WO2019024071A1

WO2019024071A1 - Robot motion control method, motion control device and robot system

Info

Publication number: WO2019024071A1
Application number: PCT/CN2017/095959
Authority: WO
Inventors: 郭涛
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-08-04
Filing date: 2017-08-04
Publication date: 2019-02-07
Also published as: CN110799911A; CN110799911B

Abstract

A robot motion control method, a motion control device (810) and a robot system, which are used for improving the precision of synchronization between a robot and an external conveyor belt and for enabling the robot to more accurately grasp an object on the external conveyor belt. The method is applied to the motion control device (810), which comprises a control loop and a motion simulation model, and the method comprises: acquiring actual motion parameters of a conveyor belt by means of the control loop, and generating simulated motion parameters according to the actual motion parameters and a first motion parameter of the last cycle of the robot (201), the first motion parameter being generated and fed back by the motion simulation model, and the control loop being used for receiving the feedback from the motion simulation model; generating a second motion parameter of the current cycle of the robot according to the simulated motion parameters by means of the motion simulation model, and feeding back the second motion parameter to the control loop (202); and transmitting the second motion parameter to a driving device of the robot (203).

Description

Robot motion control method, motion control device and robot system

Technical field

The invention relates to the field of robots, and in particular to a method for controlling motion of a robot, a motion control device and a robot system.

Background technique

At present, with the rapid development of the robot industry, from the application environment, the robots are divided into two categories, namely industrial robots and special robots. In industrial production, more and more industrial robots are used to replace people in various production tasks.

In the practical application of industrial robots, it is often necessary to cooperate with the conveyor belt system to grasp the articles carried on the conveyor belt. Therefore, the industrial robot needs to know the movement state of the conveyor belt, such as speed, position and the like. Since the running speed of the conveyor device is substantially constant, it can be assumed that the conveyor speed is substantially constant, and the carrying speed of the external conveyor device is notified to the industrial robot in advance. When the robot performs speed planning, the speed is planned in advance to complete the corresponding speed planning. .

In the prior art, since the speed control accuracy of the external conveyor belt is not high, taking the existing servo motor system as an example, in general, the speed accuracy fluctuates by about ±2%, and for an ordinary AC induction motor, etc. Speed accuracy is lower. In this case, in the case where high-precision gripping is required, the robot has difficulty in accurately approaching the actual position of the conveyor belt due to large fluctuations in the speed of the external conveyor belt, and the synchronization accuracy of the robot and the external conveyor belt is poor.

Summary of the invention

Embodiments of the present invention provide a robot motion control method, a motion control device, and a robot system for improving synchronization precision between a robot and an external conveyor belt, so that the robot can more accurately grasp an object on the external conveyor belt.

A first aspect of the embodiments of the present invention provides a method for controlling motion of a robot, where the motion control apparatus includes a control loop and a motion simulation model, including: acquiring actual motion parameters of the conveyor belt through the control loop, and according to the actual motion parameters Generating a simulated motion parameter with a first motion parameter of the upper wheel cycle of the robot, the first motion parameter being generated and fed back by the motion simulation model, the control loop being configured to receive feedback of the motion simulation model; Generating a second motion parameter of the current cycle of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop And transmitting the second motion parameter to a driving device of the robot.

With reference to the first aspect of the embodiments of the present invention, in a first implementation manner of the first aspect of the embodiments, the motion control apparatus includes a control loop and a motion simulation model, where the control loop includes a position control loop, a speed control loop and an acceleration control loop, wherein the obtaining the actual motion parameter of the conveyor belt through the control loop, and generating the simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot includes: controlling by the position The loop acquires an actual motion parameter of the conveyor belt, and generates first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot; and generates, according to the first data and the first motion parameter, by the speed control loop Second data; generating, by the acceleration control loop, simulated motion parameters based on the second data and the first motion parameter.

With reference to the first aspect of the embodiments of the present invention, in a second implementation manner of the first aspect of the embodiments, the control loop includes a position control loop, a speed control loop, and an acceleration control loop, wherein the motion Generating a second motion parameter of the current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop includes: generating, by the motion simulation model, the current round of the robot according to the simulated motion parameter a second motion parameter of the cycle and feeding back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively.

With reference to the first aspect of the embodiments of the present invention, in a third implementation manner of the first aspect of the embodiments of the present invention, before acquiring the actual motion parameter of the conveyor belt by using the control loop, the method further includes: detecting the conveyor belt Moving to generate actual motion parameters of the conveyor belt and transmitting the actual operational parameters to the control loop.

With reference to any implementation of the first aspect of the first aspect of the present invention, the fourth implementation manner of the first aspect of the embodiment of the present invention, the second The driving device for transmitting the motion parameter to the robot includes: converting the second motion parameter into a motion control command; transmitting the motion control command to a driving device of the robot.

A second aspect of the embodiments of the present invention provides a motion control apparatus, where the motion control apparatus includes a storage apparatus and a processor; the storage apparatus stores associated executable programs, including a control loop and a motion simulation model; The processor calls and executes the executable program, configured to: acquire an actual motion parameter of the conveyor belt through the control loop, and generate a simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, a first motion parameter generated and fed back by the motion simulation model, the control loop being configured to receive feedback of the motion simulation model; And generating a second motion parameter of the current cycle of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop; and transmitting the second motion parameter to a driving device of the robot.

With reference to the second aspect of the embodiments of the present invention, in a first implementation manner of the second aspect of the embodiments, the control ring includes a position control loop, a speed control loop, and an acceleration control loop, where the processor passes through The control loop acquires the actual motion parameter of the conveyor belt, and generates the simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, including: acquiring the actual motion parameter of the conveyor belt by using the position control loop, and according to the Generating, by the first motion parameter of the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, the second data; generating, by the speed control loop, the second data according to the first data and the first motion parameter; The second data and the first motion parameter generate simulated motion parameters.

With reference to the second aspect of the embodiments of the present invention, in a second implementation manner of the second aspect of the embodiments, the control loop includes a position control loop, a speed control loop, and an acceleration control loop, where the processor passes through Generating a second motion parameter of the current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop includes: generating a robot according to the simulated motion parameter by using the motion simulation model a second motion parameter of the current cycle, and feeding back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively.

In conjunction with the second aspect of the embodiments of the present invention, in a third implementation manner of the second aspect of the embodiments of the present invention, the motion controller is further connected to a sensor on a conveyor belt, and the processor is passing the control loop Before acquiring the actual motion parameters of the conveyor belt, the processor is further configured to: detect motion of the conveyor belt by the sensor to generate an actual motion parameter of the conveyor belt, and transmit the actual operational parameter to the control loop.

In a fourth implementation manner of the second aspect of the embodiment of the present invention, Transmitting the second motion parameter to the driving device of the robot includes: converting the second motion parameter into a motion control instruction; transmitting the motion control command to a driving device of the robot.

A third aspect of the embodiments of the present invention provides a robot system including a robot and a motion control device connected to the robot, the motion control device including a control loop and a motion simulation model, and the motion control device Obtaining: an actual motion parameter of the conveyor belt is obtained by the control loop, and generating a simulated motion according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot a parameter, the first motion parameter is generated and fed back by the motion simulation model, the control loop is configured to receive feedback of the motion simulation model, and generate, by the motion simulation model, a current cycle of the robot according to the simulated motion parameter a second motion parameter and feeding back the second motion parameter to the control loop; transmitting the second motion parameter to a drive device of the robot.

With reference to the third aspect of the embodiments of the present invention, in a first implementation manner of the third aspect of the embodiments, the control loop includes a position control loop, a speed control loop, and an acceleration control loop, where the motion control device passes The control loop acquires an actual motion parameter of the conveyor belt, and generates a simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, including: acquiring, by using the position control loop, an actual motion parameter of the conveyor belt, and according to the Generating, by the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, first data; generating, by the speed control loop, second data according to the first data and the first motion parameter; The second data and the first motion parameter generate simulated motion parameters.

With reference to the third aspect of the embodiments of the present invention, in a second implementation manner of the third aspect of the embodiments, the control loop includes a position control loop, a speed control loop, and an acceleration control loop, where the motion control device passes The motion simulation model generates a second motion parameter of the current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop includes: generating, according to the simulated motion parameter, by the motion simulation model a second motion parameter of the current cycle of the robot, and feeding back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively.

With reference to the third aspect of the embodiments of the present invention, in a third implementation manner of the third aspect of the embodiments of the present invention, the robot system further includes a sensor connected to the motion control device, where the motion control device passes Before the control loop acquires the actual motion parameter of the conveyor belt, it is further configured to: detect the motion of the conveyor belt by the sensor to generate an actual motion parameter of the conveyor belt, and send the actual operation parameter to the control loop.

With reference to any implementation manner of the third aspect to the third aspect of the third aspect of the present invention, in a fourth implementation manner of the third aspect of the embodiment of the present invention, the motion control device Transmitting the second motion parameter to the driving device of the robot includes: converting the second motion parameter into a motion control instruction; transmitting the motion control command to a driving device of the robot.

A fourth aspect of embodiments of the present invention provides a computer readable storage medium, the computer storage The medium stores an executable program that is executed to implement the method of robot motion control described in the first aspect above.

It can be seen from the above technical solutions that the embodiments of the present invention have the following advantages:

In the technical solution provided by the embodiment of the present invention, the actual motion parameter of the conveyor belt is acquired by the control loop, and the simulated motion parameter is generated according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, where the first motion parameter is generated. Generating and feeding back by the motion simulation model, the control loop is configured to receive feedback of the motion simulation model; and generate, by the motion simulation model, a second motion parameter of a current cycle of the robot according to the simulated motion parameter, and The control loop feeds back the second motion parameter; and transmits the second motion parameter to a driving device of the robot. The embodiment of the invention can simulate the motion scene of the robot through the motion simulation model, generate a more accurate second motion parameter, and improve the synchronization precision of the robot and the external conveyor belt.

DRAWINGS

1 is a logic control block diagram of an embodiment of the present invention;

2 is a schematic diagram of an embodiment of a method for controlling motion of a robot according to an embodiment of the present invention;

3 is a detailed logic control block diagram of an embodiment of the present invention;

4 is a schematic diagram of another embodiment of a method for controlling motion of a robot according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an embodiment of a motion control apparatus according to an embodiment of the present invention; FIG.

6 is a schematic diagram of another embodiment of a motion control apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of another embodiment of a motion control apparatus according to an embodiment of the present invention; FIG.

FIG. 8 is a schematic diagram of another embodiment of a motion control apparatus according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments.

The terms "first", "second", "first" in the specification and claims of the present invention and the above drawings "three", "fourth", etc. (if present) are used to distinguish similar objects, and are not necessarily used to describe a particular order or order. It should be understood that the data so used may be interchanged where appropriate, as described herein. The embodiments can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover a non-exclusive inclusion, for example, including a series of steps or The process, method, system, product, or device of the unit is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not explicitly listed or inherent to such processes, methods, products, or devices.

The embodiment of the present invention can be applied to the logic control block diagram shown in FIG. 1. The motion control device uses the idea of proportional-integral-derivative control (PID control) in industrial control to apply it to the robot and the external conveyor belt position following. In the real-time speed planning, FIG. 1 is a control logic block diagram of the present invention. The control loop and the motion simulation model are programs that are run in a motion control device of the robot.

In the embodiment of the present invention, the motion control device acquires the actual motion parameter of the conveyor belt through the control loop, and generates the simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, and the first motion parameter is generated and fed back by the motion simulation model. The control loop is configured to receive feedback of the motion simulation model; the motion control device generates a second motion parameter of the current cycle of the robot according to the simulated motion parameter through the motion simulation model, and feeds back the second motion parameter to the control loop; the motion control device will be the second The motion parameters are transmitted to the robot. The motion control device simulates the robot motion scene through the motion simulation model, generates a more accurate second motion parameter of the robot, and improves the synchronization precision of the robot and the external conveyor belt.

For ease of understanding, the specific process in the embodiment of the present invention is described below. Referring to FIG. 2, an embodiment of the method for controlling the motion of the robot according to the embodiment of the present invention includes:

201. Acquire an actual motion parameter of the conveyor belt through the control loop, and generate a simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot.

The motion control device includes a control loop and a motion simulation model, and the motion simulation model is connected to the control loop, and the motion simulation model can feed the generated data to the control loop. The motion control device acquires the actual motion parameters of the external conveyor belt through the established control loop, and generates simulated motion parameters according to the actual motion parameters and the first motion parameters of the upper wheel cycle of the robot. The actual motion parameter is motion information of the conveyor reference point at the first moment, and the simulated motion parameter is a motion parameter of the processed conveyor reference point at the first moment, and the simulated motion parameter can be used for the motion simulation model. The first motion parameter is generated and fed back by the motion simulation model, and the control loop is used to receive feedback of the motion simulation model. The motion simulation model is simulation A software program of the external conveyor belt and the motion scene of the robot, the motion simulation model can convert the collected operation data of the external conveyor belt into parameters required for simulating the external conveyor belt and the robot motion scene, and obtain the simulation motion result of the robot.

202. Generate a second motion parameter of the current cycle of the robot according to the simulated motion parameter by using the motion simulation model, and feed back the second motion parameter to the control loop.

The motion control device simulates the motion scene of the external conveyor belt and the robot through the motion simulation model, and sets the initial motion parameters of the external conveyor belt and the robot according to the simulation motion parameters, simulates the motion scene to obtain the second motion parameter of the robot, and the second motion parameter is used for the robot. The position at the second moment is synchronized with the position of the conveyor at the second moment, and the second moment is later than the first moment, the motion simulation model feeding back to the control loop a second motion parameter obtained by simulating the motion scene of the outer conveyor belt and the robot.

Wherein, when the motion simulation model generates the second motion parameter of the current period of the robot according to the simulated motion parameter, the motion simulation model limits the values of the position, velocity, and acceleration in the second motion parameter, thereby ensuring The continuity of the motion command, in order to ensure the smoothness of the robot movement. In this embodiment, the motion simulation model enables the motion trajectory of the robot to meet various speed planning requirements by limiting the position, velocity, and acceleration in the second motion parameter, and the motion trajectory of the robot may be various, for example, It can be an S-shaped or linear motion track.

203. Transmit the second motion parameter to the driving device of the robot.

After acquiring the second motion parameter, the motion control device transmits the second motion parameter to the driving device of the robot, and the robot realizes synchronization with the external conveyor belt through the motion control device.

In the embodiment of the present invention, the motion control device acquires the actual motion parameter of the conveyor belt through the control loop, and generates the simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, and the first motion parameter is generated and fed back by the motion simulation model. The control loop is configured to receive feedback of the motion simulation model; the motion control device generates a second motion parameter of the current cycle of the robot according to the simulated motion parameter through the motion simulation model, and feeds back the second motion parameter to the control loop; the motion control device will be the second The motion parameters are transmitted to the robot's drive unit. The simulation of the external conveyor belt and the robot motion scene by the motion simulation model generates a more accurate second motion parameter for controlling the motion of the robot, improves the accuracy of the data transmitted to the robot, and improves the synchronization precision of the robot and the external conveyor belt. The robot captures objects on the outer conveyor more accurately.

Referring to FIG. 3, the control loop includes a position control loop, a speed control loop, and an acceleration control loop, as shown in the figure. 4, another embodiment of the method for controlling the motion of the robot in the embodiment of the present invention, the control process of the control loop is described in detail. The specific embodiments include:

401. Detect movement of the conveyor belt and generate actual motion parameters of the conveyor belt.

The motion control device detects the motion of the external conveyor belt and generates an actual motion parameter of the external conveyor belt based on the detected motion condition, the actual motion parameter being used in the motion simulation model to simulate the motion scene of the external conveyor belt and the robot.

402. Acquire an actual motion parameter of the conveyor belt through the position control loop, and generate first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot.

The motion control device acquires the actual motion parameter of the external conveyor belt through the preset position control loop, and generates first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, the actual motion parameter being the first conveyor belt reference point at the first The motion information of the moment, the first data includes location information of the external conveyor reference point. The first motion parameter is generated and fed back by a motion simulation model for receiving feedback of the motion simulation model.

403. Generate second data according to the first data and the first motion parameter by using a speed control loop.

The motion control device obtains the first data generated by the position control loop and the first motion parameter fed back by the motion simulation model through a preset speed control loop, where the first data is the position information of the external conveyor belt reference point processed by the position control loop. Data, the motion control device generates second data according to the first data and the first motion parameter by the speed control loop, the second data being data of position information and speed information including an external conveyor reference point.

404. Generate a simulated motion parameter according to the second data and the first motion parameter by using an acceleration control loop.

The motion control device obtains the second data generated by the speed control loop and the first motion parameter fed back by the motion simulation model through a preset acceleration control loop, where the second data is position information including the external conveyor reference point after the speed control loop is processed. The data of the speed information, the motion control device generates an analog motion parameter according to the second data and the first motion parameter through the acceleration control loop, where the simulated motion parameter includes position information, speed information, and acceleration information of the external conveyor reference point.

405. Generate a second motion parameter of the current cycle of the robot according to the simulated motion parameter by using a motion simulation model, and feed back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively.

The motion control device obtains the simulated motion parameters generated by the acceleration control loop through the motion simulation model, and the motion simulation model simulates the motion scene of the external conveyor belt and the robot, and sets according to the simulated motion parameters. The initial motion parameters of the external conveyor belt and the robot, the second motion parameter of the robot is obtained by simulation, and the second motion parameter is used for synchronizing the position of the robot at the second moment with the position of the conveyor belt at the second moment, and the second moment is later than the first At the moment, the motion simulation model feeds back to the position control loop, the speed control loop and the acceleration control loop respectively the second motion parameters obtained by simulating the motion scene of the external conveyor belt and the robot.

It should be noted that the motion simulation model can simulate the motion scene of the external conveyor belt and the robot. There are various situations, for example, the motion trajectory of the robot is a linear type, or an S-type, or other forms of motion trajectory.

406. Convert the second motion parameter into a motion control instruction.

The motion control device converts the second motion parameter generated by the motion simulation model into a motion control command that the robot can recognize.

407. Transfer the motion control instruction to the driving device of the robot.

The motion control device transmits the motion control command to the driving device of the robot so that the robot can operate in synchronization with the external conveyor belt, and the robot can accurately grasp the object on the external conveyor belt.

In the embodiment of the present invention, the movement of the conveyor belt is detected and the actual motion parameter of the conveyor belt is generated; the motion control device acquires the actual motion parameter of the conveyor belt through the position control loop, and generates the first motion according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot. Data; the motion control device generates second data according to the first data and the first motion parameter through the speed control loop; the motion control device generates the simulated motion parameter according to the second data and the first motion parameter through the acceleration control loop; the motion control device passes the motion simulation The model generates a second motion parameter of the current cycle of the robot according to the simulated motion parameter, and feeds the second motion parameter to the position control loop, the speed control loop and the acceleration control loop respectively; the motion control device converts the second motion parameter into a motion control instruction; The motion control device transmits the motion control command to the drive device of the robot. The motion simulation model is used to simulate the motion scene of the external conveyor belt and the robot to generate a more accurate second motion parameter, which improves the accuracy of the motion control command transmitted to the robot and ensures the smoothness of the motion control command received by the robot. Thereby the synchronization accuracy between the robot and the external conveyor belt is further improved.

The method for controlling the motion of the robot in the embodiment of the present invention is described above. The motion control device in the embodiment of the present invention is described below. Referring to FIG. 5, the motion control device in the embodiment of the present invention includes:

a first processing unit 501, configured to acquire an actual motion parameter of the conveyor belt through the control loop, and according to The actual motion parameters and the first motion parameters of the upper wheel cycle of the robot generate simulated motion parameters, the first motion parameters are generated and fed back by the motion simulation model, and the control loop is used to receive feedback of the motion simulation model;

The second processing unit 502 is configured to generate a second motion parameter of the current period of the robot according to the simulated motion parameter processed by the first processing unit 501 by using the motion simulation model, and feed back the second motion parameter to the control loop;

The control unit 503 is configured to transmit the second motion parameter to the driving device of the robot.

In the embodiment of the present invention, the first processing unit 501 acquires actual motion parameters of the conveyor belt through the control loop, and generates simulated motion parameters according to the actual motion parameters and the first motion parameters of the upper wheel cycle of the robot. The first motion parameters are generated by the motion simulation model. And feedback, the control loop is configured to receive feedback of the motion simulation model; the second processing unit 502 generates a second motion parameter of the current cycle of the robot according to the simulated motion parameter by using the motion simulation model, and feeds back the second motion parameter to the control loop; the control unit 503 transmits the second motion parameter to the driving device of the robot. The simulation of the robot motion scene through the motion simulation model generates a more accurate second motion parameter of the robot, improves the accuracy of the data transmitted to the robot, improves the synchronization accuracy of the robot and the external conveyor belt, and enables the robot to more accurately grasp the outside. The object on the conveyor belt.

Referring to FIG. 6, another embodiment of a motion control apparatus according to an embodiment of the present invention includes:

The first processing unit 501 is configured to acquire an actual motion parameter of the conveyor belt through the control loop, and generate a simulated motion parameter according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot, where the first motion parameter is generated and fed back by the motion simulation model. The control loop is used to receive feedback from the motion simulation model;

Optionally, the motion control device may further include:

The third processing unit 504 is configured to detect a motion of the conveyor belt to generate an actual motion parameter of the conveyor belt, and send the actual operating parameter to the control loop.

Optionally, the first processing unit 501 may further include:

The first processing module 5011 is configured to acquire an actual motion parameter of the conveyor belt by using the position control loop, and generate first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot;

a second processing module 5012, configured to generate second data according to the first data and the first motion parameter by using a speed control loop;

The third processing module 5013 is configured to generate a simulated motion parameter according to the second data and the first motion parameter by using the acceleration control loop.

In the embodiment of the present invention, the first processing unit 501 acquires actual motion parameters of the conveyor belt through the control loop, and generates simulated motion parameters according to the actual motion parameters and the first motion parameters of the upper wheel cycle of the robot. The first motion parameters are generated by the motion simulation model. And feedback, the control loop is configured to receive feedback of the motion simulation model; the second processing unit 502 generates a second motion parameter of the current cycle of the robot according to the simulated motion parameter by using the motion simulation model, and feeds back the second motion parameter to the control loop; the control unit 503 transmits the second motion parameter to the driving device of the robot. The simulation of the external conveyor belt and the robot motion process by the motion simulation model generates a more accurate second motion parameter of the robot, improves the accuracy of the data transmitted to the robot, and improves the synchronization precision between the robot and the external conveyor belt.

Referring to FIG. 7, another embodiment of a motion control apparatus according to an embodiment of the present invention includes:

Optionally, the second processing unit 502 can further include:

The fourth processing module 5021 is configured to generate a second motion parameter of the current period of the robot according to the simulated motion parameter by using the motion simulation model, and feed back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively.

Optionally, the control unit 503 may further include:

a conversion module 5031, configured to convert the second motion parameter into a motion control instruction;

The transmission module 5032 is configured to transmit the motion control instruction to the driving device of the robot.

In the embodiment of the present invention, the first processing unit 501 acquires actual motion parameters of the conveyor belt through the control loop, and generates simulated motion parameters according to the actual motion parameters and the first motion parameters of the upper wheel cycle of the robot. a first motion parameter generated and fed back by the motion simulation model, the control loop is configured to receive feedback of the motion simulation model; the second processing unit 502 generates a second motion parameter of the current cycle of the robot according to the simulated motion parameter by using the motion simulation model, and The second motion parameter is fed back to the control loop; the control unit 503 transmits the second motion parameter to the drive device of the robot. The motion simulation model simulates the motion scene of the robot and the external conveyor belt to generate a more accurate second motion parameter of the robot, which improves the accuracy of the data transmitted to the robot and improves the synchronization precision between the robot and the external conveyor belt.

5 to FIG. 7 respectively describe the motion control device in the embodiment of the present application from the perspective of the modular functional entity. The motion control device in the embodiment of the present application is described in detail below from the perspective of hardware processing.

Referring to FIG. 8, the motion control device device 810 includes a memory 811 and a processor 812. Optionally, the device 810 may further include a communication interface 813 and a bus 814. The communication interface 813, the processor 812, and the memory 811 may be connected to each other through a bus 814; the bus 814 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA). Bus, etc. The bus 814 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in Figure 8, but it does not mean that there is only one bus or one type of bus.

In a possible implementation, the motion control device includes a storage device and a processor;

The storage device stores related executable programs, including a control loop and a motion simulation model;

The processor invokes and executes the executable program for:

Acquiring an actual motion parameter of the conveyor belt through the control loop, and generating a simulated motion parameter according to the actual motion parameter and a first motion parameter of a last wheel cycle of the robot, where the first motion parameter is generated and fed back by the motion simulation model, The control loop is configured to receive feedback of the motion simulation model; generate, by the motion simulation model, a second motion parameter of a current cycle of the robot according to the simulated motion parameter, and feed back the second motion to the control loop a parameter; transmitting the second motion parameter to a driving device of the robot.

Optionally, the motion controller is further connected to a sensor on the conveyor belt, and the processor is further configured to: before acquiring the actual motion parameter of the conveyor belt through the control loop:

The movement of the conveyor belt is detected by the sensor to generate actual motion parameters of the conveyor belt and the actual operational parameters are transmitted to the control loop.

In the embodiment of the present invention, the motion simulation model simulates the motion scene of the robot and the external conveyor belt, generates a more accurate second motion parameter of the robot, improves the accuracy of the data transmitted to the robot, and improves the relationship between the robot and the external conveyor belt. Synchronization accuracy.

The present invention also provides a robot system including a robot and a motion control device coupled to the robot, the motion control device including a control loop and a motion simulation model, the motion control device for:

Acquiring an actual motion parameter of the conveyor belt through the control loop, and generating a simulated motion parameter according to the actual motion parameter and a first motion parameter of a last wheel cycle of the robot, where the first motion parameter is generated and fed back by the motion simulation model, The control loop is configured to receive feedback of the motion simulation model;

Generating, by the motion simulation model, a second motion parameter of a current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop;

The second motion parameter is transmitted to a drive device of the robot.

Optionally, the robot system further includes a sensor connected to the motion control device, and the motion control device is further configured to: before acquiring the actual motion parameter of the conveyor belt through the control loop:

A person skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. You can choose some or all of them according to actual needs. The unit is to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program code. .

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that The technical solutions described in the embodiments are modified, or the equivalents of the technical features are replaced by the equivalents of the technical solutions of the embodiments of the present invention.

Claims

A method of robot motion control, characterized in that the method is applied to a motion control device of a robot, the motion control device comprising a control loop and a motion simulation model, comprising:

Acquiring an actual motion parameter of the conveyor belt through the control loop, and generating a simulated motion parameter according to the actual motion parameter and a first motion parameter of a last wheel cycle of the robot, where the first motion parameter is generated and fed back by the motion simulation model, The control loop is configured to receive feedback of the motion simulation model;

Generating, by the motion simulation model, a second motion parameter of a current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop;

The second motion parameter is transmitted to a drive device of the robot.
The method of claim 1 wherein said control loop includes a position control loop, a speed control loop, and an acceleration control loop, said obtaining, by said control loop, actual motion parameters of the conveyor belt and based on said actual motion The parameters and the first motion parameters of the upper wheel cycle of the robot generate simulated motion parameters including:

Obtaining an actual motion parameter of the conveyor belt by the position control loop, and generating first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot;

Generating, by the speed control loop, second data according to the first data and the first motion parameter;

A simulated motion parameter is generated by the acceleration control loop based on the second data and the first motion parameter.
The method according to claim 1, wherein the control loop comprises a position control loop, a speed control loop and an acceleration control loop, wherein the motion simulation model generates a robot current cycle according to the simulated motion parameter The second motion parameter, and feeding back the second motion parameter to the control loop includes:

Generating, by the motion simulation model, a second motion parameter of a current cycle of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively .
The method of claim 1 wherein prior to obtaining the actual motion parameters of the conveyor belt through the control loop, the method further comprises:

Detecting the movement of the conveyor belt to generate actual movement parameters of the conveyor belt and Row parameters are sent to the control loop.
The method according to any one of claims 1 to 4, wherein the transmitting the second motion parameter to the driving device of the robot comprises:

Converting the second motion parameter into a motion control instruction;

The motion control command is transmitted to a drive device of the robot.
A motion control device, characterized in that the motion control device comprises a storage device and a processor;

The storage device stores related executable programs, including a control loop and a motion simulation model;

The processor invokes and executes the executable program for:

Acquiring an actual motion parameter of the conveyor belt through the control loop, and generating a simulated motion parameter according to the actual motion parameter and a first motion parameter of a last wheel cycle of the robot, where the first motion parameter is generated and fed back by the motion simulation model, The control loop is configured to receive feedback of the motion simulation model;

Generating, by the motion simulation model, a second motion parameter of a current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop;

The second motion parameter is transmitted to a drive device of the robot.
The motion control apparatus according to claim 6, wherein said control loop includes a position control loop, a speed control loop, and an acceleration control loop, and said processor acquires an actual motion parameter of the conveyor belt through said control loop, and The actual motion parameters and the first motion parameters of the upper wheel cycle of the robot generate simulated motion parameters including:

Obtaining an actual motion parameter of the conveyor belt by the position control loop, and generating first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot;

Generating, by the speed control loop, second data according to the first data and the first motion parameter;

A simulated motion parameter is generated by the acceleration control loop based on the second data and the first motion parameter.
The motion control apparatus according to claim 6, wherein said control loop includes a position control loop, a speed control loop, and an acceleration control loop, and said processor generates a robot based on said simulated motion parameter by said motion simulation model The second motion parameter of the current cycle and feeding back the second motion parameter to the control loop includes:

Generating, by the motion simulation model, a second motion parameter of a current cycle of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively .
The motion control apparatus according to claim 6 wherein said motion controller is further coupled to a sensor on the conveyor belt, said processor prior to obtaining an actual motion parameter of the conveyor belt through said control loop Also used for:

The movement of the conveyor belt is detected by the sensor to generate actual motion parameters of the conveyor belt and the actual operational parameters are transmitted to the control loop.
The motion control apparatus according to any one of claims 6 to 9, wherein the transmitting, by the processor, the second motion parameter to the driving device of the robot comprises:

Converting the second motion parameter into a motion control instruction;

The motion control command is transmitted to a drive device of the robot.
A robot system, characterized in that the robot system comprises a robot and a motion control device connected to the robot, the motion control device comprising a control loop and a motion simulation model, the motion control device for:

Acquiring an actual motion parameter of the conveyor belt through the control loop, and generating a simulated motion parameter according to the actual motion parameter and a first motion parameter of a last wheel cycle of the robot, where the first motion parameter is generated and fed back by the motion simulation model, The control loop is configured to receive feedback of the motion simulation model;

Generating, by the motion simulation model, a second motion parameter of a current period of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the control loop;

The second motion parameter is transmitted to a drive device of the robot.
The robot system according to claim 11, wherein said control loop comprises a position control loop, a speed control loop and an acceleration control loop, said motion control means obtaining an actual motion parameter of the conveyor belt through said control loop, and The actual motion parameters and the first motion parameters of the upper wheel cycle of the robot generate simulated motion parameters including:

Obtaining an actual motion parameter of the conveyor belt by the position control loop, and generating first data according to the actual motion parameter and the first motion parameter of the upper wheel cycle of the robot;

Generating, by the speed control loop, second data according to the first data and the first motion parameter;

A simulated motion parameter is generated by the acceleration control loop based on the second data and the first motion parameter.
The robot system according to claim 11, wherein said control loop comprises a position control loop, a speed control loop and an acceleration control loop, and said motion control device generates a robot based on said simulated motion parameters by said motion simulation model The second motion parameter of the current cycle and feeding back the second motion parameter to the control loop includes:

Generating, by the motion simulation model, a second motion parameter of a current cycle of the robot according to the simulated motion parameter, and feeding back the second motion parameter to the position control loop, the speed control loop, and the acceleration control loop, respectively .
The robot system according to claim 11, wherein said robot system further comprises a sensor coupled to said motion control device, said motion control device before acquiring an actual motion parameter of the conveyor belt through said control loop Used for:

The movement of the conveyor belt is detected by the sensor to generate actual motion parameters of the conveyor belt and the actual operational parameters are transmitted to the control loop.
The robot system according to any one of claims 11 to 14, wherein the movement control device transmits the second motion parameter to the driving device of the robot comprises:

Converting the second motion parameter into a motion control instruction;

The motion control command is transmitted to a drive device of the robot.
A computer storage medium, characterized in that the computer storage medium stores an executable program, the executable program being executed to implement the method of robot motion control according to any one of claims 1-5.