CN116551687A - Control method, device and readable storage medium of pay-off robot - Google Patents

Abstract

The application discloses a control method, equipment and readable storage medium of a paying-off robot, wherein the method comprises the following steps: after the robot moves, determining corresponding robot coordinates according to response information fed back by the robot; determining a local paying-off pattern corresponding to the robot coordinate, and generating a local paying-off instruction according to the local paying-off pattern and the robot coordinate, wherein the local paying-off instruction comprises control parameters for controlling a paying-off component of the robot to finish local paying-off action according to the local paying-off image; the local paying-off instruction is sent to the robot and enters a to-be-connected mode, so that the technical problem that paying-off efficiency is low due to the fact that only one paying-off robot can be tracked to pay-off in the related technology is effectively solved, and the technical effect that a plurality of paying-off robots are coordinated to pay-off in a to-be-paid-off area and paying-off efficiency is improved is achieved.

Description

Control method, device and readable storage medium of pay-off robot

technical field

The present application relates to the field of robot control, in particular to a control method of a wire-laying robot, a control device of a wire-laying robot, and a computer-readable storage medium.

Background technique

Setting out is an indispensable part in the field of engineering survey, which is related to the quality and accuracy of engineering construction. On a construction site, in order to carry out construction in strict accordance with the design drawings, it is necessary to mark the axis of the building on the construction site. The main idea of marking is to copy the dimensions of the design drawings to the construction site according to the size shown in the illustration.

In the related technology, a robot associated with a calibration total station has been introduced, by extracting the three-dimensional curve and the setting-out point from the CAD data, and generating the set-off line according to the three-dimensional line-setting curve and the setting-out point. Line trajectory; and then control the pay-off robot to complete the pay-off according to the pay-off trajectory.

However, during the payout process, the total station needs to track the position of the robot in real time. During tracking, the total station needs to track the laser head at the end of the robotic arm for payout. As a result, only one robot can be tracked during work, and the payout efficiency is low.

Contents of the invention

The embodiment of the present application provides a control method of a wire-laying robot, a control device of a wire-laying robot, and a computer-readable storage medium to solve the problem that the total station in the related art can only track the coordinates of the end of one mechanical arm at the same time, resulting in only To track the technical problem of low pay-off efficiency of one pay-off robot, the technical effect of simultaneously controlling multiple pay-off robots for pay-off and improving pay-off efficiency is realized.

The embodiment of the present application provides a control method of a wire-releasing robot, the control method of the wire-releasing robot includes:

After the robot moves, determine the corresponding robot coordinates according to the response information fed back by the robot;

determining the partial release pattern corresponding to the robot coordinates, and generating a partial release instruction according to the partial release pattern and the robot coordinates, wherein the partial release instruction includes a set-off assembly for controlling the robot according to The control parameters for completing the local setting-out action of the partial setting-out image;

Sending the partial wire release instruction to the robot, and entering into a connection-ready mode.

Optionally, the step of determining a partial release pattern corresponding to the robot coordinates, and generating a partial release instruction according to the partial release pattern and the robot coordinates includes:

Obtaining the base coordinates of the pay-off assembly of the robot;

determining the partial payout pattern according to the base coordinates and the working radius of the payout component;

extracting the payout nodes in the partial payout pattern, and generating a partial payout path according to the payout nodes;

A coordinate error is determined, and the partial line setting out instruction is determined based on the coordinate error and the partial line setting out path.

Optionally, after the step of sending the partial wire release instruction to the robot and entering the waiting mode, the steps include:

After the robot pays off, determine the corresponding coordinates of the robot according to the response information fed back by the robot;

Determine the coordinates of the target point according to the coordinates of the robot, and generate a movement instruction according to the difference between the coordinates of the target point and the coordinates of the robot, wherein the movement instruction includes a chassis assembly for controlling the robot from the coordinates of the robot Move to the control parameters of the coordinates of the target point;

Send the movement instruction to the robot and enter the connection-to-be mode.

Optionally, the step of determining the coordinates of the target point according to the coordinates of the robot, and generating a movement instruction according to the difference between the coordinates of the target point and the coordinates of the robot includes:

Obtain the map to be released and the work coordinates;

determining target point coordinates based on the robot coordinates and the work coordinates;

A movement path is determined according to the robot coordinates and the target point coordinates, and the movement instruction is generated based on the movement path.

Optionally, before the step of determining the corresponding robot coordinates according to the response information fed back by the robot after the movement of the robot is completed, the method includes:

Receive the station building information of the total station module, and obtain the coordinates of the synchronization point;

According to the station building information and the coordinates of the synchronization point, the coordinate system of the drawing to be set out is converted into a total station coordinate system.

Optionally, before the step of determining the corresponding robot coordinates according to the response information fed back by the robot after the movement of the robot is completed, the method includes:

Based on the collected laser data and/or image data, construct a radar scan map of the location to be laid out;

Align the radar scanning diagram with the drawing to be laid out, and determine the map to be laid out;

Based on the travel sequence, work coordinates are determined in the to-be-released map.

The embodiment of the present application also provides a control method of a wire-releasing robot, which is applied to a wire-releasing robot. The wire-releasing robot includes a wire-releasing assembly and a movable chassis assembly. The control method of the wire-releasing robot includes:

executing the received instruction to be executed, wherein the instruction to be executed includes a local release instruction or a movement instruction;

After the execution of the instruction to be executed is completed, a response message is generated according to the execution result and sent to the central control computer, and controls its own mechanism to stop moving.

Optionally, the step of executing the received instruction to be executed includes:

When the instruction to be executed is a partial release instruction, control the chassis assembly to be in a static state;

The movement of the pay-off assembly is controlled according to the partial pay-off instruction, so as to draw a partial pay-off pattern corresponding to the partial pay-off instruction.

In addition, the present application also proposes a control device for a wire-releasing robot, which includes a memory, a processor, and a control program for a wire-releasing robot that is stored in the memory and can run on the processor. When the processor executes the control program of the wire-laying robot, the steps of the above-mentioned control method of the wire-laying robot are realized.

In addition, the present application also proposes a computer-readable storage medium, the computer-readable storage medium stores the control program of the wire-laying robot, and when the control program of the wire-laying robot is executed by the processor, the above-mentioned release method is realized. The steps of the control method of the line robot.

One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

1. After the robot moves, the robot coordinates are determined according to the response information fed back by the robot; the partial payout pattern is determined according to the robot coordinates, and the partial payout instruction is generated according to the robot coordinates and the partial payout pattern; the partial payout command is sent to the robot. Pay-off command, and enter the waiting mode. Therefore, it effectively solves the technical problem that only one pay-off robot can track one pay-off robot for pay-off in the related technology, resulting in low pay-off efficiency, and then realizes the coordination of multiple pay-off robots in the unloading area to improve the pay-off efficiency. The technical effect of line efficiency.

2. Due to the adoption of the method of determining the corresponding coordinates of the robot according to the response information fed back by the robot after the completion of the robot setting-out; determining the coordinates of the target point according to the coordinates of the robot, and determining the coordinates of the target point according to the The difference between the robot coordinates generates a movement instruction, wherein the movement instruction includes control parameters for controlling the chassis assembly of the robot to move from the robot coordinates to the target point coordinates; sending the robot the Move command, and enter the pending connection mode. Therefore, it effectively solves the technical problem that only one pay-off robot can track one pay-off robot for pay-off in the related technology, resulting in low pay-off efficiency, and then realizes the coordination of multiple pay-off robots in the unloading area to improve the pay-off efficiency. The technical effect of line efficiency.

3. When the instruction to be executed is a partial release instruction, the chassis assembly is controlled to be in a static state; the movement of the release assembly is controlled according to the partial release instruction to draw the partial release The partial discharge pattern corresponding to the instruction. Therefore, it effectively solves the technical problem in the related art that only one pay-off robot can be tracked for pay-off, and the way of correcting the error of the robot arm while moving is consuming computing resources, and then realizes the coordination of multiple releases in the area to be released. The technical effect is that the line robot can be used to pay off the line, and at the same time, the efficiency of correcting the motion error of the line assembly can be improved.

Description of drawings

Fig. 1 is a schematic flow chart of Embodiment 1 of a control method for a wire-releasing robot of the present application;

FIG. 2 is a schematic diagram of the refinement of the process of step S120 in Embodiment 1 of the control method of the robot of the present application;

FIG. 3 is a schematic flow diagram of Embodiment 2 of a control method of a wire-releasing robot according to the present application;

FIG. 4 is a schematic flow diagram of an example in Embodiment 3 of the control method of the robot for releasing wires according to the present application;

Fig. 5 is a schematic diagram of the hardware structure involved in the embodiment of the control device of the line-laying robot of the present application.

Detailed ways

In related technologies, the total station uses optical lenses to track the prism at the end of the robotic arm of the pay-off robot to determine the coordinates of the end of the robotic arm; therefore, the total station can only track one pay-off robot at the same time, and the working mode of the robot In order to pay out the wire while moving, the total station needs to track the end coordinates of the robotic arm in real time to achieve error calibration, resulting in low payout efficiency. The main technical solution adopted in the embodiment of this application is: after the robot moves, determine the coordinates of the robot according to the response information fed back by the robot; determine the partial setting pattern according to the robot coordinates, and generate the partial setting instruction according to the robot coordinates and the partial setting pattern ; Send the partial wire release command to the robot and enter the waiting mode. That is, the asynchronous control of the robot pay-off component and the chassis component, thereby realizing the control of multiple pay-off robots for pay-off and improving the pay-off efficiency.

In order to better understand the above-mentioned technical solutions, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for thorough understanding of this application, and to fully convey the scope of this application to those skilled in the art.

Embodiment one

Embodiment 1 of the present application discloses a control method of a wire-releasing robot. Referring to FIG. 1 , the control method of the wire-releasing robot includes:

Step S110, after the robot moves, determine the corresponding robot coordinates according to the response information fed back by the robot.

In this embodiment, the robot sends corresponding response information to the central control machine after moving and laying out the wires. The coordinates of the robot are the coordinates of the current location of the robot in the map to be released.

As an optional implementation, after the wire-releasing robot moves, it generates response information based on its own robot coordinates and sends it to the central control computer, and the central control computer determines the robot coordinates of the wire-discharging robot according to the received response information.

Optionally, before step S110, include:

Step S1, receiving the station building information of the total station module, and obtaining the coordinates of the synchronization point.

Step S2, according to the station building information and the coordinates of the synchronization point, the coordinate system of the drawing to be set out is converted into a total station coordinate system.

In this embodiment, the total station module communicates with the central control computer, and the total station tracks the prism or other markers at the end of the pay-off assembly of the pay-off robot through the optical lens, and then calculates the coordinates of the end of the pay-off assembly , and send the coordinates to the central control computer. The user operates the total station to obtain the station building information of the location to be laid out, the user sets a synchronization point target at the location to be released, and then obtains the coordinates of the target through the total station to determine the coordinates of the synchronization point.

As an optional implementation, the central control machine receives the station building information and the synchronization point coordinates sent by the total station module, and based on the station building information and the synchronization point coordinates, converts the coordinate system of the drawing to be laid out in the BIM software into a total station instrument coordinate system. After the total station module is built, the coordinate system of the total station is the coordinate system of the drawing to be laid out.

Optionally, before step S110, further include:

Step S3, according to the collected laser data and/or image data, construct a radar scanning map of the location to be laid out.

As an optional implementation, the wire-releasing robot is controlled to move around the location to be released, and laser data and/or image data of the location to be released are collected according to the mounted laser sensor and/or image sensor. Construct the radar scanning map corresponding to the location to be laid out according to the laser data and/or image data.

As another optional implementation, control the wire-laying robot to move around the location to be released, collect the panoramic point cloud data of the location to be released through the carried laser radar module, and generate the SLAM of the location to be released according to the panoramic point cloud data ( Simultaneous Localization and Mapping, real-time positioning and map construction) radar scan map, which contains obstacle information at the location to be released.

Step S4, aligning the radar scan map with the drawing to be laid out, and determining the map to be laid out.

As an optional implementation, the drawing to be laid out is obtained, and the coordinates of the radar scanning picture and the drawing to be laid out are aligned based on a preset algorithm to generate a line to be laid out map for navigation at the place to be laid out.

Exemplarily, after the radar scanning image is scanned, a rectangular map with grid coordinates is generated. The three-dimensional obstacles such as walls, columns, and people in the image are blue lines or points, and the grid coordinates in the lower left corner of the image are always ( 0,0), the coordinates of the upper right corner are always (the maximum value of the map grid coordinate x, the maximum value of the map grid coordinate y). Grid coordinates = real size (unit: meter) * conversion factor. Superimpose the radar scanning picture with the drawing to be set out in the BIM software, and align it through columns, walls or other three-dimensional markers.

Step S5, based on the travel sequence, determine the working coordinates in the map to be released.

As an optional implementation, based on the preset robot travel sequence and the preset range to be released, the work coordinates in the map to be released are determined, where each work coordinate is associated with one or more partial release lines pattern.

Exemplarily, according to the laying-out points in the lay-out drawings, the coordinates of each lay-out point in the lay-out map are determined as the working coordinates. Manually or automatically plan the motion path of the chassis assembly according to the line drawing range in the drawing to be paid off and the working radius of the paying-off robot, and through the conversion of the conversion relationship in step S4, the pay-off point on the drawing to be paid-off is changed from space The coordinate system (x, y) format is converted to a rasterized coordinate format, that is, the working coordinates are in a rasterized coordinate format.

Exemplarily, the quantity of the line-releasing robot is obtained, and according to the quantity, the map to be laid-out is divided into a corresponding number of partial line-releasing areas based on the line-releasing points; A pay-off robot plans the travel sequence of the pay-off points in its corresponding local pay-off area; determines the corresponding working coordinates of each pay-off robot in the map to be paid out.

Step S120, determining the partial line release pattern corresponding to the robot coordinates, and generating a partial line release instruction according to the partial line release pattern and the robot coordinates, wherein the partial line release instruction includes a release line for controlling the robot The wire component completes the control parameters of the partial wire release action according to the local wire release image;

In this embodiment, each robot coordinate corresponds to one or more partial line release patterns, and the partial line release pattern is a pattern that needs to be released at a point corresponding to the robot coordinate. The partial line release image is stored in the map to be set out and associated with the corresponding work coordinates.

As an optional implementation, the local setting-out pattern corresponding to the robot coordinates is determined according to the map to be set-out, the starting point and the end point of the setting-out are determined according to the partial setting-out pattern, and according to the coordinate system of the total station The coordinates of the end of the wire assembly generate a partial pay-off instruction to control the pay-off robot to release the wire according to the instruction and draw the corresponding partial pay-off pattern.

As another optional implementation, obtain the coordinates of the end of the pay-off component, calculate the base coordinates of the pay-off component through the pose matrix, and combine the base coordinates, the coordinates of the end of the pay-off component and the working radius of the pay-off component to generate a partial release The pay-off path corresponding to the line pattern; based on the pay-off path and coordinate error, a partial pay-out command is generated.

Optionally, step S120 includes:

Step S121, acquiring the base coordinates of the pay-off assembly of the robot.

Step S122, determining the partial payout pattern according to the base coordinates and the working radius of the payout component.

As an optional implementation, according to the coordinates of the end of the pay-off assembly obtained by the total station module and the pose of the end of the pay-off assembly, the base coordinates of the pay-off assembly are solved; The working radius of the component is the radius, a circle is determined in the map to be released, and the release pattern in the circle is the partial release pattern.

Exemplarily, the central control computer sends instructions to the pay-off component, adjusts the pose and aligns the end prism with the total station module; the total station module tracks the end prism of the tool and returns the prism coordinates continuously at a frequency of once every 0.5 seconds to the Central control computer; the central control computer sends instructions to the pay-off assembly again to execute the positioning program, and the end of the pay-off assembly with the prism will move according to the preset specific posture, such as rotation, translation, etc.; during the execution of the positioning program, the central control The controller will store the TCP (toolcentreposition, tool center point) coordinates and axis values in the pay-off component at a specific pose, as well as the prism coordinates returned by the total station module at that time, and then perform calculations to inversely solve the basic coordinates of the pay-off component. The position coordinates of the coordinates in the coordinate system of the total station. After the total station module is built, the coordinate system of the total station is the coordinate system of the map to be laid out. The calculated base is marked as the center of the circle, and the working range of the line component is the radius. Then a circle can be cut out on the map to be laid out. circle. The line segment of the map to be released within the circle is the line that the release component can draw when the chassis is at the point corresponding to the robot coordinates.

Step S123, extracting the payout nodes in the partial payout pattern, and generating a partial payout path according to the payout nodes.

As an optional implementation manner, the corresponding line segment in the partial pay-off pattern is extracted according to a preset algorithm to extract the pay-off node, and the local pay-off path of the pay-off component is generated in combination with the base mark.

Step S124, determining a coordinate error, and determining the partial line setting out instruction based on the coordinate error and the partial line setting out path.

As an optional implementation manner, the coordinate error is determined based on the base coordinates, the coordinates of the end of the pay-off assembly and the processing error of the pay-off assembly itself. Correcting the payout command corresponding to the partial payout path according to the coordinate error to determine the partial payout command.

Optionally, step S120 includes:

Step S125, acquiring the partial wire-laying pattern associated with the robot coordinates, and determining a wire-laying start point and a wire-laying end point according to the partial wire-laying pattern.

In this embodiment, the starting point of setting out is the coordinate of the starting point of the line drawing path of the partial setting out pattern; the ending point of setting out is the coordinate of the end point of the line drawing path of the partial setting out pattern; And there may be one or more process points between the payout end points, and the partial payout pattern is composed of the payout start point, the payout end point and the process points.

As an optional implementation, according to the coordinates of the robot, determine the partial payout pattern associated with the coordinates in the map to be released; decompose the partial payout pattern, determine the start point of the payout and the termination point of the payout, and Take the corresponding front and rear points when the direction of the pay-off path is deflected as the process point. Make the pay-off component start from the starting point of the pay-off, pass through the process point, and end at the end point of the pay-off, and draw a partial pay-off pattern.

Step S126, obtaining the base coordinates of the pay-off assembly of the robot, and determining the local pay-off according to the start point of the pay-off, the end point of the pay-off, the base coordinates, and the working radius of the pay-off assembly path.

As an optional implementation, the coordinates of the end of the pay-off assembly are determined according to the data collected by the optical lenses of the total station module; the base coordinates of the pay-off assembly of the pay-off robot are obtained, and according to the base coordinates and the coordinates of the end of the pay-off assembly , to determine the first moving path of the end of the pay-off component from the current position to the position corresponding to the start point of the pay-off; according to the start point of the pay-off, the end point of the pay-off and the process point, combined with the working radius of the pay-off component, determine the second path A wire-releasing path: determine a partial wire-releasing path according to the first wire-releasing path and the second wire-releasing path.

Step S127, determining a coordinate error according to the base coordinate.

Step S128 , determining the partial line release instruction based on the coordinate error and the partial line release path.

In this embodiment, the coordinate error refers to the error between the coordinates of the point actually drawn and the point corresponding to the pay-off path when the end of the pay-off component moves according to the local pay-off path.

As an optional implementation manner, the coordinate error is determined based on the base coordinates, the coordinates of the end of the pay-off assembly and the processing error of the pay-off assembly itself. Correcting the payout command corresponding to the partial payout path according to the coordinate error to determine the partial payout command.

Step S130 , sending the partial wire releasing instruction to the robot, and entering into a waiting mode.

In this embodiment, the connection-ready mode means that the central control machine is in a connectable state, and the central control machine can only maintain connection with one robot at a time. After the central control computer receives the response information sent by the robot based on the completion of the movement or the completion of the line, it exits the waiting mode.

As an optional implementation manner, a partial release instruction is sent to the robot corresponding to the response information, and after receiving the partial release instruction, the robot enters the waiting mode for connection.

The above-mentioned technical solutions in the embodiments of the present application have at least the following technical effects or advantages:

After the robot moves, the coordinates of the robot are determined according to the response information fed back by the robot; the partial setting pattern is determined according to the robot coordinates, and the partial setting instruction is generated according to the robot coordinates and the partial setting pattern; the partial setting instruction is sent to the robot command, and enter the standby mode. Therefore, it effectively solves the technical problem that only one pay-off robot can track one pay-off robot for pay-off in the related technology, resulting in low pay-off efficiency, and then realizes the coordination of multiple pay-off robots in the unloading area to improve the pay-off efficiency. The technical effect of line efficiency.

Embodiment two

Based on Embodiment 1, Embodiment 2 of the present application proposes a control method for a wire-releasing robot. Referring to FIG. 3 , after step S130, it includes:

Step S210, after the robot completes the wire-laying, determine the corresponding coordinates of the robot according to the response information fed back by the robot.

As an optional implementation, after the robot pays off the wire, it generates response information based on the current robot coordinates and sends it to the central control computer, and the central control computer determines the robot coordinates of the connected robot according to the received response information.

Step S220, determine the coordinates of the target point according to the coordinates of the robot, and generate a movement instruction according to the difference between the coordinates of the target point and the coordinates of the robot, wherein the movement instruction includes a chassis component for controlling the robot from the The control parameters for moving the coordinates of the robot to the coordinates of the target point.

In this embodiment, the coordinates of the target point are the coordinates corresponding to the next line-releasing point that the robot needs to move to.

As an optional implementation, according to the position of the robot coordinates in the map to be released, determine the next release point, that is, the target work point, and use the coordinates of the release point as the target point coordinates; according to the coordinates of the robot and the target point The coordinate difference between the coordinates, as well as the obstacle information in the map to be released, generate a movement command, so that the robot moves according to the parameters corresponding to the movement command, and moves from the point corresponding to the robot coordinates to the point corresponding to the target point coordinates, and Go around obstacles on the way.

Optionally, step S220 includes:

Step S221, obtaining the map to be released and the work coordinates;

In this embodiment, the working coordinates are the corresponding coordinates of the release point in the map to be released.

As an optional implementation, the map to be released and the partial release area associated with the robot coordinates in the map to be released are obtained, and the coordinates of the release points in the partial release area are determined as the working coordinates.

Step S222, determining the target point coordinates based on the robot coordinates and the working coordinates;

As an optional implementation, according to the pay-off point corresponding to the robot coordinates, determine the next pay-off point closest to the pay-off point in the local pay-off area, and use the working coordinates corresponding to the pay-off point as the target point coordinate.

As another optional implementation, according to the path planning algorithm, determine the travel sequence of each pay-off point in the partial pay-off area; determine the pay-out point corresponding to the robot coordinates, and the robot has completed the pay-out in the partial pay-out area The target pay-off point is determined based on the travel sequence, and the working coordinates of the target pay-off point are used as the target point coordinates.

Step S223, determining a moving path according to the coordinates of the robot and the coordinates of the target point, and generating the moving instruction based on the moving path.

In this embodiment, based on the map to be released, the connection between the robot coordinates and the target point coordinates is determined, and the obstacles involved in the connection are determined; the movement path from the robot coordinates to the target point coordinates is determined based on the obstacle avoidance algorithm. Paths generate move instructions.

Step S230, sending the moving instruction to the robot, and entering the waiting mode.

As an optional implementation manner, a movement instruction is sent to the robot corresponding to the response information, and after it is determined that the robot receives the movement instruction, it enters the standby mode.

The above-mentioned technical solutions in the embodiments of the present application have at least the following technical effects or advantages:

Since the robot is used to determine the corresponding robot coordinates according to the response information fed back by the robot after the robot’s wire-laying is completed; determine the target point coordinates according to the robot coordinates, and determine the target point coordinates according to the target point coordinates The difference between the robot coordinates generates a movement instruction, wherein the movement instruction includes control parameters for controlling the chassis assembly of the robot to move from the robot coordinates to the target point coordinates; sending the movement instruction to the robot , and enter the standby mode. Therefore, it effectively solves the technical problem that only one pay-off robot can track one pay-off robot for pay-off in the related technology, resulting in low pay-off efficiency, and then realizes the coordination of multiple pay-off robots in the unloading area to improve the pay-off efficiency. The technical effect of line efficiency.

Embodiment three

Based on the above-mentioned embodiments, Embodiment 3 of the present application proposes a control method for a wire-releasing robot, which is applied to a wire-releasing robot. line action, draw the corresponding pay-off pattern, the control method of the pay-off robot includes:

Step S310, executing the received instruction to be executed, wherein the instruction to be executed includes a partial line release instruction or a movement instruction.

Step S320, after the execution of the instruction to be executed is completed, generate response information according to the execution result and send it to the central control computer, and control its own mechanism to stop moving.

In this embodiment, the instruction to be executed is an instruction sent by the central control computer, including but not limited to a partial wire release instruction, a movement instruction, and an instruction to adjust the pose of the wire payoff assembly. A pay-off robot is the same description as a robot, which refers to a robot with a movable chassis assembly and a pay-off assembly that can be laid out.

As an optional implementation, when the pay-off robot receives the instruction to be executed sent by the central control machine in the stopped state, it executes the instruction to be executed to complete the action corresponding to the instruction; after the instruction to be executed is completed , control its own mechanism to stop moving, and send response information including the coordinates of the robot where the pay-off robot is located at this time to the central control computer according to the execution result. in. The pay-off assembly and the chassis assembly can only move one at a time, and the pay-off assembly is a mechanical arm with multiple movable joints.

Exemplarily, when a partial wire release instruction is received, the wire release assembly is controlled to perform a partial wire release action, and the chassis assembly is controlled to stand still; when a movement instruction is received, the chassis assembly is controlled to perform a movement action, and the wire release assembly is controlled to stand still.

Optionally, step S310 includes:

Step S311, when the instruction to be executed is a partial wire release instruction, control the chassis assembly to be in a static state;

Step S312, controlling the movement of the pay-off assembly according to the partial pay-out command, so as to draw a partial pay-off pattern corresponding to the partial pay-out command.

As an optional implementation, when the command to be executed is a partial release command, according to the control parameters corresponding to the partial release command, the pay-off component is controlled to implement the partial release action, so as to draw the partial discharge corresponding to the partial release command. line pattern, keeping the chassis components stationary during execution.

Optionally, step S310 includes:

Step S313, when the command to be executed is a movement command, controlling the pay-off assembly to be in a static state;

Step S314, controlling the movement of the pay-off assembly according to the partial pay-out command, so as to draw a partial pay-off pattern corresponding to the partial pay-out command.

As an optional implementation, when the command to be executed is a movement command, according to the control parameters corresponding to the movement command, the chassis assembly is controlled to perform a movement action to move from the current position to the line point corresponding to the target point coordinates, and to bypass the Obstacles, keep the payout assembly stationary during execution.

In this embodiment, when the central control unit receives the response information, it determines the response type and robot coordinates corresponding to the response information, wherein the response type is completion of setting out or completion of movement; according to the response type and the coordinates of the robot, generate Instructions to be executed, wherein, when the response type is completion of payout, a movement instruction is generated according to the robot coordinates, and when the response type is completion of movement, a release instruction is generated according to the robot coordinates; the instruction to be executed is sent to the response information corresponding bot and disconnect from the bot. At the same time, when the robot is moving the chassis component, the pay-off component does not perform operations. When the robot’s pay-off component is paying off, the chassis component is in a static state. Connect with the central control machine. Therefore, the central control computer realizes the asynchronous control of multiple pay-off robots, which improves the pay-off efficiency. At the same time, the chassis of the pay-off robot does not move during pay-off, so that it is not necessary to use a total station to track the coordinates of the end of the pay-off component during pay-off. Calibration error.

Exemplarily, referring to Figure 4, the robot enters the area to be released, and the operator moves the robot around the site until the SLAM radar scans the entire site and completes the mapping, and sends the radar scan map to the central control machine; the central control machine scans the radar The map is overlapped with the drawing to be laid out to generate a map to be laid out, and the SLAM target points are planned according to the travel sequence and predetermined work scope. Whenever the central control computer receives the "pay-off complete" command from the pay-off component, it sends the coordinates of the SLAM target point to the chassis component; when the central control computer does not receive the "pay-off complete" command, it remains in the standby state. After the chassis component receives the coordinates of the target point sent by the central control computer, it moves to the target point. After the movement is completed, the chassis sends a "movement complete" command to the central control computer. When the total station is built, the total station obtains the coordinates by arranging the synchronization point target; the coordinate system of the drawing to be set out in the BIM software is converted into the total station coordinate system by using the synchronization point coordinates. If the total station does not receive the "movement complete" command, it remains on standby; if the total station receives the "move complete" command, the total station searches and tracks the tool end coordinates of the pay-off component, and the central control computer poses the matrix to solve the mechanical arm The base is marked and the local pay-off path is extracted according to the working radius, and the central control computer couples the coordinate error to calculate the movement command of the manipulator. The central control computer sends movement commands to the waypoints of the robotic arm of the robot. The payoff tool at the end of the robotic arm moves on command. After the pay-off is completed, the robotic arm sends the command "pay-out complete" to the central control computer.

Due to the use of when the instruction to be executed is a partial release instruction, the chassis assembly is controlled to be in a static state; the movement of the release assembly is controlled according to the partial release instruction, so as to draw the corresponding local release pattern. Therefore, it effectively solves the technical problem in the related art that only one pay-off robot can be tracked for pay-off, and the way of correcting the error of the robot arm while moving is consuming computing resources, and then realizes the coordination of multiple releases in the area to be released. The technical effect is that the line robot can be used to pay off the line, and at the same time, the efficiency of correcting the motion error of the line assembly can be improved.

The present application also proposes a control device for a wire-releasing robot. Referring to FIG. 5 , FIG. 5 is a schematic structural diagram of a control device for a wire-discharging robot in a hardware operating environment involved in an embodiment of the present application.

As shown in FIG. 5 , the control device of the line-laying robot may include: a processor 1001 , such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002 , a user interface 1003 , a network interface 1004 , and a memory 1005 . Wherein, the communication bus 1002 is used to realize connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (WIreless-FIdelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001 .

Those skilled in the art can understand that the structure shown in Figure 5 does not constitute a limitation on the control equipment of the pay-off robot, and may include more or less components than those shown in the illustration, or combine some components, or different components layout.

Optionally, the memory 1005 is electrically connected to the processor 1001, and the processor 1001 can be used to control the operation of the memory 1005, and can also read data in the memory 1005 to realize the control of the wire-releasing robot.

Optionally, as shown in FIG. 5 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a control program of the line-paying robot.

Optionally, in the control device of the pay-off robot shown in Figure 5, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the control of the pay-off robot in this application The processor 1001 and memory 1005 in the device can be set in the control device of the line-laying robot.

As shown in Figure 5, it is applied to the central control machine, the control device of the wire-releasing robot calls the control program of the wire-releasing robot stored in the memory 1005 through the processor 1001, and executes the control of the wire-releasing robot provided by the embodiment of the present application Relevant steps of the method:

After the robot moves, determine the corresponding robot coordinates according to the response information fed back by the robot;

determining the partial release pattern corresponding to the robot coordinates, and generating a partial release instruction according to the partial release pattern and the robot coordinates, wherein the partial release instruction includes a set-off assembly for controlling the robot according to The control parameters for completing the local setting-out action of the partial setting-out image;

Sending the partial wire release instruction to the robot, and entering into a connection-ready mode.

Optionally, the processor 1001 may call the control program of the line robot stored in the memory 1005, and also perform the following operations:

Obtaining the base coordinates of the pay-off assembly of the robot;

determining the partial payout pattern according to the base coordinates and the working radius of the payout component;

extracting the payout nodes in the partial payout pattern, and generating a partial payout path according to the payout nodes;

A coordinate error is determined, and the partial line setting out instruction is determined based on the coordinate error and the partial line setting out path.

Optionally, the processor 1001 may call the control program of the line robot stored in the memory 1005, and also perform the following operations:

After the robot pays off, determine the corresponding coordinates of the robot according to the response information fed back by the robot;

Determine the coordinates of the target point according to the coordinates of the robot, and generate a movement instruction according to the difference between the coordinates of the target point and the coordinates of the robot, wherein the movement instruction includes a chassis assembly for controlling the robot from the coordinates of the robot Move to the control parameters of the coordinates of the target point;

Send the movement instruction to the robot and enter the connection-to-be mode.

Optionally, the processor 1001 may call the control program of the line robot stored in the memory 1005, and also perform the following operations:

Obtain the map to be released and the work coordinates;

determining target point coordinates based on the robot coordinates and the work coordinates;

A movement path is determined according to the robot coordinates and the target point coordinates, and the movement instruction is generated based on the movement path.

Optionally, the processor 1001 may call the control program of the line robot stored in the memory 1005, and also perform the following operations:

Receive the station building information of the total station module, and obtain the coordinates of the synchronization point;

According to the station building information and the coordinates of the synchronization point, the coordinate system of the drawing to be set out is converted into a total station coordinate system.

Optionally, the processor 1001 may call the control program of the line robot stored in the memory 1005, and also perform the following operations:

Based on the collected laser data and/or image data, construct a radar scan map of the location to be laid out;

Align the radar scanning diagram with the drawing to be laid out, and determine the map to be laid out;

Based on the travel sequence, work coordinates are determined in the to-be-released map.

Applied to a wire-laying robot, the wire-laying robot includes a wire-laying assembly and a movable chassis assembly, the control device of the wire-laying robot calls the control program of the wire-laying robot stored in the memory 1005 through the processor 1001, and executes Relevant steps of the control method of the wire-releasing robot provided in the embodiment of the present application:

executing the received instruction to be executed, wherein the instruction to be executed includes a local release instruction or a movement instruction;

After the execution of the instruction to be executed is completed, a response message is generated according to the execution result and sent to the central control computer, and controls its own mechanism to stop moving.

Optionally, the processor 1001 may call the control program of the line robot stored in the memory 1005, and also perform the following operations:

When the instruction to be executed is a partial release instruction, control the chassis assembly to be in a static state;

The movement of the pay-off assembly is controlled according to the partial pay-off instruction, so as to draw a partial pay-off pattern corresponding to the partial pay-off instruction.

In addition, the embodiment of the present application also proposes a computer-readable storage medium, the computer-readable storage medium stores the control program of the wire-releasing robot, and when the control program of the wire-releasing robot is executed by the processor, the above-mentioned Relevant steps of any embodiment of the control method of the wire-laying robot.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

It should be noted that, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means can be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. does not indicate any order. These words can be interpreted as names.

While preferred embodiments of the present application have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, the appended claims are intended to be construed to cover the preferred embodiment and all changes and modifications which fall within the scope of the application.

Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (10)

1. A control method for a wire-releasing robot, characterized in that it is applied to a central control machine, and the control of the wire-releasing robot includes: After the robot moves, determine the corresponding robot coordinates according to the response information fed back by the robot; determining the partial release pattern corresponding to the robot coordinates, and generating a partial release instruction according to the partial release pattern and the robot coordinates, wherein the partial release instruction includes a set-off assembly for controlling the robot according to The control parameters for completing the local setting-out action of the partial setting-out image; Sending the partial wire release instruction to the robot, and entering into a connection-ready mode. 2. The control method of the wire-laying robot as claimed in claim 1, wherein the local wire-setting pattern corresponding to the robot coordinates is determined, and a local wire-setting pattern is generated according to the local wire-setting pattern and the robot coordinates. The steps of the line instruction include: Obtaining the base coordinates of the pay-off assembly of the robot; determining the partial payout pattern according to the base coordinates and the working radius of the payout component; extracting the payout nodes in the partial payout pattern, and generating a partial payout path according to the payout nodes; A coordinate error is determined, and the partial line setting out instruction is determined based on the coordinate error and the partial line setting out path. 3. The control method of the wire-releasing robot as claimed in claim 1, wherein, after the step of sending the local wire-releasing instruction to the robot and entering the mode to be connected, it includes: After the robot pays off, determine the corresponding coordinates of the robot according to the response information fed back by the robot; Determine the coordinates of the target point according to the coordinates of the robot, and generate a movement instruction according to the difference between the coordinates of the target point and the coordinates of the robot, wherein the movement instruction includes a chassis assembly for controlling the robot from the coordinates of the robot Move to the control parameters of the coordinates of the target point; Send the movement instruction to the robot and enter the connection-to-be mode. 4. The control method of the wire-releasing robot as claimed in claim 3, characterized in that, the coordinates of the target point are determined according to the coordinates of the robot, and the movement is generated according to the difference between the coordinates of the target point and the coordinates of the robot The steps of the instruction include: Obtain the map to be released and the work coordinates; determining target point coordinates based on the robot coordinates and the work coordinates; A movement path is determined according to the robot coordinates and the target point coordinates, and the movement instruction is generated based on the movement path. 5. The control method of the wire-releasing robot as claimed in claim 1, wherein, before the step of determining the corresponding robot coordinates according to the response information fed back by the robot after the robot moves, the method includes: Receive the station building information of the total station module, and obtain the coordinates of the synchronization point; According to the station building information and the coordinates of the synchronization point, the coordinate system of the drawing to be set out is converted into a total station coordinate system. 6. The control method of the wire-releasing robot according to claim 1, characterized in that, before the step of determining the corresponding robot coordinates according to the response information fed back by the robot after the robot moves, comprising: Based on the collected laser data and/or image data, construct a radar scan map of the location to be laid out; Align the radar scanning diagram with the drawing to be laid out, and determine the map to be laid out; Based on the travel sequence, work coordinates are determined in the to-be-released map. 7. A control method for a wire-releasing robot, characterized in that it is applied to a wire-releasing robot, the wire-releasing robot includes a wire-releasing assembly, and a movable chassis assembly, and the control method for the wire-releasing robot comprises: executing the received instruction to be executed, wherein the instruction to be executed includes a local release instruction or a movement instruction; After the execution of the instruction to be executed is completed, a response message is generated according to the execution result and sent to the central control computer, and controls its own mechanism to stop moving. 8. The control method of the wire-releasing robot as claimed in claim 7, wherein the step of executing the received instruction to be executed comprises: When the instruction to be executed is a partial release instruction, control the chassis assembly to be in a static state; The movement of the pay-off assembly is controlled according to the partial pay-off instruction, so as to draw a partial pay-off pattern corresponding to the partial pay-off instruction. 9. A control device for a wire-releasing robot, characterized in that it comprises a memory, a processor and a control program stored on the memory and operable on the processor for the wire-releasing robot, and the processor executes the wire-releasing robot The control program is the step of realizing the control method of the line robot as described in any one of claims 1 to 8. 10. A computer-readable storage medium, characterized in that, the computer-readable storage medium is stored with a control program of a wire-releasing robot, and when the control program of the wire-discharging robot is executed by a processor, it realizes the following requirements as claimed in claims 1 to 10. 8. The steps of the control method of the wire-releasing robot described in any one of the above.