WO2020224076A1

WO2020224076A1 - Robot control method and related product

Info

Publication number: WO2020224076A1
Application number: PCT/CN2019/099639
Authority: WO
Inventors: 邓朝阳; 叶佩森; 黎钊洪; 招俊健
Original assignee: 深圳市工匠社科技有限公司
Priority date: 2019-04-25
Filing date: 2019-08-07
Publication date: 2020-11-12
Also published as: CN110103216A; CN110103216B

Abstract

Provided in the embodiments of the present application are a robot control method and a related product. The method comprises: acquiring a target parameter set of a robot controller in a preset time period; determining a target control parameter of a robot according to the target parameter set and by means of a preset target control parameter determination method; and sending the target control parameter to the robot. In this way, the convenience of robot control can be improved.

Description

Robot control methods and related products

Technical field

This application relates to the field of control technology, in particular to a robot control method and related products.

Background technique

With the continuous development of society, more and more robots appear in people's field of vision, and at the same time bring great convenience to people's lives. In traditional robot joint control systems, the control method usually used to control the robot is: directly issue a fixed motion instruction number through a traditional handle, etc., and transmit it to the robot processor through wired or wireless communication methods, and find the fixed number written in the robot processor. Action number, and then convert the instruction data corresponding to the number into a corresponding control signal to control the robot movement. Because the existing solution only uses fixed action instructions for control, the accuracy of robot control is low.

Summary of the invention

The embodiments of the present application provide a robot control method and related products, which can improve the convenience of robot control.

The first aspect of the embodiments of the present application provides a robot control method, which includes:

Obtain the target parameter set of the robot controller in the preset time period;

According to the target parameter set, a preset target control parameter determination method is adopted to determine the target control parameter of the robot;

The target control parameter is sent to the robot.

A second aspect of the embodiments of the present application provides a robot control device, which includes an acquiring unit, a determining unit, and a sending unit, wherein:

The acquiring unit is configured to acquire a target parameter set of the robot controller in a preset time period;

The determining unit is configured to determine the target control parameter of the robot by using a preset target control parameter determination method according to the target parameter set;

The sending unit is configured to send the target control parameter to the robot.

A third aspect of the embodiments of the present application provides a terminal, including a processor, an input device, an output device, and a memory. The processor, input device, output device, and memory are connected to each other, wherein the memory is used to store a computer program The computer program includes program instructions, and the processor is configured to call the program instructions to execute instructions as in the first aspect of the embodiments of the present application.

The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, wherein the foregoing computer-readable storage medium stores a computer program for electronic data exchange, wherein the foregoing computer program enables a computer to execute Some or all of the steps described in one aspect.

The fifth aspect of the embodiments of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to make a computer execute Example part or all of the steps described in the first aspect. The computer program product may be a software installation package.

Implementing the embodiments of this application has at least the following beneficial effects:

In the embodiment of the present application, by obtaining the target parameter set of the robot controller in a preset time period, according to the target parameter set, the preset target control parameter determination method is adopted to determine the target control parameter of the robot, and the The target control parameters are sent to the robot. Therefore, compared with the existing solution, only a fixed control command is used to control the robot. The target parameter set of the robot controller can be collected, and the target control parameter can be determined according to the parameter, and the target control parameter can be sent to the robot. When controlling the robot, the target parameter set can be used to determine the target control parameter, which can improve the accuracy of robot control to a certain extent.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

FIG. 1 provides a schematic structural diagram of a robot control system according to an embodiment of the application;

FIG. 2A provides a schematic flowchart of a robot control method according to an embodiment of this application;

2B is a schematic diagram of a rotating shaft of an electronic device according to an embodiment of the application;

FIG. 3 is a schematic flowchart of another robot control method according to an embodiment of the application;

FIG. 4 is a schematic flowchart of another robot control method according to an embodiment of the application;

FIG. 5 is a schematic structural diagram of a terminal provided by an embodiment of this application;

FIG. 6 is a schematic structural diagram of a robot control device provided in an embodiment of the application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes unlisted steps or units, or optionally also includes Other steps or units inherent to these processes, methods, products or equipment.

The reference to "embodiments" in this application means that a specific feature, structure or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art clearly and implicitly understand that the embodiments described in this application can be combined with other embodiments.

In the embodiments of the present application, mainly considering the lack of accuracy in robot control in the prior art, in order to improve the accuracy of robot control, the parameter set of the controller is analyzed and the target control parameters are determined. It can improve the accuracy of robot control.

In order to better understand a robot control method provided by an embodiment of the present application, the following briefly introduces a robot control system applying the robot control method. Please refer to FIG. 1. FIG. 1 provides a schematic structural diagram of a robot control system according to an embodiment of the present application. As shown in Figure 1, the robot control system includes a robot controller 101 and a robot 102. When a user manipulates the robot controller 101, the robot controller 101 obtains its own target parameter set, and then the robot controller 101 uses the target parameter set according to the target parameter set. The preset method for determining target control parameters determines the target control parameters of several people; the robot controller 101 sends the target control parameters to the robot 102. Therefore, compared with the existing solution, only a fixed control command is used to control the robot. The target parameter set of the robot controller can be collected, and the target control parameter can be determined according to the parameter, and the target control parameter can be sent to the robot. When controlling the robot, the target parameter set can be used to determine the target control parameter, which can improve the accuracy of robot control to a certain extent.

Please refer to FIG. 2A. FIG. 2A is a schematic flowchart of a robot control method according to an embodiment of the application. As shown in Figure 2A, the robot control method includes steps 201-203, which are specifically as follows:

201. Obtain a target parameter set of a robot controller in a preset time period.

Wherein, the target parameter set includes at least one of the following: target angular velocity, target gravitational acceleration, and target magnetic field strength. Among them, the parameters in the above-mentioned target parameter set may be a parameter set possessed by the robot when the user manipulates the robot controller, and this set may reflect the user's manipulation action on the robot controller. The preset time period is set by experience values or historical data.

Optionally, the robot controller may be a humanoid robotic arm or an electronic device. Humanoid robotic arm can be understood as a robotic arm similar in appearance to the human body.

Optionally, a possible method for acquiring the target parameter set is: acquiring the target angular velocity through a gyroscope or an acceleration sensor, acquiring the target gravitational acceleration through an acceleration sensor, and acquiring the target magnetic field intensity through a magnetic field intensity detection sensor. Among them, the above-mentioned target parameter set can be stored in a nine-axis chip and can be directly read from the chip.

Optionally, before collecting the target parameter set of the robot controller, when the robot controller is turned on horizontally, since the signal acquisition sensor of the robot controller may have an offset, at this time, the data needs to be calibrated. The signal acquisition sensor can be a three-axis gyroscope. When calibrating, the following methods can be used to calibrate. The data is collected at a preset time interval within a preset time period, and the arithmetic average of the collected data is calculated. The arithmetic mean value is used as the deviation value, and then the deviation value is used as the basic value. The basic value can be a set reference value. The reference value is understood as: taking the magnetic field as an example, taking the true north direction as the original reference value, then offset the original direction to the direction of the deviation value, and use this direction as the reference value . The preset time period and the preset time interval are set by experience values or historical data.

202. According to the target parameter set, use a preset target control parameter determination method to determine the target control parameter of the robot.

Optionally, a possible method of determining the target control parameter of the robot based on the target parameter set is: according to the target angular velocity, target gravitational acceleration, and target magnetic field strength, using a preset target control parameter determination algorithm to determine The target control parameter. Among them, using a preset target control parameter determination algorithm to determine the target control parameter may include steps A1-A4, which are specifically as follows:

A1. If the robot is stationary in the horizontal direction, determine the offset value of the yaw angle according to the target magnetic field strength;

Among them, a possible method of determining the offset value of the yaw angle based on the target magnetic field strength is: taking the true north direction as a reference, and taking the offset between the magnetic field direction of the rotation axis and the true north direction as the offset Value, offset value, can be expressed by clockwise offset, clockwise is positive, counterclockwise is negative. Of course, it can also be expressed in other ways, and this is only an example for illustration and no specific limitation is made.

A2. Filtering is performed according to the target angular velocity and the target gravitational acceleration by using a preset filtering method to obtain the angular velocity change curve of the robot controller in the preset time period;

Optionally, the preset filtering method may be a complementary filtering method. One possible method for filtering based on the target angular velocity and the target gravitational acceleration using complementary filtering methods may be: the complementary filtering method may include low-pass filtering and high-pass filtering, specifically: the high-pass filtering method is used to filter the target angular velocity to obtain the first filter Signal; using a low-pass filtering method to filter the target gravitational acceleration value to obtain a second filtered signal; combine the first filtered signal and the second filtered signal to obtain the angular velocity change curve within a preset time period. Among them, the angular velocity change curve is a curve in the space coordinate system. The preset time period is set by experience value or historical data. The method for combining the first filter signal and the second filter signal is to splice the high frequency signal of the first filter signal and the low frequency signal of the second filter signal to obtain the angular velocity variation curve.

Among them, when performing low-pass filtering and high-pass filtering, the pass band is set by empirical values or historical data.

A3. Integrate the angular velocity change curve to obtain the rotation angle of the robot controller in the preset time period;

Optionally, a possible method of integrating the angular velocity change curve can be expressed by the following formula:

Among them, Δθ is the rotation angle, and ω _ib is the angular velocity change curve. Among them, the rotation angle is the rotation angle between the rotation vector of the robot controller relative to the reference coordinate system. The rotation axis of the robot controller may be the straight line where the arm of the robot controller is in the extended state, the vertical rotation axis of the robot controller, and the like. The reference coordinate system may be a preset coordinate system, for example, a spatial rectangular coordinate system set with the center of gravity of the robot controller as the origin, or a spatial polar coordinate system.

A4. Determine a reference control parameter according to the rotation angle.

Optionally, the reference control parameters may include yaw angle, pitch angle and roll angle, and the rotation axis satisfies the following vector relationship:

R′=qRq′,

Among them, R is the direction vector matrix of the rotation axis, R'is the inverse matrix of R, and q'is the inverse matrix of q, which can be expressed by the following formula:

q=λ+p ₁ i+p ₂ j+p ₃ k,

Among them, cosα is the direction cosine of the rotation axis relative to the reference coordinate system x, axis cosβ is the direction cosine of the rotation axis relative to the reference coordinate system y, cosγ is the direction cosine of the rotation axis relative to the reference coordinate system z, and i is the direction cosine of the x axis The direction vector, j is the direction vector of the y-axis, k is the direction vector of the z-axis, and θ is the rotation angle, which is Δθ.

Optionally, when the controller is an electronic device, the rotation axis can be understood as the direction in which the center line of the electronic device is located, as shown in FIG. 2B.

Optionally, the target control parameters may include yaw angle, pitch angle, and roll angle. A possible method of determining the target control parameter based on the rotation angle is to determine the target control parameter by the following formula:

Y=arctan 2(2×q ₁ ×q ₂ +2×q ₀ ×q ₃ ,-2×q ₂ ×q ₂ -2×q ₃ ×q ₃ +1)×57.3,

P=arcsin 2(-2×q ₁ ×q ₃ +2×q ₀ ×q ₃ +2×q ₀ ×q ₂ )×57.3,

R=arctan 2(2×q ₂ ×q ₃ +2×q ₀ ×q ₁ ,-2×q ₁ ×q ₁ -2×q ₂ ×q ₂ +1)×57.3,

Among them, Y is the yaw angle, P is the pitch angle, R is the roll angle, q ₀ is the scalar part of the vector R, which is λ, q ₁ is the vector R and the x-axis vector part is p ₁ , and q ₂ is the vector R The y-axis vector part is p ₂ , q ₃ is the vector R and the z-axis vector part is p ₃ , arctan() is the arctangent function, and arcsin() is the arcsine function.

A5. Correct the reference control parameter according to the offset value to obtain the target control parameter.

Among them, the target control parameters include target yaw angle, target pitch angle and target roll angle.

Optionally, a possible method for correcting the reference control parameter is: correcting the yaw angle in the reference control parameter by the offset value. The correction method is: subtract the offset value from the yaw angle to obtain the target yaw angle in the target control parameters.

In a possible example, the robot can be in a state of fighting against other robots. When in this state, the robot can feed back the battle information with the competing robot. The battle information can be characterized as the pressure value detected by the robotic arm. A possible method for adjusting the robot's actions includes steps B1-B3, which are specifically as follows:

B1. Receive parameter correction information sent by the robot;

Among them, the robot may include a robot arm, the target control parameters may include the sub-target control parameters of the robot arm, and the parameter correction information may be the target pressure value detected by the robot arm. Because when the robot is fighting, if one's own robot hits the opponent's robot For body parts, you can determine your own score. In order to protect the opponent's robot from damage, you need to cancel the hit state in time to protect the robot. The target pressure value can be the pressure value when any part of the arm of the robot hits the opponent robot.

Optionally, before receiving the parameter correction information sent by the robot, in order to improve the safety of data transmission between the robot and the robot controller, the following methods can be used to improve the safety:

Before data transmission, a secure communication channel is established, and data is transmitted through the secure communication channel. A possible method for establishing a secure communication channel involves robots, robot controllers, and proxy devices. The proxy devices are trusted third-party devices. Including the following steps:

S1. Initialization: The initialization phase mainly completes the registration of the robot and the robot controller in the agent device, the subscription of the topic and the generation of system parameters. Robots and robot controllers register with the agent device. Only the registered robots and robot controllers can participate in topic publication and subscription. The robot controller subscribes to the agent device for related topics. The agent device generates system public parameters (PK) and master key (MSK), and sends the PK to the registered robots and robot controllers.

S2. Encryption and release: The encryption and release stage is mainly where the robot encrypts the payload corresponding to the subject to be released and sends it to the agent device. First, the robot uses a symmetric encryption algorithm to encrypt the payload, generates ciphertext (CT), and then develops an access structure

According to the PK generated by the robot and

Encrypt the symmetric key, and finally send the encrypted key and the encrypted payload to the proxy device. After the proxy device receives the encrypted key and CT sent by the robot, it filters and forwards it to the robot controller.

Optional, access structure

It is an access tree structure. Each non-leaf node of the access tree is a threshold, represented by K _x , 0<=K _x <=num(x), and num(x) represents the number of its child nodes. When K _x =num(x), the non-leaf node represents an AND gate; when K _x =1, the non-leaf node represents an OR gate; each leaf node of the visited tree represents an attribute. The attribute set satisfying an access tree structure can be defined as: suppose T is the access tree with r as the root node, and T _x is the subtree of T with x as the root node. If T _x (S) = 1, it means that the attribute set S satisfies the access structure T _x . If the node x is a leaf node, T _x (S) = 1 if and only if the attribute att(x) associated with the leaf node x is an element of the attribute set S. If node x is a non-leaf node, at least K _x child nodes z satisfy T _z (S)=1, T _x (S)=1.

S3. Private key generation: The private key generation stage is mainly where the agent device generates a corresponding key for the robot controller to decrypt the CT received thereafter. The robot controller provides the agent device with an attribute set _Ai (attributes can be the characteristics of the subscriber, roles and other information), the agent device generates a private key SK according to the PK, the attribute set _Ai and the master key MSK, and then sends the generated private key To the robot controller.

Optionally, the attribute set A _i is a subset of the global set U={A ₁ , A ₂ ,..., A _n }. The attribute set A _i represents the attribute information of the robot controller i (the i-th robot controller), which can be the characteristics and roles of the robot controller, and is the default attribute of the robot controller. The global set U represents the attribute information of all robot controllers. Collection.

S4. Decryption: The decryption stage is mainly the process of the robot controller decrypting the encrypted payload to extract civilization. After receiving the encrypted key and CT sent by the agent device, the robot controller decrypts the encrypted key according to the PK and SK to obtain the symmetric key. If its attribute set A _i satisfies the access structure of ciphertext

The ciphertext can be successfully decrypted, thereby ensuring the security of the communication process.

By constructing a secure communication channel, the security of communication between the robot controller and the robot can be improved to a certain extent, and the possibility of illegal users stealing the data transmitted between the legal robot controller and the robot is reduced, and illegal users are also reduced. Through intrusion and tampering with the system, the important data in the system is stolen.

B2. Perform parameter correction on the target control parameter according to the parameter correction information to obtain a corrected target control parameter;

Optionally, a possible method for determining the correction target control parameter includes steps B21-B24, which are specifically as follows:

B21. If the target pressure value is within a preset pressure value threshold interval, determine the first movement direction of the mechanical arm according to the target control parameter, and determine the mechanical arm according to the target pressure value Distance of movement;

Among them, the preset pressure value threshold interval can be set according to empirical values or historical data. Since the target control parameter is to control the movement of the robotic arm, the first movement direction of the robotic arm can be directly determined.

Optionally, the method for determining the movement distance of the robotic arm according to the target pressure value is: determining the movement distance of the robotic arm according to a preset mapping relationship between the pressure value and the movement distance. Among them, the mapping relationship between the pressure value and the movement distance can be set through empirical values or historical data.

B22. Determine the second direction of movement of the robotic arm according to the first direction of movement;

Optionally, the direction opposite to the first movement direction can be regarded as the second movement square.

B23. Generate a correction value of the sub-target control parameter of the robotic arm according to the second movement direction and the movement distance;

Optionally, a possible method for generating the correction value of the sub-target control parameter is: determining the rotation angle of the rotation axis of the manipulator according to the second movement direction and the movement distance; and using the rotation angle as the correction value. Wherein, the method for determining the rotation angle of the rotation axis of the robot arm according to the second motion direction and the motion distance can refer to the reverse method of determining the control method by the rotation angle of the robot arm, and then the rotation angle can be determined. The angle of rotation includes the yaw angle, pitch angle and roll angle.

B24. Correct the sub-target control parameter according to the correction value to obtain the corrected target control parameter.

Among them, the sub-target control parameter is subtracted from the rotation angle to obtain the corrected target control parameter.

B3. Send the correction target control parameter to the robot.

203. Send the target control parameter to the robot.

In a possible embodiment, after the robot receives the target control parameter, it can move according to the target control parameter. When controlling the movement of the robot through the target control parameters, the robot can be controlled to move, and the direction of the robot can be controlled.

Please refer to FIG. 3, which is a schematic flowchart of another robot control method according to an embodiment of the application. As shown in Figure 3, the control method includes steps 301-307, which are specifically as follows:

301. Obtain a target parameter set of a robot controller in a preset time period;

Wherein, the target parameter set includes target angular velocity, target gravitational acceleration, and target magnetic field strength.

302. If the robot is stationary in the horizontal direction, determine the offset value of the yaw angle according to the target magnetic field strength;

303. Filter according to the target angular velocity and the target gravitational acceleration by using a preset filtering method to obtain the angular velocity change curve of the robot controller in the preset time period;

304. Integrate the angular velocity change curve to obtain the rotation angle of the robot controller in the preset time period.

305. Determine a reference control parameter according to the rotation angle.

306. Correct the reference control parameter according to the offset value to obtain the target control parameter.

307. Send the target control parameter to the robot.

In this example, the offset value of the yaw angle is determined by the strength of the magnetic field, and the angular velocity change curve is determined according to the target angular velocity and the target gravitational acceleration, and the offset value is used for correction, and finally the target control parameters are determined. Therefore, relative to In existing solutions, only fixed target control parameters are used to control the robot, which can improve the accuracy of robot control to a certain extent.

Please refer to FIG. 4, which is a schematic flowchart of another robot control method provided in an embodiment of the application. As shown in Figure 4, the control method includes steps 401-409, which are specifically as follows:

401. Obtain a target parameter set of the robot controller in a preset time period.

402. According to the target parameter set, use a preset target control parameter determination method to determine the target control parameter of the robot;

403. Send the target control parameter to the robot.

404. Receive parameter correction information sent by the robot.

Wherein, the parameter correction information includes a target pressure value, the robot includes a robot arm, and the target control parameter includes a sub-target control parameter of the robot arm.

405. If the target pressure value is within a preset pressure value threshold interval, determine the first movement direction of the mechanical arm according to the target control parameter, and determine the mechanical arm according to the target pressure value Distance of movement;

406. Determine a second direction of movement of the robotic arm according to the first direction of movement.

407. Generate a correction value of the sub-target control parameter of the robot arm according to the second movement direction and the movement distance.

408. Correct the sub-target control parameter according to the correction value to obtain the corrected target control parameter.

409. Send the correction target control parameter to the robot.

In this example, the parameter correction information sent by the robot can be received, and the sub-target control parameter correction value of the robotic arm can be obtained according to the correction information, and the sub-target control parameter of the robotic arm can be corrected to obtain the corrected target control parameter. In existing solutions, only fixed target control parameters are used to control the robot, which can improve the accuracy of robot control to a certain extent.

Consistent with the above embodiment, please refer to FIG. 5. FIG. 5 is a schematic structural diagram of a terminal provided by an embodiment of the application. As shown in the figure, it includes a processor, an input device, an output device, and a memory. The processor, The input device, the output device, and the memory are connected to each other, wherein the memory is used to store a computer program, the computer program includes program instructions, the processor is configured to call the program instructions, and the above program includes instructions for executing the following Step instructions;

The target control parameter is sent to the robot.

The foregoing mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that, in order to implement the above-mentioned functions, the terminal includes hardware structures and/or software modules corresponding to each function. Those skilled in the art should easily realize that in combination with the units and algorithm steps of the examples described in the embodiments provided herein, this application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

The embodiments of the present application may divide the terminal into functional units according to the foregoing method examples. For example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one processing unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.

Consistent with the above, please refer to FIG. 6, which is a schematic structural diagram of a robot control device provided in an embodiment of the application. The robot control device includes an acquiring unit 601, a determining unit 602, and a sending unit 603, where:

The acquiring unit 601 is configured to acquire a target parameter set of the robot controller in a preset time period;

The determining unit 602 is configured to determine the target control parameter of the robot by using a preset target control parameter determination method according to the target parameter set;

The sending unit 603 is configured to send the target control parameter to the robot.

Optionally, the target parameter set includes target angular velocity, target gravitational acceleration, and target magnetic field strength. In terms of determining the target control parameter of the robot by using a preset target control parameter determination method based on the target parameter set, The determining unit 602 is specifically configured to:

According to the target angular velocity, the target gravitational acceleration, and the target magnetic field strength, a preset target control parameter determination algorithm is used to determine the target control parameter.

Optionally, in terms of determining the target control parameter by using a preset target control parameter determination algorithm according to the target angular velocity, target gravitational acceleration, and target magnetic field strength, the determining unit 602 is specifically configured to:

If the robot is stationary in the horizontal direction, determine the offset value of the yaw angle according to the target magnetic field strength;

Filtering according to the target angular velocity and the target gravitational acceleration using a preset filtering method to obtain the angular velocity change curve of the robot controller in the preset time period;

Integrating the angular velocity change curve to obtain the rotation angle of the robot controller in the preset time period;

Determining a reference control parameter according to the rotation angle;

The reference control parameter is corrected according to the offset value to obtain the target control parameter.

Optionally, the device is also specifically used for:

Receiving parameter correction information sent by the robot;

Performing parameter correction on the target control parameter according to the parameter correction information to obtain a corrected target control parameter;

The correction target control parameter is sent to the robot.

Optionally, the parameter correction information includes a target pressure value, the robot includes a robot arm, and the target control parameter includes a sub-target control parameter of the robot arm. After the parameter correction information, the target is controlled In terms of parameter correction to obtain the corrected target control parameter, the device is also specifically used for:

If the target pressure value is within a preset pressure value threshold interval, the first movement direction of the robotic arm is determined according to the target control parameter, and the movement of the robotic arm is determined according to the target pressure value distance;

Determine the second movement direction of the mechanical arm according to the first movement direction;

Generating a correction value of the sub-target control parameter of the robot arm according to the second movement direction and the movement distance;

The sub-target control parameter is corrected according to the correction value to obtain the corrected target control parameter.

The embodiments of the present application also provide a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program causes the computer to execute any part of the robot control method described in the above method embodiment Or all steps.

The embodiments of the present application also provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program causes a computer to execute any robot described in the above method embodiments. Part or all of the steps of the control method.

It should be noted that for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited by the described sequence of actions. Because according to this application, some steps can be performed in other order or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed device may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical or other forms.

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, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, it is stated in the application that each functional unit in each embodiment may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be realized in the form of hardware or software program module.

If the integrated unit is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer readable memory. Based on this understanding, the technical solution of the present application essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, A number of instructions are included to enable a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (read-only memory, ROM), random access memory (random access memory, RAM), mobile hard disk, magnetic disk, or optical disk and other media that can store program codes.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above-mentioned embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: flash disk , Read-only memory, random access device, magnetic or optical disk, etc.

The embodiments of the application are described in detail above, and specific examples are used in this article to illustrate the principles and implementation of the application. The descriptions of the above examples are only used to help understand the methods and core ideas of the application; A person of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present application.

Claims

A robot control method, characterized in that the method includes:

Obtain the target parameter set of the robot controller in the preset time period;

According to the target parameter set, a preset target control parameter determination method is adopted to determine the target control parameter of the robot;

The target control parameter is sent to the robot.
The method according to claim 1, wherein the target parameter set includes a target angular velocity, a target gravitational acceleration, and a target magnetic field strength. According to the target parameter set, a preset target control parameter determination method is used to determine The target control parameters of the robot, including:

According to the target angular velocity, the target gravitational acceleration, and the target magnetic field strength, a preset target control parameter determination algorithm is used to determine the target control parameter.
The method according to claim 2, wherein the determining the target control parameter by using a preset target control parameter determination algorithm according to the target angular velocity, the target gravitational acceleration, and the target magnetic field strength comprises:

If the robot is stationary in the horizontal direction, determine the offset value of the yaw angle according to the target magnetic field strength;

Filtering according to the target angular velocity and the target gravitational acceleration using a preset filtering method to obtain the angular velocity change curve of the robot controller in the preset time period;

Integrating the angular velocity change curve to obtain the rotation angle of the robot controller in the preset time period;

Determining a reference control parameter according to the rotation angle;

The reference control parameter is corrected according to the offset value to obtain the target control parameter.
The method according to any one of claims 1 to 3, wherein the method further comprises:

Receiving parameter correction information sent by the robot;

Performing parameter correction on the target control parameter according to the parameter correction information to obtain a corrected target control parameter;

The correction target control parameter is sent to the robot.
The method according to claim 4, wherein the parameter correction information includes a target pressure value, the robot includes a robot arm, the target control parameter includes a sub-target control parameter of the robot arm, and the parameter is based on the parameter The correction information, performing parameter correction on the target control parameter to obtain the corrected target control parameter, includes:

If the target pressure value is within a preset pressure value threshold interval, the first movement direction of the robotic arm is determined according to the target control parameter, and the movement of the robotic arm is determined according to the target pressure value distance;

Determine the second movement direction of the mechanical arm according to the first movement direction;

Generating a correction value of the sub-target control parameter of the robot arm according to the second movement direction and the movement distance;

The sub-target control parameter is corrected according to the correction value to obtain the corrected target control parameter.
A robot control device, characterized in that the device includes an acquisition unit, a determination unit and a sending unit, wherein:

The acquiring unit is configured to acquire a target parameter set of the robot controller in a preset time period;

The determining unit is configured to determine the target control parameter of the robot by using a preset target control parameter determination method according to the target parameter set;

The sending unit is configured to send the target control parameter to the robot.
The device according to claim 6, wherein the target parameter set includes a target angular velocity, a target gravitational acceleration, and a target magnetic field strength, and a preset target control parameter determination method is used according to the target parameter set, In terms of determining the target control parameters of the robot, the determining unit is specifically configured to:

According to the target angular velocity, the target gravitational acceleration, and the target magnetic field strength, a preset target control parameter determination algorithm is used to determine the target control parameter.
The device according to claim 7, wherein in the aspect of determining the target control parameter by using a preset target control parameter determination algorithm according to the target angular velocity, target gravitational acceleration, and target magnetic field strength, The determining unit is specifically used for:

If the robot is stationary in the horizontal direction, determine the offset value of the yaw angle according to the target magnetic field strength;

Filtering according to the target angular velocity and the target gravitational acceleration using a preset filtering method to obtain the angular velocity change curve of the robot controller in the preset time period;

Integrating the angular velocity change curve to obtain the rotation angle of the robot controller in the preset time period;

Determining a reference control parameter according to the rotation angle;

The reference control parameter is corrected according to the offset value to obtain the target control parameter.
A terminal, characterized in that it includes a processor, an input device, an output device, and a memory, the processor, input device, output device, and memory are connected to each other, wherein the memory is used to store a computer program, and the computer program Comprising program instructions, the processor is configured to call the program instructions to execute the method according to any one of claims 1-5.
A computer-readable storage medium, wherein the computer storage medium stores a computer program, the computer program includes program instructions, and the program instructions, when executed by a processor, cause the processor to execute as claimed in claim 1. -The method of any one of 5.