CN117283571A - Robot real-time control method and device, electronic equipment and readable storage medium - Google Patents
Robot real-time control method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN117283571A CN117283571A CN202311577211.7A CN202311577211A CN117283571A CN 117283571 A CN117283571 A CN 117283571A CN 202311577211 A CN202311577211 A CN 202311577211A CN 117283571 A CN117283571 A CN 117283571A
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Classifications
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
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- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
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Abstract
The embodiment of the application provides a robot real-time control method, a robot real-time control device, electronic equipment and a readable storage medium, and relates to the technical field of computers. When the upper computer sends a remote control instruction to the lower computer for the first time, the upper computer sends a first remote control instruction to the lower computer according to the obtained track planning result, then the lower computer sends a second remote control instruction to the lower computer based on the obtained track planning result by taking the position information to be executed in each instruction execution period as a target according to the remote control period of the upper computer, so that the lower computer carries out real-time control on the target robot according to the received remote control instruction until the position information in the obtained track planning result is sent. The quantity of the position information in the first remote control instruction is larger than the quotient of the remote control period and the instruction execution period. Therefore, the continuity of the running track of the robot on the planning speed can be effectively improved on the basis of realizing remote real-time control.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method and apparatus for controlling a robot in real time, an electronic device, and a readable storage medium.
Background
Robot remote real-time control is currently performed due to equipment hardware cost limitations and the like. In the current robot remote real-time control, a position planning result is generally obtained through an upper computer, then the upper computer sends 1 piece of real-time position information to a lower computer based on the planning result, then the lower computer controls the robot based on the received real-time position information, and after the control is completed, the completed prompt information is fed back to the upper computer; and then the upper computer sends 1 piece of real-time position information again, and the process is repeated until the planned track is completed. However, due to network fluctuation and other reasons, the lower computer cannot obtain new position information after the robot reaches a planned position, and further the lower computer cannot control the robot based on the new position information immediately. Therefore, the actual running track of the robot is poor in continuity in planning speed, the phenomenon that the robot has a pause feeling in the running process is shown, and the user experience is greatly influenced in the application fields of robot moxibustion, massage, kang Yang and the like.
Disclosure of Invention
The embodiment of the application provides a real-time control method, a device, electronic equipment and a readable storage medium for a robot, which can effectively improve the continuity of a robot running track on a planning speed on the basis of realizing remote real-time control, greatly reduce the pause feeling of the robot running track in the running process and improve the user experience of the robot in application fields such as moxibustion, massage, kang Yang and the like.
Embodiments of the present application may be implemented as follows:
in a first aspect, an embodiment of the present application provides a method for controlling a robot in real time, where the method is applied to an upper computer, and the method includes:
when a remote control instruction is sent to a lower computer for the first time, a first remote control instruction is sent to the lower computer according to an obtained track planning result, so that the lower computer can control a target robot in real time according to the first remote control instruction, wherein the first remote control instruction comprises a plurality of position information and an instruction execution period of the lower computer, and the number of the position information in the first remote control instruction is larger than the quotient of the remote control period of the upper computer and the instruction execution period;
after the first remote control instruction is sent, according to the remote control period, the position information to be executed by the lower computer in each instruction execution period is taken as a target, and a second remote control instruction is sent to the lower computer based on the obtained track planning result, so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent out.
In a second aspect, an embodiment of the present application provides a method for controlling a robot in real time, which is applied to a lower computer, and the method includes:
receiving a remote control instruction sent by an upper computer, wherein the remote control instruction comprises an instruction execution period of a lower computer and position information determined by the upper computer according to an obtained track planning result, the quantity of the position information in the remote control instruction received for the first time is larger than the quotient of the remote control period of the upper computer and the instruction execution period, and the quantity of the position information in the remote control instruction received for the non-first time is determined by taking the position information to be executed by the lower computer in each instruction execution period as a target;
and controlling the target robot in real time according to the remote control instruction until the track corresponding to the track planning result obtained by the upper computer is executed.
In a third aspect, an embodiment of the present application provides a real-time control device for a robot, where the device is applied to an upper computer, and the device includes:
the first sending module is used for sending a first remote control instruction to the lower computer according to the obtained track planning result when the remote control instruction is sent to the lower computer for the first time, so that the lower computer can control the target robot in real time according to the first remote control instruction, wherein the first remote control instruction comprises a plurality of position information and an instruction execution period of the lower computer, and the number of the position information in the first remote control instruction is larger than the quotient of the remote control period of the upper computer and the instruction execution period;
And the second sending module is used for sending a second remote control instruction to the lower computer based on the obtained track planning result by taking the position information to be executed by the lower computer in each instruction execution period as a target according to the remote control period after the first remote control instruction is sent, so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent.
In a fourth aspect, an embodiment of the present application provides a real-time control device for a robot, which is applied to a lower computer, and the device includes:
the receiving module is used for receiving a remote control instruction sent by the upper computer, wherein the remote control instruction comprises an instruction execution period of the lower computer and position information determined by the upper computer according to an obtained track planning result, the quantity of the position information in the remote control instruction received for the first time is larger than the quotient of the remote control period of the upper computer and the instruction execution period, and the quantity of the position information in the remote control instruction received for the non-first time is determined by taking the position information to be executed in each instruction execution period of the lower computer as a target;
And the processing module is used for controlling the target robot in real time according to the remote control instruction until the track corresponding to the track planning result obtained by the upper computer is executed.
In a fifth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory, where the memory stores machine executable instructions executable by the processor, where the processor may execute the machine executable instructions to implement the method for controlling a robot in real time according to any one of the foregoing embodiments.
In a sixth aspect, embodiments of the present application provide a readable storage medium having stored thereon a computer program which, when executed by a processor, implements a robot real-time control method according to any one of the foregoing embodiments.
According to the robot real-time control method, the device, the electronic equipment and the readable storage medium, when the upper computer sends the remote control instruction to the lower computer for the first time, a first remote control instruction is sent to the lower computer according to the obtained track planning result, so that the lower computer can control the target robot in real time according to the first remote control instruction, the first remote control instruction comprises a plurality of position information and an instruction execution period of the lower computer, and the number of the position information in the first remote control instruction is larger than the quotient of the remote control period of the upper computer and the instruction execution period; and then, according to the remote control period, taking the position information to be executed by the lower computer in each instruction execution period as a target, and sending a second remote control instruction to the lower computer based on the obtained track planning result so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent. Therefore, on the basis of realizing remote real-time control, the lower computer can be ensured to have position information required by control in each instruction execution period, so that the continuity of the running track of the robot on the planning speed is effectively improved, the pause feeling in the running process of the track of the robot is greatly reduced, and the user experience of the robot in application fields such as moxibustion, massage, kang Yang and the like is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block schematic diagram of a control system provided in an embodiment of the present application;
fig. 2 is a schematic block diagram of an electronic device according to an embodiment of the present application;
fig. 3 is a flow chart of a real-time control method of a robot according to an embodiment of the present application;
FIG. 4 is a flow chart illustrating the sub-steps included in step S120 in FIG. 3;
FIG. 5 is a flow chart illustrating the sub-steps included in step S122 in FIG. 4;
fig. 6 is a flow chart of another method for controlling a robot in real time according to an embodiment of the present application;
fig. 7 is a schematic block diagram of a real-time control device for a robot according to an embodiment of the present application;
fig. 8 is a block schematic diagram of another real-time robot control device according to an embodiment of the present application.
Icon: 10-a control system; 100-an upper computer; 200-a lower computer; 300-robot; 400-an electronic device; 410-a memory; 420-a processor; 430-a communication unit; 500 (600) -a robot real-time control device; 510-a first transmitting module; 520-a second transmission module; 610-a receiving module; 620-a processing module.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The following first explains some of the terms related to the present application.
The upper computer refers to a computer which can directly send out control commands by people and can be a PC or other devices.
The lower computer is a computer that directly controls the device to acquire the status of the device, but may be a PLC (Programmable Logic Controller ) or other devices. The command sent by the upper computer is firstly sent to the lower computer, and the lower computer is then interpreted into a corresponding time sequence signal according to the command to directly control corresponding equipment.
The present inventors have found that remote real-time control can be performed in the following manner. The upper computer sends 1 control instruction to the lower computer, the lower computer determines M positions to be reached based on the control instruction, the robot is periodically controlled according to the positions to be reached, and the process is repeated until the planned track is completed. The control period of the lower computer is T, namely the execution duration corresponding to a position to be reached is a period T.
In the above manner, if the upper computer directly periodically transmits the control instruction according to the period MT, the network fluctuation (non-real-time ethernet), the upper computer non-real-time operating system, etc. cannot ensure that the MT is equal to the time period between the transmission of the control instruction from the upper computer to the completion of the control based on the control corresponding to the control instruction by the lower computer, so that the situation may occur that the continuity of the robot running track in the planning speed is poor.
In the above manner, the lower computer may also return feedback information to the upper computer after completing the control of the robot based on one control instruction, and the upper computer may send the next hop control instruction after receiving the feedback information. However, the feedback information is returned after the lower computer completes a control command, and the corresponding position is in a holding state after the robot has executed.
Therefore, the above implementation manner leads to poor continuity of the running track of the robot in the planning speed, namely the continuity of the running track of the robot in the planning speed cannot be guaranteed, the running track is expressed as a section of planned track, the planned track is issued to the robot controller, the robot can have a pause feeling for many times in the running process, and the user experience is greatly influenced in the application fields of moxibustion, massage, kang Yang and the like of the robot.
Aiming at the situation, the embodiment of the application provides a real-time control method, a device, electronic equipment and a readable storage medium for a robot, which can effectively improve the continuity of a robot running track on a planning speed on the basis of realizing remote real-time control, greatly reduce the pause feeling of the robot running track in the running process and improve the user experience of the robot in application fields such as moxibustion, massage, kang Yang and the like.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a block diagram of a control system 10 according to an embodiment of the disclosure. In this embodiment, the control system 10 may include an upper computer 100, a lower computer 200, and a robot 300. The upper computer 100 may obtain a track planning result through track planning or other manners; the upper computer 100 may be communicatively connected to at least one lower computer 200, and may send a control instruction to the corresponding lower computer 200 based on the obtained trajectory planning result. The lower computer 200 may be communicatively connected to at least one robot 300, and may control the target robot 300 in the connected robots 300 based on the received control instruction, so that the target robot 300 completes a corresponding track, where the target robot 300 is the robot 300 that needs to execute the track corresponding to the track planning result, and may be specifically determined by the actual situation.
In this embodiment, a buffer queue may be disposed in the lower computer 200, and the upper computer 100 may send the planned position to the lower computer 200 according to a certain remote control period. The upper computer 100 sends a plurality of positions to the cache queue for the first time, wherein the number of the positions sent for the first time is larger than the quotient of the remote control period of the upper computer 100 and the instruction execution period of the lower computer 200; and then, the position is sent to the cache queue again under the condition that the position to be executed by the lower computer in each instruction execution period is the target. In this way, the position for controlling the movement of the target robot 300 can be ensured in each instruction execution period T of the lower computer 200 until the track execution is completed, so that the continuity of the robot running track in the planning speed is effectively improved.
Referring to fig. 2, fig. 2 is a block diagram of an electronic device 400 according to an embodiment of the disclosure. In this embodiment, the electronic device 400 may be used as the upper computer 100 or the lower computer 200. The electronic device 400 may include a memory 410, a processor 420, and a communication unit 430. The memory 410, the processor 420 and the communication unit 430 are electrically connected directly or indirectly to each other to realize data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
Wherein the memory 410 is used to store programs or data. The Memory 410 may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
The processor 420 is used to read/write data or programs stored in the memory 410 and perform corresponding functions. For example, the memory 410 stores therein a robot real-time control device including at least one software function module that may be stored in the memory 410 in the form of software or firmware (firmware). The processor 420 executes various functional applications and data processing by running software programs and modules stored in the memory 410, such as a robot real-time control device in the embodiment of the present application, that is, implements the robot real-time control method in the embodiment of the present application.
The communication unit 430 is used for establishing a communication connection between the electronic device 400 and other communication terminals through a network, and for transceiving data through the network.
It should be understood that the structure shown in fig. 2 is merely a schematic diagram of the structure of the electronic device 400, and that the electronic device 400 may further include more or fewer components than those shown in fig. 2, or have a different configuration than that shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
Referring to fig. 3, fig. 3 is a flow chart of a real-time control method for a robot according to an embodiment of the present application. The method is applied to the machine. The specific flow of the robot real-time control method is described in detail below. In this embodiment, the method may include step S110 to step S120.
Step S110, when a remote control instruction is sent to a lower computer for the first time, a first remote control instruction is sent to the lower computer according to the obtained track planning result, so that the lower computer can control the target robot in real time according to the first remote control instruction.
And step S120, after the first remote control instruction is sent, according to the remote control period, the lower computer aims at the position information to be executed in each instruction execution period, and sends a second remote control instruction to the lower computer based on the obtained track planning result, so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent.
In this embodiment, the upper computer may control a target robot through a lower computer, where the lower computer is a robot controller. The upper computer can obtain the track planning result in any mode. The track planning result comprises a plurality of positions with the instruction execution period of T, namely, aiming at two adjacent planned positions, the lower computer can control the target robot to move from one planned position to the other planned position in one instruction execution period. Optionally, the upper computer may perform planning according to a start-end position, a speed, an acceleration, other parameters (such as a track execution number), etc., so as to obtain a plurality of position information with a command execution period of T, that is, obtain a track planning result through track planning. Or other equipment obtains a track planning result through planning, and sends the track planning result to the upper computer.
In the process of controlling the target robot through the lower computer, the upper computer can send a first remote control instruction to the lower computer according to the obtained track planning result when sending the remote control instruction to the lower computer for the first time. The track planning result comprises position information for indicating the position. The first remote control instruction comprises a plurality of pieces of position information determined by the upper computer from the obtained track planning result according to the position execution sequence. The first remote control command is a first remote control command.
The number of the position information in the first remote control instruction is greater than the quotient of the remote control period of the upper computer and the instruction execution period, and the quotient can be an integer. The remote control period of the upper computer can represent a time interval for the upper computer to send a remote control instruction. After receiving the first remote control instruction, the lower computer analyzes a plurality of pieces of position information included in the first remote control instruction, and sequentially controls the target robot in real time according to the plurality of pieces of position information included in the first remote control instruction according to the instruction execution period. In one instruction execution period, the lower computer controls the target robot to complete execution of one position.
By the fact that the number of the position information in the first remote control instruction is larger than the quotient value, the fact that the upper computer sends the remote control instruction at intervals of the remote control period can be achieved, even if the duration between two adjacent remote control instructions received by the lower computer is larger than the remote control period due to network fluctuation and the like, the position information which can be used for controlling the target robot to continue to move still exists in the lower computer, and therefore continuity of the robot running track in planning speed is improved.
After the first remote control instruction is sent, in the process that the upper computer periodically sends the remote control instruction according to the remote control period, the upper computer can determine the number P of the position information required to be sent this time by taking the position information required to control the movement of the target robot in the lower computer as a target under the condition that the position information to be executed by the lower computer in each instruction execution period is taken as a target before sending the remote control instruction each time, and then obtains P position information from the obtained track planning result, so as to generate a second remote control instruction, and sends the second remote control instruction to the lower computer. If the target robot has completed the movement indicated by certain position information, the position information is executed position information; the movement indicated by the position information to be performed is not yet completed for the target robot. The specific determination mode of the number P may be determined in combination with actual requirements, and is not limited herein, so long as it is ensured that the lower computer obtains position information that can be used for controlling the target robot in each instruction execution period. The remote control command which is not sent for the first time is a second remote control command.
After receiving the second remote control instruction, the lower computer can analyze the position information included in the second remote control instruction, store the position information and then sequentially control the target robot in real time according to the position information. It can be understood that when the lower computer receives a second remote instruction, if the position information in the received remote control instruction is not executed yet, the real-time control can be continuously performed in sequence based on the position information received before, and under the condition that the position information received before is executed, the real-time control is performed on the target robot according to the position information in the second remote instruction received currently.
Repeating the operation of sending the second remote control instruction until no position information which can be continuously sent is available at the upper computer. After the lower computer completes corresponding control according to all the position information sent by the upper computer, the target robot can be determined to complete corresponding track execution.
Before the first remote control instruction is sent, all position information corresponding to the track to be executed by the target robot is generated, that is, a complete track planning result is obtained in advance, and then the remote control instruction can be periodically sent according to all the position information. Alternatively, the transmission of the remote control command may be performed according to the generated position information while the trajectory planning is performed. Or, before the first remote control instruction is sent, all the position information corresponding to the track to be executed by the target robot is generated, the remote control instruction is periodically sent according to all the position information, if the adjustment instruction is received before the track is not executed, a target track segment is generated according to the adjustment instruction, and the remote control instruction is continuously sent according to the target track segment. The above is merely exemplary and may be determined in particular in connection with actual requirements.
In the case of the trajectory planning performed by the host computer, the input data source of the host computer may be an external device, for example, an IMU (Inertial Measurement Unit ) or an operating handle. For inputting data to the machine via an external device when the track planning or adjustment of the generated track is first performed.
The upper computer can send a remote control instruction to the lower computer through the Ethernet. The ethernet application layer protocol may be a TCP/IP protocol, a UDP protocol, or other network protocols, which are not specifically limited herein.
Therefore, the situation that the lower computer does not have position information required for continuous control after the target robot moves according to one position information can be reduced, the continuity of the robot running track on the planning speed is effectively improved, the pause feeling in the robot track running process is greatly reduced, and the user experience of the robot in the application fields of moxibustion, massage, kang Yang and the like is improved.
In this embodiment, as a possible implementation manner, the upper computer may generate a plurality of real-time position instructions with an instruction execution period of T according to the obtained track planning result. Each real-time position instruction comprises 1 position information and an instruction execution period T. The position information can be joint positions, end Cartesian positions or increments and the like, and can be specifically determined according to actual requirements. When the remote control instruction is sent for the first time, the upper computer can determine that a certain number of real-time position instructions are carried in the first remote control instruction from the generated real-time position instructions and send the real-time position instructions to the lower computer. And when the remote control instruction is not sent for the first time, the real-time position instruction carrying and the second remote control instruction determined at the time can be sent to the lower computer. Therefore, the lower computer can control the target robot periodically once according to a real-time position instruction.
In this embodiment, a motion queue exists in the lower computer. After receiving the remote control instruction sent by the upper computer, the lower computer can analyze the real-time position instruction included in the remote control instruction from the remote control instruction, and store the analyzed real-time position instruction in the motion queue for storage. Meanwhile, the lower computer takes out a real-time position instruction from the motion queue according to the instruction execution period to generate a motion control instruction and sends the motion control instruction to the target robot so as to control the target robot in real time; after control is completed based on a real-time position command, a real-time position command is again fetched from the motion queue to perform control again. The motion control instruction is an instruction which can be identified by the target robot, and the target robot can complete the motion indicated by the corresponding real-time position instruction by making the target robot execute the instruction.
Optionally, the length of the motion queue may be 255, which may be specifically determined according to the actual requirement. In order to avoid discarding the real-time position instruction, the number of the real-time position instructions in the first remote control instruction is smaller than or equal to the length of the motion queue.
As a possible implementation manner, the upper computer may send the remote control instruction with the goal that "after sending the remote control instruction, the number of real-time position instructions in the motion queue is equal to or close to the length of the motion queue".
As another possible implementation manner, the number of real-time position instructions of the remote control instruction may be as small as possible under the condition that the requirement that the lower computer has position information to be executed in each instruction execution period is met, so that the target robot can respond as soon as possible when the adjustment is temporarily received.
Optionally, after the lower computer takes out a real-time position instruction from the motion queue, the instruction speed can be calculated according to the instruction execution period, the current read real-time position instruction and the real-time position instruction read from the motion queue last time. That is, the instruction speed is calculated according to the position information in the current read real-time position instruction, the position information in the last read real-time position instruction, and the instruction execution period. Then, the lower computer compares the command speed with a preset speed. And if the instruction speed is greater than the preset speed, alarming and stopping controlling the target robot to continue moving. And if the instruction speed is smaller than or equal to the preset speed, performing real-time control on the target robot according to the current read real-time position instruction so as to execute the current read real-time position instruction. In this way, safety can be ensured.
Optionally, the real-time location instruction may further include a filtering time. Before the lower computer generates a corresponding motion control instruction according to the extracted real-time position instruction, the lower computer can determine the quantity of position information required by filtering according to the filtering time and the instruction execution period; and then determining the executed position information according to the number from the near to the far, performing filtering processing according to the currently read position information and the determined executed position information, and taking the processing result as the position information required by the motion control instruction which is currently required to be generated. The currently read position information may be represented as current position information, which is position information that is not performed by the lower computer and is currently required for controlling the target robot. Wherein, alternatively, a moving average filtering process may be performed. Therefore, the actual execution action can be more consistent, the track is smoother, and small mutations are prevented.
For example, there is position information a in the motion queue 1 ~a N Assume that the filter window size determined according to the filter time and instruction execution period is 8 (i.e., the number of position information required for filtering is 8). At the time of taking out a 1 In this case, the method can be based on 8 a 1 Performing moving average filtering processing, and generating a motion control instruction according to a processing result; at the time of taking out a 2 At the time according to 1 a 2 7 a 1 Performing moving average filtering processing, and generating a motion control instruction according to a processing result; at the time of taking out a 3 At the time according to 1 a 3 1 a 2 6 a 1 Performing moving average filtering processing, and generating a motion control instruction according to a processing result; at the time of taking out a m When according to a m …a m-7 And performing moving average filtering processing, and generating a motion control instruction according to a processing result.
As a possible implementation, the number of real-time position instructions included in each second control instruction is the same as the number of real-time position instructions included in the first remote control instruction. Therefore, the upper computer can conveniently and quickly determine the content in the second control instruction.
As another possible implementation, the second remote control command may be determined in the manner shown in fig. 4, so that the target robot may timely respond to the temporarily received adjustment command, without setting a larger motion queue. Referring to fig. 4, fig. 4 is a flowchart illustrating the sub-steps included in step S120 in fig. 3. In this embodiment, the step S120 may include sub-steps S121 to S123.
And step S121, receiving the first quantity fed back by the lower computer and determining the second quantity.
In this embodiment, the lower computer may periodically or randomly feed back the first number to the upper computer. For example, the lower computer may periodically feed back the first number according to an instruction execution period T or other period set. The lower computer can feed back the first quantity at least once within the duration represented by one remote control period, so that the reasonable target quantity is conveniently determined. The first number is the number of position information which is not executed in the lower computer when the lower computer feeds back to the upper computer. The upper computer can determine the first quantity corresponding to the feedback moment closest to the starting moment of the next remote control period as the second quantity according to the received first quantity, the feedback moment corresponding to each first quantity and the starting moment of the next remote control period.
For example, the instruction execution period of the lower computer is T, the instruction execution period of the upper computer is nT, the upper computer sends a first remote control instruction at T1, and needs to send a second remote control instruction at time t1+nt, t1+2nt, and t1+3nt respectively. After the first remote control instruction is sent, the lower computer feeds back a first quantity used for representing the quantity of real-time position instructions (namely the quantity of position information to be executed) in the current motion queue of the local computer to the upper computer. When the upper computer approaches t1+nT, determining one of the first quantity as a second quantity according to the received first quantity and the corresponding feedback time, wherein the feedback time corresponding to the second data is positioned before t1+nT and is closest to t1+nT, namely determining the latest first quantity as the second quantity.
Sub-step S122, targeting the position information to be executed by the lower computer in each instruction execution cycle, determining, according to the second number, a target number of position information included in a second remote control instruction corresponding to the next remote control cycle.
In the case that the second number is determined to be given, the target number of the position information included in the second control instruction to be currently transmitted may be determined according to the requirement that the lower computer has position information to be executed in each instruction execution period. And the second control instruction to be sent at present is the second remote control instruction corresponding to the next remote control period. For example, following the foregoing example, a remote control command corresponding to the first remote control period is sent at t 1; when the target quantity approaches t1+nT, the next remote control period is t1+nT-t1+2nT, and the target quantity determined when the target quantity approaches t1+nT is the quantity of the position information in the second remote control instruction sent when the target quantity approaches t1+nT.
Wherein the target number decreases as the second number increases. Thus, the number of the position information stored in the lower computer can be reduced, the probability of the situation that the position information is discarded due to the fact that the storage space in the lower computer is used up by the position information is reduced, and the target robot can timely respond to the temporary adjustment instruction.
Optionally, in this embodiment, the number of location information in the first remote control instruction is a sum of a first preset value and the quotient n. The target number may be determined in the manner shown in fig. 5. Referring to fig. 5, fig. 5 is a flow chart illustrating the sub-steps included in step S122 in fig. 4. In this embodiment, sub-step S122 may include sub-step S1221 through sub-step S1222.
Sub-step S1221, determining that the target number is the sum of a second preset value and the quotient value when the second number is smaller than the first preset value.
Sub-step S1222, determining a value not greater than the quotient as the target number when the second number is not less than the first preset value.
When the second number is smaller than the first preset value, a sum of a second preset value and a quotient n can be used as the target number, wherein the second preset value is smaller than the first preset value. When the second number is smaller than the first preset value, the upper computer determines that the quantity of the position information transmitted next is still larger than the quotient n of the remote control period nT of the upper computer and the instruction execution period T, but smaller than the quantity of the position information transmitted for the first time, so that the growth speed of the position information data in the lower computer can be reduced.
When the second number is greater than or equal to the first preset value, a value not greater than the quotient n can be used as the target number, and the target number can be specifically set in combination with actual requirements. In this way, when there is a large amount of positional information in the lower computer, the speed of the increase of positional information data in the lower computer can be further reduced.
As a possible implementation manner, when the second number is greater than or equal to the first preset value and less than or equal to a preset number, the quotient n is taken as the target number; when the second number is greater than the preset number, a difference between the quotient n and a third preset value can be used as the target number. Therefore, under the condition that more position information exists in the lower computer, the corresponding target quantity can be determined according to the level of the quantity of the position information existing in the lower computer, so that excessive position information in the lower computer is avoided through grading processing, overflow can be avoided, and the lower computer can execute the position information corresponding to dynamic adjustment only after the dynamic adjustment.
Wherein the first preset value may be greater than or equal to 1, and the specific value may be determined in combination with a specific time redundancy requirement (i.e., a degree to which a product of the number of required transmitted location information and the instruction execution period is greater than the remote control period). The second preset value and the third preset value are used for indicating the adjustment degree, and the second preset value and the third preset value can be equal or unequal and can be specifically determined by combining with actual requirements. The first preset value, the second preset value, the third preset value and the preset number can be set smaller, so that the number of the position information can be slowly adjusted in a small range.
As a possible implementation manner, the first preset value is 5, the second preset value and the third preset value are both 1, and the preset number is 10. Namely, the number of the position information in the first remote control instruction is n+5, and when the second number x <5, the number of the real-time position instructions issued to the lower computer in the next remote control period nT by the upper computer is n+1; when x is more than or equal to 5 and less than or equal to 10, the number of real-time position instructions issued to the lower computer in the next period nT is n; when x is more than 10, the number of the real-time position instructions issued to the lower computer in the next period nT is n-1 until the real-time position instructions required to be transmitted are transmitted.
And step S123, according to the remote control period, a second remote control instruction corresponding to the next remote control period is sent to the lower computer according to the target quantity.
After the target number corresponding to the next remote control period is determined, the position information of the target number can be taken out from the obtained track plan to generate a second remote control instruction, and the generated second remote control instruction is sent to the lower computer according to the remote control period.
In this embodiment, a motion queue for buffering the position information sent by the upper computer is set in the lower computer, the upper computer can send the planned position information to the motion queue first by n+n1 position information according to a remote control period nT, and dynamically adjust the number of subsequently sent position information according to the number of position information in the motion queue fed back by the lower computer, so as to ensure that the lower computer can execute the motion control instruction in each instruction execution period T until the track execution is completed, thereby effectively improving the continuity of the robot running track in the planning speed.
Referring to fig. 6, fig. 6 is a flow chart of another method for controlling a robot in real time according to an embodiment of the present application. The method can be applied to a lower computer, and in this embodiment, the method can include steps S210 to S220.
Step S210, a remote control instruction sent by an upper computer is received.
The remote control instruction comprises an instruction execution period of the lower computer and position information determined by the upper computer according to the obtained track planning result. The quantity of the position information in the remote control instruction received by the lower computer for the first time is larger than the quotient of the remote control period of the upper computer and the instruction execution period. And determining the quantity of the position information in the remote control instruction which is not received by the lower computer for the first time, wherein the position information to be executed by the lower computer in each instruction execution period is targeted. The remote control command received by the lower computer may include the first remote control command and the second remote control command.
And step 220, performing real-time control on the target robot according to the remote control instruction until the track corresponding to the track planning result obtained by the upper computer is executed.
Optionally, in this embodiment, after receiving the remote control instruction, the lower computer may parse the remote control instruction to obtain a real-time position instruction, and store the parsed real-time position instruction in a motion queue. Wherein, a real-time position instruction comprises 1 position information and 1 instruction execution period. The lower computer can sequentially read real-time position instructions from the motion queue according to the instruction execution period, and real-time control the target robot according to the read real-time position instructions.
Optionally, the lower computer may calculate the instruction speed according to the current read real-time position instruction, the last read real-time position instruction, and the instruction execution period. And when the instruction speed is greater than a preset speed, alarming and stopping controlling the movement of the target robot. And when the instruction speed is not greater than the preset speed, controlling the target robot in real time according to the current read real-time position instruction.
In this embodiment, the description of the real-time control method of the robot applied to the lower computer may refer to the description of the real-time control method of the robot applied to the upper computer, which is not repeated here.
In order to perform the corresponding steps in the above embodiments and the various possible ways, an implementation manner of the real-time control device for a robot is given below, and alternatively, the real-time control device for a robot may use the device structure of the electronic device 400 shown in fig. 2. It should be noted that, the basic principle and the technical effects of the real-time control device for a robot provided in this embodiment are the same as those of the foregoing embodiments, and for brevity, reference may be made to the corresponding contents of the foregoing embodiments.
Referring to fig. 7, fig. 7 is a block diagram of a real-time robot control device 500 according to an embodiment of the present application. The robot real-time control device 500 is applied to a host computer, and the robot real-time control device 500 may include: a first transmitting module 510 and a second transmitting module 520.
The first sending module 510 is configured to send a first remote control instruction to a lower computer according to the obtained trajectory planning result when the remote control instruction is sent to the lower computer for the first time, so that the lower computer performs real-time control on the target robot according to the first remote control instruction. The first remote control instruction comprises a plurality of position information and an instruction execution period of the lower computer, and the quantity of the position information in the first remote control instruction is larger than the quotient of the remote control period of the upper computer and the instruction execution period.
The second sending module 520 is configured to send, after sending the first remote control instruction, a second remote control instruction to the lower computer based on the obtained trajectory planning result by targeting the position information to be executed by the lower computer in each instruction execution period according to the remote control period, so that the lower computer performs real-time control on the target robot according to the received remote control instruction until the position information in the obtained trajectory planning result is sent.
Referring to fig. 8, fig. 8 is a block diagram of another real-time robot control device 600 according to an embodiment of the present disclosure. The robot real-time control device 600 is applied to a lower computer, and the robot real-time control device 600 may include: the receiving module 610 and the processing module 620.
The receiving module 610 receives a remote control instruction sent by the upper computer.
The remote control instruction comprises an instruction execution period of the lower computer and position information determined by the upper computer according to an obtained track planning result, the quantity of the position information in the remote control instruction received for the first time is larger than the quotient of the remote control period of the upper computer and the instruction execution period, and the quantity of the position information in the remote control instruction received for the non-first time is determined by taking the position information to be executed by the lower computer in each instruction execution period as a target.
The processing module 620 performs real-time control on the target robot according to the remote control instruction until the track corresponding to the track planning result obtained by the upper computer is executed.
Alternatively, the above modules may be stored in the memory 410 shown in fig. 2 in the form of software or Firmware (Firmware) or solidified in an Operating System (OS) of the electronic device 400, and may be executed by the processor 420 in fig. 2. Meanwhile, data, codes of programs, and the like, which are required to execute the above-described modules, may be stored in the memory 410.
The embodiment of the application also provides a readable storage medium, on which a computer program is stored, the computer program realizing the robot real-time control method when being executed by a processor.
In summary, the embodiment of the application provides a method, a device, an electronic device and a readable storage medium for controlling a robot in real time, where when an upper computer sends a remote control instruction to a lower computer for the first time, a first remote control instruction is sent to the lower computer according to an obtained track planning result, so that the lower computer performs real-time control on a target robot according to the first remote control instruction, where the first remote control instruction includes a plurality of position information and an instruction execution period of the lower computer, and the number of position information in the first remote control instruction is greater than a quotient of the remote control period of the upper computer and the instruction execution period; and then, according to the remote control period, taking the position information to be executed by the lower computer in each instruction execution period as a target, and sending a second remote control instruction to the lower computer based on the obtained track planning result so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent. Therefore, on the basis of realizing remote real-time control, the lower computer can be ensured to have position information required by control in each instruction execution period, so that the continuity of the running track of the robot on the planning speed is effectively improved, the pause feeling in the running process of the track of the robot is greatly reduced, and the user experience of the robot in application fields such as moxibustion, massage, kang Yang and the like is improved.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely an alternative embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims (10)
1. The real-time control method of the robot is characterized by being applied to an upper computer, and comprises the following steps:
when a remote control instruction is sent to a lower computer for the first time, a first remote control instruction is sent to the lower computer according to an obtained track planning result, so that the lower computer can control a target robot in real time according to the first remote control instruction, wherein the first remote control instruction comprises a plurality of position information and an instruction execution period of the lower computer, and the number of the position information in the first remote control instruction is larger than the quotient of the remote control period of the upper computer and the instruction execution period;
after the first remote control instruction is sent, according to the remote control period, the position information to be executed by the lower computer in each instruction execution period is taken as a target, and a second remote control instruction is sent to the lower computer based on the obtained track planning result, so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent out.
2. The method according to claim 1, wherein said sending, in accordance with the remote control cycle, a second remote control instruction to the lower computer based on the obtained trajectory planning result with the target of the position information to be executed by the lower computer in each of the instruction execution cycles, includes:
Receiving a first quantity fed back by the lower computer, and determining a second quantity, wherein the first quantity is the quantity of unexecuted position information in the lower computer when the lower computer feeds back to the upper computer, and the second quantity is the first quantity corresponding to the feedback moment nearest to the next remote control period;
the position information to be executed by the lower computer in each instruction execution period is taken as a target, and the target number of the position information included in a second remote control instruction corresponding to the next remote control period is determined according to the second number, wherein the target number is reduced along with the increase of the second number;
and sending a second remote control instruction corresponding to the next remote control period to the lower computer according to the target number according to the remote control period.
3. The method according to claim 2, wherein the number of location information in the first remote control instruction is a sum of a first preset value and the quotient, the targeting the location information that the lower computer has to execute in each instruction execution cycle, determining, based on the second number, a target number of location information included in a second remote control instruction corresponding to the next remote control cycle, includes:
When the second number is smaller than the first preset value, determining that the target number is the sum of a second preset value and the quotient value, wherein the second preset value is smaller than the first preset value;
and when the second quantity is not smaller than the first preset value, determining a value not larger than the quotient as the target quantity.
4. A method according to claim 3, wherein said determining a value not greater than said quotient as said target number when said second number is not less than said first preset value comprises:
when the second number is not smaller than the first preset value and not larger than the preset number, determining that the target number is the quotient value;
and when the second number is larger than the preset number, determining the target number as the difference between the quotient and a third preset value.
5. The method of claim 4, wherein the first preset value is 5, the second preset value and the third preset value are 1, and the preset number is 10; and/or the number of the groups of groups,
the first remote control instruction and the second remote control instruction both comprise filtering time, and the filtering time is used for combining the instruction execution period to instruct the lower computer to filter according to current position information and executed position information to obtain the number of position information used when the motion control instruction of the target robot is executed, wherein the current position information is position information which is not executed by the lower computer and is required by the current control of the target robot.
6. A method for controlling a robot in real time, which is applied to a lower computer, the method comprising:
receiving a remote control instruction sent by an upper computer, wherein the remote control instruction comprises an instruction execution period of a lower computer and position information determined by the upper computer according to an obtained track planning result, the quantity of the position information in the remote control instruction received for the first time is larger than the quotient of the remote control period of the upper computer and the instruction execution period, and the quantity of the position information in the remote control instruction received for the non-first time is determined by taking the position information to be executed by the lower computer in each instruction execution period as a target;
and controlling the target robot in real time according to the remote control instruction until the track corresponding to the track planning result obtained by the upper computer is executed.
7. The method of claim 6, wherein the real-time control of the target robot according to the remote control command comprises:
analyzing the remote control instruction to obtain a real-time position instruction, and storing the analyzed real-time position instruction in a motion queue;
Sequentially reading real-time position instructions from the motion queue according to the instruction execution period, and calculating to obtain instruction speed according to the current read real-time position instructions, the last read real-time position instructions and the instruction execution period; when the instruction speed is greater than a preset speed, alarming and stopping controlling the movement of the target robot; and when the instruction speed is not greater than the preset speed, controlling the target robot in real time according to the current read real-time position instruction.
8. A real-time control device of a robot, characterized in that it is applied to an upper computer, the device comprising:
the first sending module is used for sending a first remote control instruction to the lower computer according to the obtained track planning result when the remote control instruction is sent to the lower computer for the first time, so that the lower computer can control the target robot in real time according to the first remote control instruction, wherein the first remote control instruction comprises a plurality of position information and an instruction execution period of the lower computer, and the number of the position information in the first remote control instruction is larger than the quotient of the remote control period of the upper computer and the instruction execution period;
And the second sending module is used for sending a second remote control instruction to the lower computer based on the obtained track planning result by taking the position information to be executed by the lower computer in each instruction execution period as a target according to the remote control period after the first remote control instruction is sent, so that the lower computer can control the target robot in real time according to the received remote control instruction until the position information in the obtained track planning result is sent.
9. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor, the processor executable instructions to implement the robot real-time control method of any one of claims 1-7.
10. A readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the robot real-time control method according to any one of claims 1-7.
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