zero-position returning instruction, the device can automatically sequence the plurality of running points on the preset running track, so that the robot can be controlled to return to the zero point along the sequence of the plurality of running points, the operation is simple, and a high-volume position sensor, a GPS positioning device and the like are not needed.

Furthermore, the worker can increase the running points or decrease the existing running points between any two adjacent running points as required, so that after the device acquires the increase and decrease information, the device can form a new preset track for the robot again according to the increase and decrease information, and rearrange all the running points on the new preset track, and thus when the robot is controlled to return to the zero point along the preset track, the robot can be controlled to return to the zero point along a plurality of running points on the new preset track in sequence. The method can increase or decrease the driving points at will according to the requirement at the later stage, so that the robot can freely respond to the complex working environment, namely in the process of returning to the zero position of the robot, when the action of the robot at a certain position needs to be increased or decreased, only the corresponding driving points need to be increased or decreased at the position, the device can reorder all the increased or decreased driving points, so that the robot can be controlled to perform the corresponding action when the robot drives to the position, the method can not cause the disorder of the control device due to the increase or decrease of the driving points, the single route of returning to the zero position of the robot is solved, and the robot can safely return to the zero position in various complex changing working environments.

And further, when the robot is controlled to run according to the plurality of running points after reordering, the point location information of each running point is obtained, and then the robot sequentially moves to the next running point according to the point location information of each running point and further returns to the zero point. The point location information comprises information such as the motion speed, the motion acceleration, the motion mode and the motion posture of the robot at the point, the motion name and the Cartesian coordinates of the point and the like. According to the scheme, the robot is controlled to run according to the running information of each running point, so that not only is the running route of the robot controlled, but also the information such as the running posture, the running speed and the like of each running point in the running process of the robot is controlled, and the collision with other objects in the process of returning to the zero position is avoided. Certainly, the point location information of each driving point can be stored in the teaching process, so that when the robot is controlled to return to the zero position, the point location information of each driving point passing through the robot in the zero return process can be ensured to be consistent with the point location information of each point in the robot teaching process, and the safety of the robot in the zero return process is improved.

In the above embodiment, the control method of the robot further includes inputting an interrupt instruction manually in the process of returning the robot to the first zero-returning point or the second zero-returning point, so that after receiving the interrupt instruction, the device can interrupt the robot to continue moving to the first zero-returning point or the second zero-returning point, and simultaneously control the robot to return to the position where the robot is located when the zero-returning instruction is obtained, so that according to the actual working condition, when the robot does not need to return to the zero position and needs to continue working, the process of returning to the zero position of the robot can be interrupted timely, and the phenomenon that the robot cannot be interrupted after receiving the zero-returning instruction and affects the next working is avoided.

In the above embodiment, the control method of the robot further includes: when the robot returns to the position of the first zero-returning point or the second zero-returning point, the device can control the robot to automatically reset to the initial in-place state, and simultaneously control the robot to send out in-place signals, so that a main program in a workshop can receive the corresponding in-place signals to know the state of the robot, and a new task can be distributed to the robot at any time.

In the above embodiment, the starting point and the ending point are different positions, but of course, the starting point and the ending point may also be the same position, when the starting point and the ending point are the same position, the preset traveling track of the robot traveling is a closed circular track, at this time, when the robot is controlled to return to the starting point, the robot may be controlled to travel to the starting point along the preset traveling track in the reverse direction, and when the robot is controlled to return to the ending point, the robot may be controlled to travel to the ending point along the preset traveling track in the forward direction.

In the above embodiment, the robot can travel along a plurality of preset travel tracks, and the plurality of preset travel tracks are connected end to end, that is, the end point of the previous preset track is the start point of the next preset track, so that no matter which preset travel track the robot moves onto, after the zero return instruction is obtained, the robot can determine the nearest start point and end point according to the position of the robot, and simultaneously, different travel tracks are selected to return to the zero position according to the backward sequence of the nearest separation point on the preset travel track. The method is more suitable for a production line, and each robot corresponds to a plurality of different working tables, so that no matter which working table the robot moves to, different running tracks can be selected to return to the zero position according to the position relation between the robot and the nearby working tables.

In order to more clearly understand the control process of the control method of the robot provided by the present application, the following describes the working principle of the control method of the robot provided by the present application, and the following contents:

(1) Before controlling the robot to return to the zero position, firstly, a program is manually created according to a program template, and the program contains a pre-written initialization command to provide initialization operation for the zero position automatic return function.

(2) And then manually teaching the robot to generate a preset running track for the robot to run, wherein in the teaching process of the robot, a background program can record and store point position information of a plurality of running points on the preset running track and corresponding motion information thereof according to the preset running track of the robot, specifically comprising coordinate data, attitude data, a motion mode, speed during motion, acceleration and the like, and simultaneously identify the plurality of running points on the preset running track. Specifically, after the travel track of the robot is determined, the separation points, that is, the working points or the working platform, are determined, then in the teaching process of the robot, all the travel points between the separation points and the starting point are stored as having macro = ON marks, all the points between the separation points and the end point are stored as having macro = OFF marks, and the separation points are provided with macro = can marks, so that all the travel points between the starting point and the end point are divided into 3 types, and thus, the position of the robot can be judged according to the marks of the travel points where the robot is located in the zero returning process at a later stage.

(4) After the robot is taught, namely the robot moves along a teaching track, the system can monitor an automatic zero return signal at any time, if the zero return signal is received, the current operation of the robot is interrupted, and then the zero return motion of a corresponding zero automatic return strategy is carried out according to the point location identification of a running point where the robot is located. Specifically, after the zero returning instruction is received, when the driving point adjacent to the robot is provided with a Macro = ON mark, the robot is located between the separation point and the starting point at the moment, all driving points with the Macro = ON marks ON the driving track are obtained at the moment, then the points are sorted, and the robot is controlled to return to the starting point along the original path of the driving track according to the point position sequence of all driving points with the Macro = ON marks. When the mark point adjacent to the robot is provided with a Macro = OFF mark, the robot is positioned between the separation point and the terminal point at the moment, all the driving points with the Macro = OFF marks on the driving track are obtained at the moment, the robot is controlled to continue driving to the terminal point along the driving track according to the point position sequence of all the driving points with the Macro = OFF marks, and when the mark point adjacent to the robot is provided with the Macro = CANT mark, the robot is positioned at the separation point at the moment, the robot is controlled to continue driving to the terminal point along the driving track at the moment.

The working condition of the robot when the robot works on site is listed as follows;

if four travel points P1, P2, P3 and P4 are recorded in sequence between the starting point and the end point of the travel track of the robot during the teaching process, and the mark Macro = ON is provided for the points P1 and P2, the mark Macro = can is provided for the point P3 which is a separation point (working point), and the mark Macro = OFF is provided for the point P4 which is behind the separation point P3, then the travel track of the robot during the actual working process is as follows:

1. after the robot moves to the P1 position, if a zero return position instruction is received at the moment, the system judges that the mark of the P1 point is ON, and the robot is controlled to return to the starting point from the P1 point at the moment; if the zero-returning instruction is not received at the moment, controlling the robot to continuously drive to a point P2 for working;

2. if the zero-returning instruction is not received at the point P1, after the robot moves to the point P2, if the zero-returning instruction is received at the moment, the system judges that the mark of the point P2 is ON, controls the robot to move from the point P2 to the point P1 at the moment, and finally returns to the starting point; if the zero-returning instruction is not received, controlling the robot to continue to run to a point P3 for working;

3. if the zero returning instruction is not received at the point P2, after the robot moves to the point P3, if the zero returning instruction is received at the moment, the system judges that the mark of the point P3 is CANT, controls the robot to move from the point P3 to the point P4 at the moment, and finally drives to the terminal point; if the zero-returning instruction is not received, controlling the robot to continue to run to a point P4 for working;

4. if the zero-returning instruction is not received at the point P3, after the robot moves to the point P4, if the zero-returning instruction is received at the moment, the system judges that the mark of the point P4 is OFF, and the robot is controlled to move to the terminal point from the point P4 at the moment.

Therefore, no matter where the robot is in the working process, after the zero-returning position is obtained, the system can quickly read the position information of the robot, and the robot is controlled to return to the zero point by adopting a corresponding scheme.

When the robot is between the separation point and the end point and returns to the zero point, the robot is not required to return to the zero point for some reason, and the robot is required to return to the original working position again. Specifically, when the robot is located between the separation point and the terminal point, the system displays a pause program and a return program, so that a user can select the pause program and the return program to control the robot to stop moving towards the zero position direction, and simultaneously control the robot to automatically return to the position where the robot is located when the robot acquires the zero return instruction to continue working. When the robot is not between the separation point and the end point, the pause program and the return program of the robot need not be controlled, and at this time, the system does not display the pause program and the return program.

As shown in fig. 2, specifically, when the Macro flag is not "OFF", the robot is controlled to operate according to a normal program; and when the Macro mark is OFF, whether the robot is controlled to stop and return to the position where the robot acquires the zero returning instruction to continue working or not is judged specifically as follows:

executing S201 when a pause instruction is input, executing S202 when a return instruction is input, and executing S203 when the pause instruction and the return instruction are simultaneously input;

s201: determining whether the selection of an intra-program abort is "non-abort"; if yes, executing S205, otherwise executing S204;

s202: judging whether the selection returned in the program is 'non-return'; if yes, executing S205, otherwise executing S206;

s203: judging whether the in-program abort selection is 'non-abort'; if yes, executing S205, otherwise, executing S207;

s204: running a stopping program;

s205: the program continues to run;

s206: running a return program;

s207: judging whether the selection returned in the program is 'non-return'; if yes, executing S204, otherwise executing S208;

s208: the abort program and the return program are run in sequence.

Referring to the above determining step in detail, taking S203 as an example, in the above step, after the user inputs the stop command and the return command at the same time, the system will execute step S203, first determine whether the selection of the stop in the program is "non-stop", that is, whether the program contains the invoked robot program, when the selection of the stop is "non-stop", it indicates that the program does not contain the invoked robot program having the stop command, at this time, the robot cannot stop immediately, execute step S205, the program continues to run, that is, the robot returns to the zero position according to the normal program, when the selection of the stop is not "non-stop", it indicates that the program contains the invoked robot program having the stop command, at this time, execute step S207, determine whether the selection of the return in the program is "non-return", if the returned selection is "non-return", it indicates that the program does not contain the robot program of the invoked execution return command, and at this time, the program contains only the robot program of the invoked execution stop command, so that the step S204 is executed, i.e., the robot only executes the stop program, and if the returned selection is not "non-return", it indicates that the program contains the robot program of the invoked execution return command, and at this time, the program contains both the robot program of the invoked execution stop command and the robot program of the invoked execution return command, so that the step S208 is executed, and the robot is controlled to execute the stop and return programs in sequence, i.e., the robot is controlled to stop and return to the position of the robot when the return-to-zero command is received. Similarly, when only the suspend command or only the return command is input, the determination method is the same as the above determination method.

As shown in fig. 3, the following describes different situations of controlling the robot to run a program when the robot is assigned to different tasks, specifically:

when only the task A is allocated to the robot, after the robot finishes the task A through the program A in the working process, the system judges whether a zero return request is triggered or not; when the judgment result is yes, executing step S501, and when the judgment result is no, executing step S502;

when two tasks, namely a task B and a task C, are distributed for the robot, and the robot finishes the task B through a program B in the working process, then the system judges whether a zero bit returning request is triggered or not; if yes, executing step S501, if no, continuing to execute task C, and if the task C is finished, judging whether the zero bit returning request is triggered by the system; when the determination result is yes, step S501 is executed, and when the determination result is no, step S502 is executed.

Therefore, when only one task is distributed to the robot, the system can judge whether the zero returning request is triggered or not after the robot completes the task, and if the zero returning request is triggered, the system can control the robot to return to the program initialization, so that the data information in the robot can be initialized to prepare for inputting a new program at any time, the interference of the existing program in the robot on the later-stage robot can be avoided, and the working stability of the robot is improved. If the zero returning request is not triggered, the system controls the robot to return to the waiting task and waits for a user to provide a new associated task for the robot, and in the process, a program in the robot does not need to be initialized, so that data in the robot can be reserved, and the working efficiency of the robot on the associated task can be improved.

As shown in fig. 4, the described application scenario is that the robot is palletized in a narrow space. H is the Home point, ST1 is the first workbench, ST2 is the second workbench, and WP is the position of the robot for stacking the workpieces. And points P1 to P10 are point position motion tracks of the robot for conveying the workpiece to the first working table for stacking and then moving the workpiece to the second working table for continuous work. When the robot works, a point P5 is marked with Macro = CANT, a point P1 to P4 is marked with Macro = ON before the point P5, which indicates that the zero-returning function is turned ON, and a point P6 to P10 is marked with Macro = OFF after the point P5, which indicates that the zero-returning function is turned OFF after the point P5 is marked. When the robot works, if a zero returning bit signal is received in the process of moving from a point P1 to a point P4, the operation of returning to the initial zero position from the original path of the current point is executed, and the movement track of the zero returning bit is P4 → P3 → P2 → P1, namely the work initial bit. If the robot reaches the point P5 when working, or reaches the points P6, P7 … … and the like after the point P5, when the robot receives the zero position signal, the robot continues to return to the zero position from the current point along the previously taught track. The track motion sequence is P5 → P6 → P7 → P8 → P9 → P10, i.e. the end of work, or the start of the next work, and then the next work can be controlled by the upper layer program.

As shown in fig. 5, the described application scenario is that the robot is palletized in a narrow space. H is a Home point, ST1 is a first workbench, ST2 is a second workbench, and WP is a position for robot stacking workpieces. And points P1 to P10 are point position motion tracks of the robot for moving the workpiece to the first workbench for stacking and then moving the workpiece to the second workbench for continuous work. The figure describes the case that when the process program is edited again, the robot motion point positions are edited again and comprise addition or deletion. A new point P11 is added between P4 and P5, and a point P8 is deleted. After the program is edited again, when the point location name is inconsistent with the movement sequence of the point location, the robot can rearrange the modified point location after receiving a zero-bit signal in the working process, and cannot be influenced by the disorder of the point location name. In this case, when the robot receives the zero-returning signal before reaching the point P5 of Macro = can, the system sequences all driving points before the point P5, and when the sequencing succeeds, the robot returns to the initial position according to the point sequence P11 → P4 → P3 → P2 → P1, as shown in fig. 5; when the robot receives the zero-returning signal after reaching point P5, the robot goes to the end of work position according to the point sequence P5 → P6 → P7 → P9 → P10. And then waiting for the next work of the regulation and control of the upper layer overall program.

As shown in fig. 6, the described application scenario is that the robot is palletized in a narrow space. H is a Home point, ST1 is a first workbench, ST2 is a second workbench, and WP is a position for robot stacking workpieces. And points P1 to P10 are point position motion tracks of the robot for moving the workpiece to the first workbench for stacking and then moving the workpiece to the second workbench for continuous work. This figure depicts the case where another user-defined point-of-return policy is invoked. When the user edits the program again, a point P11 is added between a point P4 and a point P5, a point P8 is deleted, a point P7 zero-returning strategy is modified, and a user-defined stopping program and a returning program are called at the point. When the robot does not move to the point P5 of Macro = CANT, the zero-returning signal is received, and the robot returns to the initial position according to the point sequence P11 → P4 → P3 → P2 → P1; and when the robot reaches the point P5 and then receives the zero-bit-back signal, the robot continues to travel to the point P6 and the point P7, and when the robot moves to the point P7, the Program1 is called to be stopped, and the robot returns to the original point through a path defined by a user instead of moving to the next workbench. The program defined by the user returns to the point P7 to continue the interrupted work.

An embodiment of a second aspect of the present invention provides a control apparatus for a robot, including: and the processor comprises a memory and a processing unit, executable instructions are stored in the memory, and the steps of the control method of the robot in the first aspect of the application are realized when the processor executes the executable instructions stored in the memory.

According to the control device provided by the present invention, a computer program that can execute the control method of the robot according to any one of the first aspect is stored in a memory, and when the computer program is executed by a processor, the control method is realized, whereby the zero-returning trajectory of the robot can be controlled. Since the control device provided by the present invention is capable of executing the control method provided by any technical solution of the first aspect of the present invention, the control device provided by this embodiment has all the beneficial effects of the control method provided by any technical solution of the first aspect of the present invention, and is not described herein again.

As shown in fig. 7, the control device of the robot of the present invention mainly includes a program template 1, a command module 2, a background program module and a display unit 3, an encryption module 4, an interrupt module 5 and a PLC control module 6, wherein a user can create a program in the program template 1 to create information such as a driving track, driving parameters, etc. of the robot, the command module 2 is used to execute the program in the program template 1 to control the robot to move, the background program module and the display unit 3 are used to record a background running program of the robot and display a movement state of the robot for the user, the encryption module 4 is used to encrypt the background program module and the display unit 3, and the interrupt module 5 is used to stop the robot from returning to a zero position. In the using process, a user enters the background program module and the display unit 3 through the encryption module 4 and inputs a corresponding command in the command module 2 to control the robot to perform corresponding action, after the device receives a zero return command, the corresponding program in the program template 1 is called to control the robot to automatically return to zero, in the zero return process, the user can input a stop command, and at the moment, the robot is controlled to stop returning to zero and return to a working position to continue working.

Embodiments of the third aspect of the present invention provide a robot, including a control device of the robot provided in embodiments of the second aspect of the present application.

The robot provided by the invention comprises the control device of the robot provided by the embodiment of the second aspect of the invention, and the control device can control the robot to select the track of the zero position according to the position of the robot after the zero return instruction is acquired. Since the robot provided by the present embodiment includes the control device of the robot provided by the second aspect of the present application, the robot provided by the present application has all the advantages of the control device of the robot provided by the second aspect of the present application.

An embodiment of the fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling a robot according to any one of the technical solutions in the embodiments of the first aspect of the present application.

The program code for implementing the control method of a radio transmission node of the present invention may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or electronic device.

In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical fiber, a portable compact disc read-only memory, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

In the computer-readable storage medium provided by the present invention, a computer program needs to be stored in the computer-readable storage medium, and the computer-readable storage medium ensures that the computer program can be executed by the processor, so as to realize that the zeroing bit trajectory of the robot can be rapidly controlled by the control method, and since the computer-readable storage medium provided by the present invention can store the computer program for realizing the control method of the robot according to any one of the first aspects, the computer-readable storage medium provided by the present invention has all the beneficial effects of the control method of the robot according to any one of the first aspects of the present invention, and is not described herein again.

Additional aspects and advantages in accordance with the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

In embodiments according to the invention, the terms "first", "second", "third" are used only for descriptive purposes and are not to be construed as indicating or implying relative importance; the term "plurality" means two or more unless explicitly defined otherwise. The terms "mounted," "connected," "fixed," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, a removable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. Specific meanings of the above terms in the embodiments according to the present invention can be understood by those of ordinary skill in the art according to specific situations.

Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

The above is only a preferred embodiment according to the present invention, and is not intended to limit the embodiment according to the present invention, and various modifications and variations may be made to the embodiment according to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiment according to the present invention should be included in the protection scope of the embodiment according to the present invention.

Claims (15)

1. A control method of a robot, the robot being capable of traveling along a preset travel track having a start point and an end point and a division point located between the start point and the end point, the control method comprising:

after a zero returning instruction is obtained, judging the position of the robot;

when the robot is positioned between the starting point and the separation point, controlling the robot to drive from the current position to the direction of the starting point to a first return-to-zero point;

and when the robot is positioned at the separation point or between the separation point and the terminal point, controlling the robot to drive from the current position to the terminal point to a second zero point.

2. The method of controlling a robot according to claim 1,

the step of controlling the robot to travel from the current position to the starting point to the first zero point includes: and controlling the robot to travel to the starting point along the preset travel track from the current position to the starting point.

3. The method of controlling a robot according to claim 1,

the step of controlling the robot to travel from the current position to the direction of the terminal point to a second zero point specifically includes: and controlling the robot to travel to the terminal point along the preset travel track from the current position to the terminal point.

4. The method of controlling a robot according to claim 1, further comprising:

the preset travel track includes a plurality of first type travel points located between the starting point and the separation point and a plurality of second type travel points located between the ending point and the separation point, and the step of determining the position of the robot specifically includes:

and acquiring a driving point close to the robot and judging the type of the close driving point, judging that the robot is positioned between the starting point and the separation point when judging that the close driving point is the first type driving point, and judging that the robot is positioned between the terminal point and the separation point when judging that the close driving point is the second type driving point.

5. The method of controlling a robot according to claim 1, further comprising:

and acquiring teaching information, and generating the preset driving track based on the teaching information.

6. The method of controlling a robot according to claim 5, wherein the step of acquiring teaching information and generating the preset travel locus based on the teaching information includes:

in the process of teaching the robot, determining a preset traveling track, a starting point, an end point and a separation point of the preset traveling track based on teaching information, setting a plurality of traveling points on the preset traveling track, and recording traveling information of the robot on the traveling points and the separation point;

and when the robot is controlled to run along the preset running track, the robot is controlled to run according to the running information corresponding to the running points and the running points.

7. The control method of a robot according to claim 6, wherein the preset travel track includes a plurality of travel points, the control method of a robot further comprising:

sequencing all the driving points on the preset driving track according to the sequence,

and when the robot is controlled to run along the preset running track, the robot is controlled to run along the sequence of all running points.

8. The method of controlling a robot according to claim 7, further comprising:

acquiring increase and decrease information of the driving points, updating the preset driving track based on the increase and decrease information, and reordering the driving points on the updated preset driving track;

and when the robot is controlled to run along the preset running track, the robot is controlled to run in sequence according to the running points after reordering.

9. The method of controlling a robot according to claim 1, further comprising:

and in the process that the robot runs along the first zero-returning point or the second zero-returning point, after the interrupt instruction is obtained, controlling the robot to return to the position where the robot is located when the robot obtains the zero-returning instruction according to a zero-returning track.

10. The method of controlling a robot according to claim 1, further comprising:

after the robot returns to the first zero-back point or the second zero-back point, controlling the robot to reset to an initial in-position state and generating a in-position signal.

11. The method according to any one of claims 1 to 10, wherein the start point and the end point are the same position or the start point and the end point are two different positions.

12. The control method of a robot according to any one of claims 1 to 10,

the robot can be followed a plurality of predetermine the orbit and travel, and is a plurality of predetermine the orbit end to end.

13. A control device for a robot, comprising:

a processor comprising a memory and a processing unit, the memory having stored therein executable instructions, the processor implementing the steps of the control method of the robot as claimed in any one of claims 1 to 12 when executing the executable instructions stored in the memory.

14. A robot characterized by comprising a control device of the robot according to claim 13.

15. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a control method of a robot according to any one of claims 1 to 12.

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