WO2021218212A1

WO2021218212A1 - Robot control method and apparatus, and storage medium and processor

Info

Publication number: WO2021218212A1
Application number: PCT/CN2020/139941
Authority: WO
Inventors: 万文洁; 郭东生; 衷镇宇; 周家裕; 王佳威; 张睿; 李鹏程; 林宇萌
Original assignee: 珠海格力智能装备有限公司; 珠海格力电器股份有限公司
Priority date: 2020-04-26
Filing date: 2020-12-28
Publication date: 2021-11-04
Also published as: CN111469130A

Abstract

A robot control method and apparatus, and a storage medium and a processor. The method comprises: collecting a motion parameter of a robot; performing error compensation on the motion parameter, and obtaining a control parameter; calculating a pose parameter of the robot according to the control parameter; and controlling, according to the pose parameter, the robot to execute a corresponding action. The technical problem in the related art of the low stability of motion control over an industrial robot is thus solved.

Description

Robot control method and device, storage medium and processor

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 202010340807.5, and the invention title "Robot control method and device, storage medium and processor" on April 26, 2020, the entire content of which is incorporated by reference In this application.

Technical field

The present invention relates to the field of robot control, and in particular to a method and device for controlling a robot, a storage medium and a processor.

Background technique

In related technologies, the robotics industry is moving towards the direction of intelligence, but most robots are not stable during operation. At present, most robot control systems are designed based on external physical quantity control, that is, through the addition of multiple types of equipment in the equipment. The sensor collects external information, and sends motion control instructions to the controller through algorithm calculation to realize the control of the robot.

Since the information collected by the sensor receives external or sensor factors, the data measured by the sensor has deviation and noise. Therefore, the motion control stability of the industrial robot in the related technology is not high.

In view of the above-mentioned problems existing in related technologies, no effective solutions have been proposed at present.

Summary of the invention

The main purpose of the present invention is to provide a robot control method and device, storage medium and processor to solve the technical problem of low stability of motion control of industrial robots in related technologies.

In order to achieve the above objective, according to one aspect of the present invention, a robot control method is provided. The invention includes: collecting the motion parameters of the robot; performing error compensation on the motion parameters and obtaining the control parameters; calculating the pose parameters of the robot according to the control parameters; controlling the robot to perform corresponding actions according to the pose parameters.

Further, before collecting the motion parameters of the robot, the method further includes: tracking and calibrating the position of the robot by a laser sensor, wherein the laser sensor is arranged inside the robot.

Further, collecting the motion parameters of the robot includes: according to tracking calibration, the laser sensor outputs motion parameters, where the laser sensor includes at least the following: rangefinder, accelerometer, magnetometer, gyroscope, and the motion parameters include at least the following: distance, acceleration , Steering angle and angular velocity.

Further, performing error compensation on the motion parameters and obtaining the control parameters includes: amplifying the motion parameters through an amplifying circuit; performing error resistance compensation operations on the amplified motion parameters, and converting the motion parameters into a control voltage, wherein the amplifying circuit The controller includes a controller. The GND terminal of the controller is provided with a DC blocking capacitor, which compensates the motion parameters for errors; and determines the control parameters according to the control voltage.

Further, calculating the pose parameters of the robot according to the control parameters includes: calculating the pose parameters according to the control parameters, where the pose parameters include at least the following: position, acceleration, steering angle, and gyroscope angle.

In order to achieve the above objective, according to another aspect of the present invention, a robot control device is provided. The device includes: a sensor module configured to collect the motion parameters of the robot; an AD module configured to perform error compensation on the motion parameters and obtain control parameters; a central processing module configured to calculate the pose of the robot according to the control parameters Parameters: The actuator is configured to control the corresponding actions of the robot according to the pose parameters.

In order to achieve the above-mentioned object, according to another aspect of the present invention, a storage medium is provided, wherein the storage medium includes a stored program, and the program executes the above-mentioned method for controlling a robot.

In order to achieve the foregoing objective, according to another aspect of the present invention, a processor is provided, wherein the processor is used to execute a program, and the program executes the foregoing method for controlling a robot.

Through the present invention, the following steps are adopted: collect the motion parameters of the robot; perform error compensation on the motion parameters, and obtain the control parameters; calculate the pose parameters of the robot according to the control parameters; control the robot to perform corresponding actions according to the pose parameters, and solve The technical problem of the low stability of the motion control of the industrial robot in the related art, thereby achieving the technical effect of improving the stability of the robot's motion.

Description of the drawings

The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, and the exemplary embodiments of the present invention and the description thereof are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a flowchart of a method for controlling a robot according to an embodiment of the present invention; and

FIG. 2 is a design diagram of an AD amplifier circuit according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of error compensation for robot motion parameters according to an embodiment of the present invention;

Fig. 4 is a schematic diagram of a robot control device according to an embodiment of the present invention.

Detailed ways

It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict. Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments.

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that the terms “first” and “second” in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances in order to facilitate the embodiments of the present invention described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

According to an embodiment of the present invention, a method for controlling a robot is provided.

Fig. 1 is a flowchart of a method for controlling a robot according to an embodiment of the present invention. As shown in Figure 1, the invention includes the following steps:

Step S101: Collect the motion parameters of the robot.

In step S102, error compensation is performed on the motion parameter, and the control parameter is obtained.

Step S103: Calculate the pose parameters of the robot according to the control parameters.

In step S104, the robot is controlled to perform corresponding actions according to the pose parameters.

Specifically, intelligent robot control is based on traditional industrial robots to meet the needs of specific tasks in a human-like manner. By optimizing the control of the robot's pose parameters, the robot's job sensitivity and robot attitude inertial parameters are improved. Integrated tracking control capabilities. In the actual operation process, the robot's movements mainly include tracking, grasping, and other mechanical movements similar to the human body. However, in actual operations, the robot's movements will be affected by many internal or external factors, which reduce the stability of the robot's operation. Therefore, it is necessary to set up an automatic adjustment mechanism in the robot control system during design.

As mentioned above, in this application, a laser sensor is used as the basic control and adjustment mechanism, and the motion parameters of the robot are collected through the laser sensor. After receiving the motion parameters, the robot control system estimates and adjusts the motion parameters (that is, performs error compensation on the motion parameters). ), which reduces the control delay of the robot, thereby improving the stability of the robot's motion.

The robot control method provided by the embodiment of the present invention collects the motion parameters of the robot; performs error compensation on the motion parameters and obtains the control parameters; calculates the pose parameters of the robot according to the control parameters; controls the robot according to the pose parameters Performing corresponding actions solves the technical problem of low stability of motion control of industrial robots in related technologies, and thus achieves the technical effect of improving the stability of robot motions.

Optionally, before collecting the motion parameters of the robot, the method further includes: tracking and calibrating the position of the robot by a laser sensor, wherein the laser sensor is arranged inside the robot.

Specifically, this application chooses to use a laser sensor as the basic control and adjustment mechanism. The laser sensor is set inside the robot to collect motion parameters. The control system calculates, estimates and adjusts the motion parameters sent by the sensor, thereby improving the stability of the robot.

Optionally, collecting the motion parameters of the robot includes: according to tracking calibration, the laser sensor outputs motion parameters, where the laser sensor includes at least the following: rangefinder, accelerometer, magnetometer, gyroscope, and the motion parameters include at least the following: distance, Acceleration, steering angle and angular velocity.

Further, the movement track and position of the robot are calibrated by a laser sensor arranged inside the robot. The laser sensor includes at least a rangefinder, an accelerometer, a magnetometer, and a gyroscope. By calibrating the motion trajectory of the robot with the gyroscope, the motion parameters of the robot can be obtained, including the distance between the robot and the robot to be processed, the acceleration of the robot movement, the steering angle of the robot, and the angular velocity of the robot.

It should be noted that the laser sensor calibrates the robot's trajectory, that is, each laser sensor emits a series of beams to obtain the positioning times and information collection directions of the spot to track and calibrate the object, using mathematical methods and the robot motion model, rangefinder, The accelerometer, magnetometer, and gyroscope calculate the distance, acceleration, steering angle and angular velocity of the robot to obtain the position information of the robot. As the robot continues to move, the position information of the robot is constantly updated, realizing the tracking and calibration of the robot.

Optionally, performing error compensation on the motion parameter and obtaining the control parameter includes: amplifying the motion parameter through an amplifying circuit; performing an error resistance compensation operation on the amplified motion parameter, and converting the motion parameter into a control voltage, where the amplifying The circuit includes a controller. The GND terminal of the controller is provided with a DC blocking capacitor, which compensates for the error of the motion parameter; and determines the control parameter according to the control voltage.

Specifically, due to the external environment and the sensor's own factors, the data measured by the sensor has deviations and noises. Therefore, after the position of the robot is calibrated by the laser sensor, it is necessary to perform error compensation on the motion parameters of the robot to eliminate the collected data. Data deviation and noise. Among them, in this embodiment, an AD amplifier circuit is provided. The AD amplifier circuit is mainly responsible for the data transmission of the control system and connects the data connection between various parts. The AD amplifier circuit is the signal of the entire system. The important amplifying end is controlled by DSP (DSP is mainly for some applications with higher computing power requirements, such as video image processing, intelligent robots, digital wireless, broadband access, digital audio, high-resolution imaging and digital motor control, etc.). A controller is added to the secondary amplifying circuit to realize control conversion. The design diagram of the AD amplifier circuit is shown in Figure 2. By setting the DC blocking capacitor on the GND terminal of the VCA810 controller, the error compensation of the control command is carried out to increase the amplification gain of the robot control system, realize the human-machine matching of the robot intelligent control system, and reduce the output. error.

Further, the laser sensor is responsible for collecting relevant physical information and analyzing it. The photosensitive element is the main component of the laser sensor, and each sensor is also the basis of the intelligent control of the robot. The data of the AD amplifier circuit is fully amplified, and the error is compensated by resistance. The control signal is converted into a control voltage to realize the omni-directional compensation control of the error. Information collection uses filtering algorithms to analyze different input information, and uses multi-sensor fusion methods for information fusion to ensure stable control of motion information. At the same time, this application also provides a central processing module. The central processing module also plays a vital role. It is responsible for coordinating other constructions, processing and analyzing key information, and using filters for clock reset and pointer oscillation.

It should be noted that in this embodiment, since the AD amplifier circuit amplifies the data converted into the motion parameters collected by the sensor, the robot control signal is converted into the control voltage (in the circuit, the control The only factors are voltage and current), and then the resistance is used to compensate for the error.

Optionally, calculating the pose parameters of the robot according to the control parameters includes: calculating the pose parameters according to the control parameters, where the pose parameters include at least the following: position, acceleration, steering angle, and gyroscope angle.

As mentioned above, by converting the motion parameters collected by the laser sensor into the control voltage, the omni-directional error compensation is realized, and digital filtering technology and dynamic Kalman filtering algorithm are used to control the robot's pose (position, acceleration, steering angle, gyroscope). (Instrument angle) for online estimation output, DSP intelligent processing chip integrates and processes the data output by the sensor, the central processing module analyzes and processes the key information, the controller sends the data information to the actuator, and the actuator executes the corresponding instructions on the robot’s pose The parameters are adjusted, and the robot body is finally controlled to make corresponding movements. The specific schematic diagram of the error compensation of the robot's motion parameters is shown in Figure 3.

It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical sequence is shown in the flowchart, in some cases, The steps shown or described can be performed in a different order than here.

The embodiment of the present invention also provides a control device for a robot. It should be noted that the control device for a robot in an embodiment of the present invention can be used to execute the control method for a robot provided by the embodiment of the present invention. The following describes a robot control device provided by an embodiment of the present invention.

Fig. 4 is a schematic diagram of a robot control device according to an embodiment of the present invention. As shown in FIG. 4, the device includes: a sensor module 401, including a plurality of laser sensors, configured to collect motion parameters of the robot; an AD module 402, including an amplifier circuit, configured to perform error compensation on the motion parameters and obtain control Parameters; the central processing module 403 is configured to calculate the pose parameters of the robot according to the control parameters; the actuator 404 is configured to control the corresponding actions of the robot according to the pose parameters.

According to an embodiment of the present invention, a robot control device includes a plurality of laser sensors configured to collect motion parameters of the robot through a sensor module 401; the AD module 402 includes an amplifier circuit configured to perform error compensation on the motion parameters , And obtain the control parameters; the central processing module 403 is configured to calculate the pose parameters of the robot according to the control parameters; the actuator 404 is configured to control the corresponding actions of the robot according to the pose parameters, which solves the problem of industrial robots in related technologies The technical problem that the stability of motion control is not high has achieved the technical effect of improving the stability of the robot's motion.

Optionally, the sensor module 401 is also used to track and calibrate the position of the robot through a laser sensor before collecting the motion parameters of the robot, wherein the laser sensor is arranged inside the robot.

Optionally, the sensor module 401 includes: an output sub-module configured to output motion parameters through a laser sensor according to tracking calibration, where the laser sensor includes at least the following: rangefinder, accelerometer, magnetometer, gyroscope, motion parameters At least include the following: distance, acceleration, steering angle and angular velocity.

Optionally, the AD module 402 includes: an amplifying sub-module configured to amplify the motion parameter through the amplifying circuit; a conversion sub-module configured to perform an error resistance compensation operation on the amplified motion parameter and convert the motion parameter to The control voltage, wherein the amplifying circuit includes a controller, the GND terminal of the controller is provided with a DC blocking capacitor, and the DC blocking capacitor performs error compensation for the motion parameter; the determining sub-module is configured to determine the control parameter according to the control voltage.

Optionally, the central processing module 403 includes: a calculation sub-module configured to calculate the pose parameters according to the control parameters, where the pose parameters include at least the following: position, acceleration, steering angle, and gyroscope angle.

A robot control device includes a processor and a memory. The above-mentioned sensor module 401 and the like are all stored in the memory as a program unit, and the processor executes the above-mentioned program unit stored in the memory to realize corresponding functions.

The processor contains the kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the technical problem of low stability of motion control of industrial robots in related technologies can be solved by adjusting kernel parameters.

The memory may include non-permanent memory in computer-readable media, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one Memory chip.

The embodiment of the present invention provides a storage medium on which a program is stored, and when the program is executed by a processor, a method for controlling a robot is realized.

The embodiment of the present invention provides a processor, which is used to run a program, where a method for controlling a robot is executed when the program is running.

The embodiment of the present invention provides a device. The device includes a processor, a memory, and a program stored on the memory and running on the processor. When the processor executes the program, the following steps are implemented: collecting the motion parameters of the robot; Error compensation and control parameters are obtained; according to the control parameters, the robot's pose parameters are calculated; according to the pose parameters, the robot is controlled to perform corresponding actions.

Optionally, calculating the pose parameters of the robot according to the control parameters includes: calculating the pose parameters according to the control parameters, where the pose parameters include at least the following: position, acceleration, steering angle, and gyroscope angle. The devices in this article can be servers, PCs, PADs, mobile phones, etc.

The present invention also provides a computer program product, which when executed on a data processing device, is suitable for executing a program that initializes the following method steps: collecting the motion parameters of the robot; performing error compensation on the motion parameters, and obtaining the control parameters; Control parameters, calculate the pose parameters of the robot; according to the pose parameters, control the robot to perform corresponding actions.

Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

The present invention is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are used to generate It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

In a typical configuration, the computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices. According to the definition in this article, computer-readable media does not include transitory media, such as modulated data signals and carrier waves.

It should also be noted that the terms "include", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or equipment including a series of elements includes not only those elements, but also Other elements that are not explicitly listed, or also include elements inherent to such processes, methods, commodities, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, commodity or equipment that includes the element.

The above are only embodiments of the present invention, and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

A robot control method, which includes:

Collect the motion parameters of the robot;

Perform error compensation on the motion parameters, and obtain control parameters;

Calculating the pose parameters of the robot according to the control parameters;

According to the pose parameters, the robot is controlled to perform corresponding actions.
The method according to claim 1, wherein, before collecting the motion parameters of the robot, the method further comprises:

The position of the robot is tracked and calibrated by a laser sensor, wherein the laser sensor is arranged inside the robot.
The method according to claim 2, wherein collecting the motion parameters of the robot comprises:

According to the tracking calibration, the laser sensor outputs the motion parameters, where the laser sensor includes at least the following: rangefinder, accelerometer, magnetometer, and gyroscope, and the motion parameters include at least the following: distance, acceleration , Steering angle and angular velocity.
The method according to claim 1, wherein performing error compensation on the motion parameter and obtaining the control parameter comprises:

Amplify the motion parameter through an amplifying circuit;

Perform an error resistance compensation operation on the amplified motion parameter, and convert the motion parameter into a control voltage, wherein the amplifying circuit includes a controller, and the GND terminal of the controller is provided with a DC blocking capacitor, so The DC blocking capacitor performs error compensation on the motion parameter;

According to the control voltage, the control parameter is determined.
The method according to claim 1, wherein, according to the control parameters, calculating the pose parameters of the robot comprises:

The pose parameters are calculated according to the control parameters, where the pose parameters include at least the following: position, acceleration, steering angle, and gyroscope angle.
A robot control device, which includes:

The sensor module, including multiple laser sensors, is configured to collect the motion parameters of the robot;

The AD module, including an amplifier circuit, is configured to perform error compensation on the motion parameters and obtain control parameters;

The central processing module is configured to calculate the pose parameters of the robot according to the control parameters;

The actuator is configured to control the corresponding actions of the robot according to the pose parameters.
The device according to claim 6, wherein the sensor module is further used to track and calibrate the position of the robot through a laser sensor before collecting the motion parameters of the robot, wherein the laser sensor is arranged on the robot internal.
The device according to claim 7, wherein the sensor module comprises:

The output sub-module is configured to output the motion parameters through the laser sensor according to the tracking calibration, wherein the laser sensor includes at least the following: a rangefinder, an accelerometer, a magnetometer, a gyroscope, and the motion The parameters include at least the following: distance, acceleration, steering angle and angular velocity.
A storage medium, wherein the storage medium includes a stored program, wherein the program executes a robot control method according to any one of claims 1 to 5.
A processor, wherein the processor is used to run a program, wherein the method for controlling a robot according to any one of claims 1 to 5 is executed when the program is running.