WO2020224076A1 - Procédé de commande de robot et produit associé - Google Patents

Procédé de commande de robot et produit associé Download PDF

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Publication number
WO2020224076A1
WO2020224076A1 PCT/CN2019/099639 CN2019099639W WO2020224076A1 WO 2020224076 A1 WO2020224076 A1 WO 2020224076A1 CN 2019099639 W CN2019099639 W CN 2019099639W WO 2020224076 A1 WO2020224076 A1 WO 2020224076A1
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WO
WIPO (PCT)
Prior art keywords
target
robot
control parameter
target control
parameter
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Application number
PCT/CN2019/099639
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English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication of WO2020224076A1 publication Critical patent/WO2020224076A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators

Definitions

  • This application relates to the field of control technology, in particular to a robot control method and related products.
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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.
  • the parameter set of the controller is analyzed and the target control parameters are determined. It can improve the accuracy of robot control.
  • FIG. 1 provides a schematic structural diagram of a robot control system according to an embodiment of the present application.
  • the robot control system includes a robot controller 101 and a robot 102.
  • 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.
  • 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.
  • 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:
  • the target parameter set includes at least one of the following: target angular velocity, target gravitational acceleration, and target magnetic field strength.
  • 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.
  • 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.
  • 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.
  • the above-mentioned target parameter set can be stored in a nine-axis chip and can be directly read from the chip.
  • the data needs to be calibrated.
  • the signal acquisition sensor can be a three-axis gyroscope.
  • 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.
  • the target parameter set use a preset target control parameter determination method to determine the target control parameter of the robot.
  • 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.
  • using a preset target control parameter determination algorithm to determine the target control parameter may include steps A1-A4, which are specifically as follows:
  • offset value can be expressed by clockwise offset, clockwise is positive, counterclockwise is negative.
  • clockwise offset clockwise is positive
  • counterclockwise negative
  • 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;
  • 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.
  • 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.
  • the pass band is set by empirical values or historical data.
  • ⁇ is the rotation angle
  • ⁇ ib is the angular velocity change curve.
  • 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.
  • the reference control parameters may include yaw angle, pitch angle and roll angle, and the rotation axis satisfies the following vector relationship:
  • R is the direction vector matrix of the rotation axis
  • R' is the inverse matrix of R
  • q' is the inverse matrix of q, which can be expressed by the following formula:
  • cos ⁇ is the direction cosine of the rotation axis relative to the reference coordinate system x
  • axis cos ⁇ is the direction cosine of the rotation axis relative to the reference coordinate system y
  • cos ⁇ is the direction cosine of the rotation axis relative to the reference coordinate system z
  • 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
  • ⁇ is the rotation angle, which is ⁇ .
  • 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.
  • 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 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 ⁇
  • q 1 is the vector R and the x-axis vector part is p 1
  • 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
  • arcsin() is the arcsine function.
  • the target control parameters include target yaw angle, target pitch angle and target roll angle.
  • 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.
  • 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:
  • the robot may include a robot arm
  • the target control parameters may include the sub-target control parameters of the robot arm
  • 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.
  • the following methods can be used to improve the safety:
  • 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:
  • 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.
  • PK system public parameters
  • MSK master key
  • 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.
  • 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.
  • CT ciphertext
  • the proxy device receives the encrypted key and CT sent by the robot, it filters and forwards it to the robot controller.
  • access structure It is an access tree structure.
  • K x num(x)
  • the non-leaf node represents an AND gate
  • 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.
  • 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.
  • attribute set Ai attribute can be the characteristics of the subscriber, roles and other information
  • 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.
  • 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.
  • 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.
  • a possible method for determining the correction target control parameter includes steps B21-B24, which are specifically as follows:
  • 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;
  • 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.
  • 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.
  • the mapping relationship between the pressure value and the movement distance can be set through empirical values or historical data.
  • the direction opposite to the first movement direction can be regarded as the second movement square.
  • 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.
  • 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.
  • the sub-target control parameter is subtracted from the rotation angle to obtain the corrected target control parameter.
  • the robot after the robot receives the target control parameter, it can move according to the target control parameter.
  • the robot 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.
  • FIG. 3 is a schematic flowchart of another robot control method according to an embodiment of the application.
  • the control method includes steps 301-307, which are specifically as follows:
  • the target parameter set includes target angular velocity, target gravitational acceleration, and target magnetic field strength.
  • 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.
  • FIG. 4 is a schematic flowchart of another robot control method provided in an embodiment of the application.
  • the control method includes steps 401-409, which are specifically as follows:
  • the target parameter set use a preset target control parameter determination method to determine the target control parameter of the robot;
  • 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.
  • 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;
  • 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.
  • 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.
  • only fixed target control parameters are used to control the robot, which can improve the accuracy of robot control to a certain extent.
  • 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;
  • 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 terminal includes hardware structures and/or software modules corresponding to each function.
  • 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.
  • 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.
  • FIG. 6 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.
  • the target parameter set includes target angular velocity, target gravitational acceleration, and target magnetic field strength.
  • the determining unit 602 is specifically configured to:
  • a preset target control parameter determination algorithm is used to determine the target control parameter.
  • the determining unit 602 is specifically configured to:
  • the reference control parameter is corrected according to the offset value to obtain the target control parameter.
  • the device is also specifically used for:
  • the correction target control parameter is sent to the robot.
  • 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.
  • the target is controlled
  • the device is also specifically used for:
  • 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;
  • 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.
  • the disclosed device may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Selon des modes de réalisation, la présente invention concerne un procédé de commande de robot et un produit associé. Le procédé consiste à : acquérir un ensemble de paramètres cibles d'un dispositif de commande de robot pendant une période prédéfinie ; déterminer un paramètre de commande cible d'un robot selon l'ensemble de paramètres cibles et au moyen d'un procédé de détermination de paramètre de commande cible prédéfini ; et à envoyer le paramètre de commande cible au robot. La commodité de la commande de robot peut ainsi être améliorée.
PCT/CN2019/099639 2019-04-25 2019-08-07 Procédé de commande de robot et produit associé WO2020224076A1 (fr)

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CN201910376280.9A CN110103216B (zh) 2019-04-25 2019-05-07 机器人控制方法及相关产品

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CN115412908A (zh) * 2019-12-31 2022-11-29 深圳市工匠社科技有限公司 安全传输方法、机器人和控制系统

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