CN111727414B - Robot control method, control system, robot and storage device - Google Patents
Robot control method, control system, robot and storage device Download PDFInfo
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Abstract
The application discloses a motion control method, a control system, a robot and a storage device of the robot, wherein the method comprises the following steps: the robot acquires the space information of the shared area and the motion information of the robot; judging whether an executing mechanism of the robot enters the shared area according to the space information of the shared area and the motion information of the robot; when the executing mechanism of the robot is judged to enter the shared area, setting the state of the shared area to be occupied, so that other robots are forbidden to use the shared area; and setting the state of the shared area to be released when it is determined that the actuator of the robot has left the shared area, thereby allowing other robots to use the shared area. The mode can coordinate and control the robots to work in the shared area, and collision of the robots in the working process is avoided.
Description
Technical Field
The present application relates to the field of robot control technologies, and in particular, to a robot control method, a robot control system, a robot, and a storage device.
Background
The motion of a robot typically has multiple degrees of freedom in space, with the spatial motion of the individual components being complex. In practical applications, multiple robots may be required to cooperate together to complete a job, for example: polishing, welding, assembling, etc. In the cooperation process, the working areas of the robots may overlap, and if the motion planning of each robot is not good, the robots may collide in a common working area, so that equipment is damaged.
Disclosure of Invention
The application provides a robot control method, a control system, a robot and a storage device, which are used for improving the control performance of the robot.
In order to solve the technical problem, the application adopts a technical scheme that a motion control method of a robot is provided, and the method comprises the following steps: the robot acquires the space information of the shared area and the motion information of the robot; judging whether an executing mechanism of the robot enters the shared area according to the space information of the shared area and the motion information of the robot; when an executing mechanism of the robot enters the shared area, setting the state of the shared area to be occupied, so that other robots are forbidden to use the shared area; judging whether an executing mechanism of the robot leaves the shared area according to the space information of the shared area and the motion information of the robot; and setting the state of the shared area to be released when the actuator of the robot has left the shared area, thereby allowing other robots to use the shared area.
In order to solve the technical problem, the application adopts a technical scheme that a robot control system comprises a control center and a plurality of robots, wherein the robots are provided with processors, and the processors can load program instructions and execute the control method of the robots.
In order to solve the above technical problems, an aspect of the present application is to provide a robot, which includes a processor, a memory, a driving unit, and a communication unit that are coupled to each other, wherein the processor can load program instructions and execute the control method of the robot.
In order to solve the above-mentioned problems, an aspect of the present application is to provide an apparatus having a storage function, in which program instructions are stored, which can be loaded and execute the aforementioned motion control method of a robot.
The beneficial effects of the application are as follows: by acquiring the space information of the shared area and the motion information of the robot, whether the executing mechanism of the robot enters the shared area is judged, when the executing mechanism of the robot enters the shared area, other robots are forbidden to use the shared area, and when the executing mechanism of the robot leaves the shared area, the other robots are allowed to use the shared area. The mode can coordinate and control the robots to work in the shared area, and collision of the robots in the working process is avoided.
Drawings
FIG. 1 is a flow chart of an embodiment of a robot control method of the present application;
FIG. 2 is a flow chart of yet another embodiment of the robot control method of the present application;
FIG. 3 is a schematic diagram of a robotic control system according to one embodiment of the application;
fig. 4 is a schematic structural view of an embodiment of the robot of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a robot control method according to the present application. The method comprises the following steps:
step S101: the robot acquires spatial information of the shared area and motion information of the robot.
The robot may be an industrial robot, such as a welding robot, a handling robot, an assembly robot, or a painting robot, etc. The shared area is a working area common to the robots. The shared area may be set according to an actual working environment, and the number thereof may be one or more. The spatial information of the shared region may be a spatial range defined under a certain coordinate system (for example, a world coordinate system, a tool coordinate system, or a robot coordinate system, etc.). The shared area may be defined for the robot by teaching with a teaching tool or by manually inputting coordinates, for example, if the shared area is a sphere area, the shared area may be defined by inputting a sphere center and a radius to the robot. The motion information of the robot may include the position, displacement, motion path, motion speed or acceleration of the robot's arm, axes or robot controlled end tools (e.g., welding gun or calliper, etc.) in a certain coordinate system. The spatial information of the shared area can be a shared file and stored in a server or a PLC (Programmable Logic Controller ) upper computer, and the robot can be obtained by communication with the server; alternatively, the spatial information of the shared area may be stored in the memory of each robot, and each robot may communicate directly through a wired or wireless network without passing through a server. The motion information of the robot can be directly obtained through a motion control system or a sensor installed on the robot.
Step S102: and judging whether an executing mechanism of the robot enters the shared area according to the space information of the shared area and the motion information of the robot.
The actuator of the robot may be an end tool of the robot, for example the end tool may be a welding gun or a caliper or the like. According to the motion information of the robot, the spatial position of the actuating mechanism of the robot at each moment can be obtained, and whether the actuating mechanism of the robot enters the shared area can be judged by comparing the spatial position of the actuating mechanism with the spatial information of the shared area. It will be appreciated that in some cases the spatial information of the shared area and the motion information of the robot are established based on different coordinate systems, for example the spatial information of the shared area may be established based on a world coordinate system, while the motion information of the robot may be established based on a robot coordinate system, and in this case, the reference coordinate systems of the two may be made to be convenient by means of coordinate transformation. When any part of the robot actuator enters the shared area or touches the boundary of the shared area, it is determined that the robot actuator has entered the shared area.
In some embodiments, the robot may define an envelope space for the actuator, wherein the envelope space follows the actuator movement and always encloses the actuator. It will be appreciated that robots have actuators that vary in shape and that it is difficult to determine the location of their boundaries during movement, and thus the envelope space is designed to envelope the actuators. The envelope space can be a sphere or the like, for example, a sphere envelope space can be formed by determining the circle center and the radius of the envelope space, and the whole sphere envelope space can move along with the robot actuating mechanism, so that the boundary of the actuating mechanism can be conveniently determined. In step S102, whether the envelope space of the executing mechanism overlaps the shared area may be determined according to the spatial information of the shared area, the motion information of the robot, and the definition of the envelope space, and if so, it is determined that the executing mechanism has entered the shared area. For example, when the envelope space is located outside the shared area, the envelope space may not overlap the shared area if the distance from the center of the envelope space to the boundary of the shared area is greater than a radius, and otherwise overlap.
Alternatively, the envelope space may be composed of n sphere envelope units, where n is a positive integer and 6 or less. It will be appreciated that different numbers of sphere envelope units are required for different configurations of robot actuators to meet the full envelope requirement of the actuator without covering excessive redundant areas (i.e., areas within the outer envelope space of the actuator) and without taking up excessive computational power of the robot. It will be appreciated that the envelope unit may also be of other shapes, such as a cube or a cylinder, etc., as long as it is convenient to define and describe on the robot.
Step S103: when the actuator of the robot has entered the shared area, the state of the shared area is set to be occupied, thereby prohibiting other robots from using the shared area.
In some embodiments, after the robot sets the state of the shared area to be occupied, the robot generates a first notification message, and the robot may send the first notification message to other robots through the local area network to notify the other robots that the shared area is occupied, thereby prohibiting the other robots from entering the shared area. Alternatively, the robot may send the signal to the upper computer, and send the signal to other robots through the upper computer, thereby prohibiting the other robots from using the shared area. The operation of generating and transmitting the first notification message may be implemented in software or hardware, and accordingly, the first notification message may be a specific system parameter or an electrical signal, which is not limited herein.
Step S104: and judging whether the executing mechanism of the robot leaves the shared area according to the space information of the shared area and the motion information of the robot.
When all parts of the robot's actuators are not located within the shared area, then it is determined that the robot's actuators have left the shared area.
Similarly, if an envelope space is defined for the actuator of the robot, when the envelope space is moved away from the shared area, it can be determined that the actuator of the robot has moved away from the shared area.
Step S105: when the actuators of the robots have left the shared area, the state of the shared area is set to be released, thereby allowing other robots to use the shared area.
In some embodiments, the robot generates the second notification message after the robot sets the state of the shared area to have been released. The robot may transmit the second notification message to the other robot through the local area network, thereby notifying the other robot that the shared area has been released, or the robot may transmit the second notification message to the upper computer, the upper computer sets the state of the shared area to be released according to the second notification message, and notifies the other robot that the shared area can be used.
In this embodiment, by acquiring the spatial information of the shared area and the motion information of the robot, it is determined whether the actuator of the robot enters the shared area, when the actuator of the robot enters the shared area, the other robots prohibit the use of the shared area, and when the actuator of the robot leaves the shared area, the other robots permit the use of the shared area. The mode can coordinate and control the robots to work in the shared area, and collision of the robots in the working process is avoided.
Referring to fig. 2, fig. 2 is a flow chart of another embodiment of the robot control method according to the present application. The method comprises the following steps:
step S201: the robot acquires spatial information of the shared area and a motion plan of the robot.
Step S201 is similar to the previous step S101, wherein the motion information of the robot is a motion plan. The motion plan of the robot may be a relationship of the displacement, the speed and the acceleration of each axis of the robot or the actuator of the robot with time, and the motion plan of the robot may be preset. For example, the motion plan of the robot may be stored directly in the memory of the robot or may also be stored in the control center/server. In step S201, the robot may read the motion plan and acquire spatial information of the shared area.
Step S202: and judging whether the executing mechanism enters the sharing area after the preset time. If it is determined that the executing mechanism enters the shared area after the preset time, step S203 is executed.
The preset time may be the time required to halt the movement of the robot's actuator plus a safety margin, e.g. 10ms is required to reduce the robot's actuator from the current speed to 0, the safety margin is 10ms, then the preset time may be 20ms. Therefore, if the motion of the executing mechanism of the robot is judged to be needed to be suspended in the subsequent steps, the executing mechanism of the robot can be ensured not to enter the shared area after the robot stops moving.
In step S202, it may be determined whether the executing mechanism enters the shared area after a preset time according to the motion plan of the robot. Taking a two-dimensional system as an example, if the motion planning of the robot gives a time-varying relation x0 (t) =f (t), y0 (t) =g (t) of the origin of the tool coordinate system of the actuator in the world coordinate system, the preset time is 20ms, and the envelope space is a circle with the origin of the tool coordinate system as the center radius R. In this way, the time-dependent relationship of the points in the envelope space can be obtained:
(x-f(t)) 2 +(y-g(t)) 2 <R 2
wherein the value range of t is 0-20 ms. In combination with the spatial information of the shared area acquired in step S201, the controller or the control system (e.g., processor) of the robot may calculate whether the boundary of the shared area within this time interval has coincided with the envelope space. The robot may periodically perform the judgment in step S202, for example, may perform the judgment every 1ms, in which case each judgment process may not traverse the range of 0 to 20ms, but may calculate only the range that was not covered in the previous judgment process. It should be appreciated that the above embodiments are merely exemplary, and that in a practical example the spatial information of the motion planning and shared area of the robot may be one-dimensional, two-dimensional or three-dimensional, and the number of envelope spaces may be a plurality of continuous or discrete envelope spaces. In this case, as long as the boundary of the shared area is calculated to fall within the range of any envelope space, the actuator is judged to enter the shared area.
Step S203: whether the shared area is occupied is determined, if yes, step S204 is performed.
In some embodiments, a notification message (e.g., the first notification message of the embodiment in step S103) is sent to other robots when one robot enters the shared area to notify the other robots that the shared area is occupied, or a notification message (e.g., the second notification message of the embodiment in step S105) is sent to the other robots when the robot leaves the shared area to notify the other robots that the shared area is released. In this case, the robot may determine whether the shared area is occupied according to the received first notification message or second notification message in step S203.
In other embodiments, the state information of the shared area may be stored in a PLC host or a control system of the robot, and the robot knows whether the shared area is occupied by accessing the PLC host or the control system. It can be understood that the PLC host computer or the control system can also set the state of the shared area to "occupied" or "released" by acquiring the first notification message or the second notification message sent by any robot.
Step S204: the motion of the robot is paused and a third notification message is generated indicating that the robot has entered a waiting queue in the shared area.
When the shared area is not occupied, the robot still moves according to the motion planning. When the state of the shared area is occupied, the executing mechanism of the robot stops moving, stays on the original planned movement track, and generates a third notification message. Wherein the third notification message is used to indicate that the robot has entered the waiting queue of the shared area. The wait queue may be a specific data structure set on the server, such as a stack according to the first-in-first-out principle. It will be appreciated that, for example, when the server receives a third notification message from the robot, the server may enter the robot information into a wait queue. It should be appreciated that in some embodiments, the multiple robots may send the third notification message directly to each other and synchronize the waiting queue information on each robot, so that the queuing into the shared area may be implemented without a server.
In some embodiments, in step S203, the robot is planned according to the maximum allowable acceleration, that is, the maximum acceleration that the robot actuator can reach under the rated power driving is reduced, and the movement speed of the robot actuator is gradually reduced from the current speed to 0, where the driver of each axis of the robot is continuously powered off, and the braking of each axis of the robot is not started. According to the mode, the robot actuating mechanism can stay on the original motion track in a controllable manner, when the robot resumes motion, the robot actuating mechanism can be started in time and enters the sharing area according to the original planned motion track, the motion precision of the robot is ensured, and the robot does not need to be electrified again when resuming motion again, so that the operation efficiency of the robot is improved.
Step S205: whether the shared area is released is determined, if yes, step S206 is executed.
After the robot pauses, the status of the shared area may be queried, either periodically or aperiodically, or in response to an operator's instruction. When the robot currently occupying the shared area is leaving the shared area, it transmits a second notification message, similar to step S203, to be made available to the server at the robot or to communicate with other robots to acquire the second notification message, thereby knowing that the shared area has been released.
S206: it is determined whether the robot is at the head of the waiting queue, and when it is determined in step S206 that the robot is at the head of the waiting queue, step S207 is executed.
If the wait queue is stored in the server, the server may be responsible for updating the wait queue and sending messages to the robots to inform them of their location in the wait queue. If the wait queue is stored in the memory of each robot synchronously, each robot may update the wait queue in response to notification messages from other robots (e.g., fourth notification messages in the first, second, third, and subsequent steps). Therefore, the robot can accurately know the current state of the waiting queue under any condition, so as to judge whether the robot is positioned at the head of the waiting queue.
When the robot judges that the shared area has been released and is located at the head of the waiting queue, it is interpreted that there is priority to enter the shared area than other robots at this time and the shared area is available, and therefore, the step S207 is continued to be performed.
S207: the motion of the robot is resumed and a fourth known message is generated indicating that the robot has left the waiting queue of the shared area.
And restoring the movement of the robot, namely enabling the robot to move according to the original planned movement track. When the server receives the fourth notification message, the server may learn that the robot has left the waiting queue and entered the shared area, and may therefore remove the information for the robot from the waiting queue and advance the information for the other robots one bit in the data structure toward the head of the queue. Similarly, the robot may send the fourth known message directly to other robots via a wired or wireless lan.
If the step S203 determines that the shared area is not occupied, steps S208-S211 are continued, wherein steps S208-S211 are similar to the steps S102-S105, and are not repeated here.
The embodiment can ensure that the executing mechanism of the robot does not enter the sharing area after the robot stops moving, thereby avoiding the collision of the robot when entering the sharing area.
In some embodiments, the motion information of the robot is obtained under a world coordinate system. The shared area is a cube area, all sides of the cube area are parallel to a coordinate plane under a world coordinate system, and in this case, the establishment of the cube area can be completed by defining two vertex coordinates of a diagonal line of the cube. Or the shared area is a cylindrical area, the axial direction of the cylindrical area is parallel to X, Y or Z axis of the world coordinate system, and the establishment of the cylindrical area can be completed by defining the center coordinates and radius of the bottom surface of the cylindrical area and the height of the cylinder. Or the shared area is a sphere area, and the sphere area can be established by defining the sphere center coordinates and the radius of the sphere area. The shape data quantity of the shared area is less established under the world coordinate system, and the robot data processing efficiency can be improved.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a motion control system for a robot according to the present application. The robotic motion control system may include a control center 301 and a plurality of robots 302, the control center 301 and the plurality of robots 302 being interconnected by a communication bus 303. The control center 301 and the plurality of robots 302 each have a processor that can execute program instructions and implement the robot control method of any of the above embodiments. The processor may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the system to perform the desired functions, e.g. in other embodiments display components or voice components etc. may also be added.
The control center sends the spatial information of the shared area to a plurality of robots through a communication bus, and the robots acquire the spatial information of the shared area and the motion information of the robots. The control center further judges whether the execution mechanisms of the robots enter the shared area. When an executing mechanism of one robot enters a shared area, the robot entering the shared area generates a first notification message and sends the first notification message to a control center, wherein the first notification message is used for setting the state of the shared area to be occupied, and the control center prohibits other robots from using the shared area. When the control center judges that the execution mechanism of the robot leaves the shared area, the robot generates a second notification message and sends the second notification message to the control center, wherein the second notification message is used for setting the state of the shared area to be released, and the control center allows other robots to use the shared area.
Optionally, the robotic motion control system may also include a plurality of robots 302. The plurality of robots 302 are interconnected by a communication bus 303. That is, there is no need for a control center to connect with multiple robots 302. Wherein each of the plurality of robots 302 has a processor that can execute program instructions and implement the robot control method of any of the embodiments described above.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an embodiment of a robot according to the present application. The robot 400 comprises a processor 401, a memory 402, a drive unit 403 and a communication unit 404. The processor 401, the memory 402, the driving unit 403 and the communication unit 404 are coupled to each other. The memory 402 stores program instructions, the driving unit 403 is used for driving the motion of the robot, the communication unit 404 is used for receiving and transmitting information, and the processor 401 can load the program instructions and execute the robot control method of any of the above embodiments.
The memory 402 may also store various application programs and various data such as various data used and/or generated by the programs, and the like. It is to be appreciated that in other embodiments, memory 402 can include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like.
The functions described in the above embodiments may be stored in a device having a storage function if implemented in software and sold or used as a separate product, i.e., the present application also provides a storage device in which a program is stored. Program data in a storage device including, but not limited to, a usb disk, an optical disk, a server, a hard disk, or the like can be executed to implement the motion control method of the robot in the above-described embodiments.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present application or directly or indirectly applied to other related technical fields are included in the scope of the present application.
Claims (15)
1. A method of controlling movement of a robot, comprising:
the robot acquires the space information of the shared area and the motion information of the robot;
judging whether an executing mechanism of the robot enters the shared area according to the space information of the shared area and the motion information of the robot;
when an executing mechanism of the robot enters the shared area, setting the state of the shared area to be occupied, so that other robots are forbidden to use the shared area;
judging whether an executing mechanism of the robot leaves the shared area according to the space information of the shared area and the motion information of the robot; and
setting a state of the shared area to be released when an actuator of the robot has left the shared area, thereby allowing other robots to use the shared area;
before judging whether the executing mechanism of the robot enters the sharing area according to the space information of the sharing area and the motion information of the robot, the method further comprises the following steps:
judging whether the executing mechanism enters the shared area after preset time according to the space information of the shared area and the motion planning of the robot;
if yes, controlling the robot to move when the state of the shared area is unoccupied;
the robot defines an envelope space for the actuator, wherein the envelope space follows the actuator and always encloses the actuator;
the determining whether the actuator of the robot has entered the shared area includes:
judging whether the envelope space is overlapped with the shared area or not according to the space information of the shared area, the motion information of the robot and the definition of the envelope space, and if so, determining that the executing mechanism enters the shared area;
the determining whether the executing mechanism enters the shared area after the preset time includes:
judging whether the envelope space overlaps the shared area after a preset time according to the space information of the shared area, the motion planning of the robot and the definition of the envelope space, if so, determining that the executing mechanism enters the shared area after the preset time;
the envelope space is composed of n envelope units, wherein n is a positive integer and less than or equal to 6.
2. The robot control method according to claim 1, further comprising:
when the robot sets the state of the shared area to be occupied, generating a first notification message, and sending the first notification message to other robots so as to notify the other robots that the shared area is occupied; and
and after the robot sets the state of the shared area to be released, generating a second notification message, and sending the second notification message to other robots to notify the other robots that the shared area is released.
3. The robot control method according to claim 1, wherein the step of controlling the robot to move when the state of the shared area is unoccupied, further comprises:
judging whether the state of the shared area is occupied or not;
when judging that the state of the shared area is occupied, suspending the movement of the robot;
judging whether the state of the shared area is changed from occupied to released;
and when the state change of the shared area is judged to be released, restoring the movement of the robot.
4. A robot control method according to claim 3, further comprising, after said suspending the movement of the robot:
the robot generates a third notification message, wherein the third notification message is used for indicating that the robot has entered a waiting queue of the shared area;
the restoring the motion of the robot includes:
when the state of the shared area is changed to be released, further judging whether the robot is positioned at the head of the waiting queue;
and when the robot is positioned at the head of the waiting queue, restoring the motion of the robot and generating a fourth known message, wherein the fourth known message is used for indicating that the robot has left the waiting queue.
5. The robot control method according to claim 1, wherein the motion information of the robot is calculated in a world coordinate system, and:
the shared area is a cube area, and all sides of the cube area are parallel to a coordinate plane under the world coordinate system; or alternatively
The shared area is a cylinder area, and the axis direction of the cylinder area is parallel to the Z axis of the world coordinate system; or alternatively
The shared area is a sphere area.
6. A robot control system comprising a control center and a plurality of robots, wherein the control center and the plurality of robots each have a processor, the processor being executable program instructions and implementing a robot control method comprising:
the control center acquires spatial information of a shared area and motion information of a first robot in the plurality of robots;
according to the space information of the shared area and the motion information of the first robot, the control center judges whether an executing mechanism of the first robot enters the shared area or not;
when the executing mechanism of the first robot enters the shared area, the control center sets the state of the shared area to be occupied, and prohibits other robots in the plurality of robots from using the shared area;
according to the space information of the shared area and the motion information of the first robot, the control center judges whether an executing mechanism of the first robot leaves the shared area; and
when the actuator of the first robot has left the shared area, the control center sets the state of the shared area to be released, thereby allowing other robots of the plurality of robots to use the shared area;
before the control center judges whether the execution mechanism of the first robot enters the shared area according to the space information of the shared area and the motion information of the first robot, the control center further comprises:
the control center judges whether an executing mechanism of a second robot in the plurality of robots enters the shared area after preset time according to the space information of the shared area and the motion plan of the second robot in the plurality of robots;
if yes, controlling the second robot to move when the state of the shared area is unoccupied;
wherein the control center defines an envelope space for the actuators of the first and second robots, respectively, wherein the envelope space follows the movement of the actuators and always encloses the actuators;
the determining whether the actuator of the first robot has entered the shared area includes:
judging whether the envelope space of the executing mechanism of the first robot is overlapped with the shared area according to the space information of the shared area, the motion information of the first robot and the definition of the envelope space, and if so, determining that the executing mechanism of the first robot enters the shared area;
the judging whether the execution mechanism of the second robot enters the sharing area after the preset time comprises the following steps:
judging whether the envelope space of the execution mechanism of the second robot overlaps the shared area after a preset time according to the space information of the shared area, the motion planning of the second robot and the definition of the envelope space, if so, determining that the execution mechanism of the second robot enters the shared area after the preset time;
the envelope space is composed of n envelope units, wherein n is a positive integer and less than or equal to 6.
7. The robot control system of claim 6, wherein controlling the second robot motion when the state of the shared area is unoccupied further comprises:
judging whether the state of the shared area is occupied or not;
when judging that the state of the shared area is occupied, suspending the motion of the second robot;
judging whether the state of the shared area is changed from occupied to released;
and when the state change of the shared area is judged to be released, restoring the motion of the second robot.
8. The robot control system of claim 7, wherein after the halting the motion of the second robot, the method further comprises:
the control center inputs the information of the second robot into a waiting queue of the shared area;
the restoring the motion of the second robot includes:
when the state of the shared area is changed to be released, further judging whether the second robot is positioned at the head of the waiting queue;
and when the second robot is positioned at the head of the waiting queue, restoring the motion of the second robot and removing the information of the second robot from the waiting queue of the shared area.
9. The method according to any one of claims 7 or 8, wherein:
the suspending the motion of the second robot includes:
the control center plans according to the maximum allowable acceleration, gradually reduces the motion speed of the actuating mechanism of the second robot from the current speed to 0, wherein the drivers of all the axes of the second robot are not powered off, and the brakes of all the axes of the second robot are not started.
10. A robot comprising a processor, a memory, a drive unit and a communication unit, wherein the memory stores program instructions, the drive unit is for driving movement of the robot, the communication unit is for transceiving information, the processor is capable of loading the program instructions and executing a robot control method, the method comprising:
the robot acquires the space information of the shared area and the motion information of the robot;
judging whether an executing mechanism of the robot enters the shared area according to the space information of the shared area and the motion information of the robot;
when an executing mechanism of the robot enters the shared area, setting the state of the shared area to be occupied, so that other robots are forbidden to use the shared area;
judging whether an executing mechanism of the robot leaves the shared area according to the space information of the shared area and the motion information of the robot; and
setting a state of the shared area to be released when an actuator of the robot has left the shared area, thereby allowing other robots to use the shared area;
the step of judging whether the executing mechanism enters the shared area after the preset time according to the space information of the shared area and the motion planning of the robot comprises the following steps:
if yes, controlling the robot to move when the state of the shared area is unoccupied;
wherein the robot defines an envelope space for the actuator, wherein the envelope space follows the movement of the actuator and always encloses the actuator;
the determining whether the actuator of the robot has entered the shared area includes:
judging whether the envelope space is overlapped with the shared area or not according to the space information of the shared area, the motion information of the robot and the definition of the envelope space, and if so, determining that the executing mechanism enters the shared area;
the judging whether the executing mechanism enters the sharing area after the preset time comprises the following steps:
judging whether the envelope space overlaps the shared area after a preset time according to the space information of the shared area, the motion planning of the robot and the definition of the envelope space, if so, determining that the executing mechanism enters the shared area after the preset time;
the envelope space is composed of n envelope units, wherein n is a positive integer and less than or equal to 6.
11. The robot of claim 10, wherein the method further comprises:
when the robot sets the state of the shared area to be occupied, generating a first notification message, and sending the first notification message to other robots so as to notify the other robots that the shared area is occupied; and
and after the robot sets the state of the shared area to be released, generating a second notification message, and sending the second notification message to other robots to notify the other robots that the shared area is released.
12. The robot of claim 11, wherein the step of controlling the robot motion when the state of the shared area is unoccupied further comprises:
judging whether the state of the shared area is occupied or not;
when judging that the state of the shared area is occupied, suspending the movement of the robot;
judging whether the state of the shared area is changed from occupied to released;
and when the state change of the shared area is judged to be released, restoring the movement of the robot.
13. The robot of claim 12, wherein after said suspending movement of said robot, said method further comprises:
the robot generates a third notification message, wherein the third notification message is used for indicating that the robot has entered a waiting queue of the shared area;
the restoring the motion of the robot includes:
when the state of the shared area is changed to be released, further judging whether the robot is positioned at the head of the waiting queue;
and when the robot is positioned at the head of the waiting queue, restoring the motion of the robot and generating a fourth known message, wherein the fourth known message is used for indicating that the robot has left the waiting queue.
14. The robot of claim 13, wherein the first, second, third, and fourth known messages are sent to other robots or control centers via the communication unit.
15. An apparatus having a memory function, on which program instructions are stored, characterized in that the program instructions, when they are executed, implement the method of any one of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2018/124286 WO2020133045A1 (en) | 2018-12-27 | 2018-12-27 | Robot control method, control system, robot and storage device |
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| CN112099491B (en) * | 2020-08-20 | 2024-11-01 | 上海姜歌机器人有限公司 | Robot queuing method, robot, and computer-readable storage medium |
| CN115220447A (en) * | 2022-05-26 | 2022-10-21 | 北京极智嘉科技股份有限公司 | Multi-robot motion scheduling method and device |
| CN116206486A (en) * | 2022-12-29 | 2023-06-02 | 深圳市优必行科技有限公司 | Traffic control method and device for robot, electronic equipment and storage medium |
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