CN107953330A - Robot and control method and device thereof - Google Patents
Robot and control method and device thereof Download PDFInfo
- Publication number
- CN107953330A CN107953330A CN201610905811.5A CN201610905811A CN107953330A CN 107953330 A CN107953330 A CN 107953330A CN 201610905811 A CN201610905811 A CN 201610905811A CN 107953330 A CN107953330 A CN 107953330A
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- control
- robot
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- automatic control
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 17
- 230000006870 function Effects 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot and a control method and device thereof. Wherein, the method comprises the following steps: detecting whether the control mode of the robot is switched to an automatic control mode; if the control mode of the robot is detected to be switched to the automatic control mode, calling an automatic control thread; and running an automatic control thread to automatically control the robot. The invention solves the technical problems of complex control logic and complex implementation program of the robot in the related art because the control logic of manual control and automatic control is written in the same thread or function.
Description
Technical field
The present invention relates to robot field, in particular to a kind of robot and its control method and device.
Background technology
At present, in robot control, typically the control logic for automatically controlling and automatically controlling is write on same
In thread or function, using axis control principle, motor rotation is directly controlled.There are multijoint control, control logic are complicated, real for the program
The defects of now program is complicated.
In view of the above-mentioned problems, not yet propose effective solution at present.
The content of the invention
An embodiment of the present invention provides a kind of robot and its control method and device, at least to solve machine in correlation technique
Device people is write in same thread or function due to controlling manually with the control logic that automatically controls, cause control logic it is complicated,
Realize the technical problem of program complexity.
One side according to embodiments of the present invention, there is provided a kind of robot control method, including：Detect robot
Whether control model has switched to automatic control mode；If detect above-mentioned robot control model have switched to it is above-mentioned automatic
Control model, then call and automatically control thread；Run and above-mentioned automatically control thread to be automatically controlled to above-mentioned robot.
Further, before whether the control model of detection robot has switched to automatic control mode, the above method
Further include：Obtain and corresponding with above-mentioned automatic control mode above-mentioned automatically control thread；The above-mentioned threads store that automatically controls is arrived
In user program operation pond.
Further, if detecting, the control model of above-mentioned robot has switched to above-mentioned automatic control mode, calls
Automatically controlling thread includes：According to above-mentioned automatic control mode and the above-mentioned correspondence for automatically controlling thread, from above-mentioned user
Read in program operation pond and above-mentioned automatically control thread.
Further, run it is above-mentioned automatically control thread with above-mentioned robot is automatically controlled including：Operationally
State during automatically controlling thread, read preconfigured control parameter, wherein, different control parameters correspond to different controls
System instruction；The control parameter that reads is run in thread to be automatically controlled to above-mentioned robot in above-mentioned automatically control.
Further, operationally state after automatically controlling thread to be automatically controlled to above-mentioned robot, above-mentioned side
Method further includes：Whether the enable signal that detection is used to start above-mentioned automatic control mode has interrupted；If detect for starting
The above-mentioned enable signal for stating automatic control mode has been interrupted, then out of service above-mentioned to automatically control thread to stop to above-mentioned machine
People is automatically controlled.
Another aspect according to embodiments of the present invention, additionally provides a kind of robot controller, including：First detection is single
Whether member, the control model for detecting robot have switched to automatic control mode；Call unit, for detect it is above-mentioned
In the case that the control model of robot has switched to above-mentioned automatic control mode, calling automatically controls thread；First control is single
Member, above-mentioned thread is automatically controlled to be automatically controlled to above-mentioned robot for running.
Further, above device further includes：Acquiring unit, for whether having switched in the control model of detection robot
To before automatic control mode, obtain and corresponding with above-mentioned automatic control mode above-mentioned automatically control thread；Storage unit, is used for
By the above-mentioned threads store that automatically controls into user program operation pond.
Further, above-mentioned call unit is additionally operable to：According to above-mentioned automatic control mode and the above-mentioned thread that automatically controls
Correspondence, reads from above-mentioned user program operation pond and above-mentioned automatically controls thread.
Further, above-mentioned first control unit includes：Read module, the mistake of thread is automatically controlled for operationally stating
Cheng Zhong, reads preconfigured control parameter, wherein, different control parameters correspond to different control instructions；Control module, is used
In running the control parameter that reads in thread in above-mentioned automatically control to be automatically controlled to above-mentioned robot.
Further, above device further includes：Second detection unit, for operationally state automatically control thread with to
State after robot automatically controlled, whether the enable signal that detection is used to start above-mentioned automatic control mode has interrupted；The
Two control units, for detecting for starting in the case that the above-mentioned enable signal of above-mentioned automatic control mode interrupted,
It is out of service above-mentioned to automatically control thread to stop automatically controlling above-mentioned robot.
Another aspect according to embodiments of the present invention, additionally provides a kind of robot, including：The above-mentioned robot of any one
Control device.
In embodiments of the present invention, set using by MANUAL CONTROL mode and automatic control mode into two different threads
Mode, whether automatic control mode is had switched to by the control model for detecting robot；If detect the control of robot
Pattern has switched to automatic control mode, then calls and automatically control thread；Operation automatically controls thread to be carried out certainly to robot
Dynamic control, has achieveed the purpose that to be controlled and automatically controlled manually respectively by two different threads, it is achieved thereby that simple
Change control logic, simplify and realize the technique effect of program, so solve in correlation technique robot due to control manually with from
The control logic of dynamic control is write in same thread or function, is caused control logic complexity, is realized that the technology of program complexity is asked
Topic.
Brief description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is a kind of flow chart of optional robot control method according to embodiments of the present invention；
Fig. 2 is the schematic diagram that a kind of optional robot controller according to embodiments of the present invention is interacted with teaching machine；
Fig. 3 is a kind of schematic diagram of optional robot controller according to embodiments of the present invention.
Embodiment
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Attached drawing, is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work, should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to the embodiment of the present invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment 1
According to embodiments of the present invention, there is provided a kind of embodiment of the method for robot control method, it is necessary to explanation,
The step of flow of attached drawing illustrates can perform in the computer system of such as a group of computer-executable instructions, also,
, in some cases, can be with different from shown in order execution herein although showing logical order in flow charts
The step of going out or describing.
Fig. 1 is a kind of flow chart of optional robot control method according to embodiments of the present invention, as shown in Figure 1, should
Method includes the following steps：
Whether step S102, the control model for detecting robot have switched to automatic control mode；
Step S104, if detecting, the control model of robot has switched to automatic control mode, and calling automatically controls
Thread；
Step S106, operation automatically control thread to be automatically controlled to robot.
It should be noted that when implementing, the control model of robot first can be divided into MANUAL CONTROL mode and automatic control
Molding formula, wherein, under MANUAL CONTROL mode, robot is controlled manually, under automatic control mode, robot is carried out certainly
Dynamic control.Specifically, manual control logic can be programmed in a thread, and logic will be automatically controlled and be programmed in another
In thread, in this way, under different control models, system can run different control threads to realize the control to robot
System.Since separate threads can be used to run automatic control program, thus reduce logic collision risk.
In embodiments of the present invention, set using by MANUAL CONTROL mode and automatic control mode into two different threads
Mode, whether automatic control mode is had switched to by the control model for detecting robot；If detect the control of robot
Pattern has switched to automatic control mode, then calls and automatically control thread；Operation automatically controls thread to be carried out certainly to robot
Dynamic control, has achieveed the purpose that to be controlled and automatically controlled manually respectively by two different threads, it is achieved thereby that simple
Change control logic, simplify and realize the technique effect of program, so solve in correlation technique robot due to control manually with from
The control logic of dynamic control is write in same thread or function, is caused control logic complexity, is realized that the technology of program complexity is asked
Topic.
Alternatively, before whether the control model of detection robot has switched to automatic control mode, the above method is also
Including：Acquisition is corresponding with automatic control mode to automatically control thread；Threads store will be automatically controlled to user program operation pond
In.
It should be noted that when implementing, will directly can automatically control in thread write-in user program operation pond, in this way,
System is when calling automatically controls thread, it is only necessary to goes to user program operation pond to read.Wherein, automatically controlling thread can be with
(CNC) method is controlled using numerically-controlled machine tool, controls the multiaxial motion of robot.It should be noted that controlled automatically using CNC
System, can reduce code complexity.
Alternatively, if detecting, the control model of robot has switched to automatic control mode, and calling automatically controls line
Journey includes：According to automatic control mode and the correspondence for automatically controlling thread, automatic control is read from user program operation pond
Thread processed.
Due to write in advance it is corresponding with automatic control mode automatically control thread, and be stored to user's journey
Sort run pond suffers, therefore, in use, according to both correspondences user program operation pond can be gone to read.
Alternatively, operation automatically control thread with robot is automatically controlled including：Thread is automatically controlled in operation
During, preconfigured control parameter is read, wherein, different control parameters correspond to different control instructions；Automatic
The control parameter that reads is run to be automatically controlled to robot in control thread.
It should be noted that different control parameters can control robot to be jumped between different automatic control state machines
Turn.Therefore, by the embodiment of the present invention, automatic control state machine can be utilized, the execution of automatic control program is controlled, ensures to patrol
Chian is complete.In addition, the operation logic using independent state machine control automatic control program, it can also be ensured that logic robustness.
Alternatively, after operation automatically controls thread to be automatically controlled to robot, the above method further includes：Inspection
Survey whether the enable signal for being used to start automatic control mode has interrupted；If detect for starting the enabled of automatic control mode
Signal has interrupted, then out of service to automatically control thread to stop automatically controlling robot.If detect for starting
The enable signal of automatic control mode is not yet interrupted, then continues to run with and automatically control thread with according to control instruction input by user
Robot is automatically controlled accordingly.
The present invention is elaborated below in conjunction with Fig. 2：
As shown in Fig. 2, when implementing, the robot control method in the present invention can pass through robot controller (i.e. machine
People's control device) implement, also, user can be pre-configured with robot by the teaching machine being connected with robot controller
Control parameter, or other operating parameters of modification robot etc..Specifically, user can be by button or touch-screen in teaching
Input control parameter (i.e. external signal (such as automatic control signal)) on device, at this time, teaching machine can be parsed using resolver
These external signals, and analysis result is sent to robot controller.At this time, robot controller carries out Initialize installation,
And following operation is performed according to above-mentioned analysis result successively：HOME, enabled, beginning, operation (automatic control program), stopping, its
In, if aforesaid operations perform failure, report an error, lost successfully if performing, program can be according to the flow of automatic control program
Into next operation link.
Embodiment 2
According to embodiments of the present invention, there is provided a kind of device embodiment of robot controller.It should be noted that this
Robot controller in embodiment can be used for implementing the robot control method in embodiment 1.
Fig. 3 is a kind of schematic diagram of optional robot controller according to embodiments of the present invention, as shown in figure 3, should
Device includes：Whether first detection unit 302, the control model for detecting robot have switched to automatic control mode；Adjust
With unit 304, in the case of having switched to automatic control mode in the control model for detecting robot, automatic control is called
Thread processed；First control unit 306, automatically controls thread to be automatically controlled to robot for operation.
It should be noted that when implementing, the control model of robot first can be divided into MANUAL CONTROL mode and automatic control
Molding formula, wherein, under MANUAL CONTROL mode, robot is controlled manually, under automatic control mode, robot is carried out certainly
Dynamic control.Specifically, manual control logic can be programmed in a thread, and logic will be automatically controlled and be programmed in another
In thread, in this way, under different control models, system can run different control threads to realize the control to robot
System.Since separate threads can be used to run automatic control program, thus reduce logic collision risk.
By the embodiment of the present invention, set using by MANUAL CONTROL mode and automatic control mode into two different threads
Mode, achieveed the purpose that to be controlled and automatically controlled manually respectively by two different threads, it is achieved thereby that simple
Change control logic, simplify and realize the technique effect of program, so solve in correlation technique robot due to control manually with from
The control logic of dynamic control is write in same thread or function, is caused control logic complexity, is realized that the technology of program complexity is asked
Topic.
Alternatively, above device further includes：Acquiring unit, for whether being had switched in the control model of detection robot
Before automatic control mode, acquisition is corresponding with automatic control mode to automatically control thread；Storage unit, for that will automatically control
Threads store is into user program operation pond.
Alternatively, above-mentioned call unit is additionally operable to：According to automatic control mode and the correspondence for automatically controlling thread, from
Automatic control line journey is read in user program operation pond.
Alternatively, above-mentioned first control unit includes：Read module, during automatically controlling thread in operation,
Preconfigured control parameter is read, wherein, different control parameters correspond to different control instructions；Control module, for
Automatically control and the control parameter that reads is run in thread to be automatically controlled to robot.
Alternatively, above device further includes：Second detection unit, for operation automatically control thread with to robot into
After row automatically controls, whether the enable signal that detection is used to start automatic control mode has interrupted；Second control unit, is used for
Detecting for starting in the case that the enable signal of automatic control mode interrupted, it is out of service to automatically control thread to stop
Only robot is automatically controlled.
It should be noted that in each embodiment of robot controller (i.e. robot controller) in the present embodiment
Each module or unit, respectively with the step in each embodiment of the robot control method in embodiment 1 it is corresponding identical or
Similar, its function of realizing and the technique effect that reaches also correspond to same or like, and details are not described herein.
Embodiment 3
According to embodiments of the present invention, there is provided a kind of device embodiment of robot.It should be noted that in the present embodiment
Robot can include robot controller (i.e. robot controller) in embodiment 2 described in any embodiment,
And the robot control method in embodiment 1 described in any embodiment can be used for controlling the machine in the present embodiment
People, details are not described herein.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, can pass through others
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to contribute in other words to the prior art or all or part of the technical solution can be in the form of software products
Embody, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment the method for the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (11)
- A kind of 1. robot control method, it is characterised in that including：Whether the control model of detection robot has switched to automatic control mode；If detecting, the control model of the robot has switched to the automatic control mode, and calling automatically controls thread；Thread is automatically controlled described in operation to be automatically controlled to the robot.
- 2. according to the method described in claim 1, it is characterized in that, whether the control model in detection robot has switched to certainly Before dynamic control model, the method further includes：Thread is automatically controlled described in acquisition is corresponding with the automatic control mode；By the threads store that automatically controls into user program operation pond.
- 3. if according to the method described in claim 2, it is characterized in that, detect that the control model of the robot has switched to The automatic control mode, then calling, which automatically controls thread, includes：According to the automatic control mode and the correspondence for automatically controlling thread, read from the user program operation pond Thread is automatically controlled described in taking.
- 4. according to the method described in claim 1, it is characterized in that, operation described in automatically control thread with to the robot into Row automatically control including：During thread is automatically controlled described in operation, preconfigured control parameter is read, wherein, different control parameters pair Answer different control instructions；The control parameter that reads is run in thread to be automatically controlled to the robot in described automatically control.
- 5. according to the method described in claim 1, it is characterized in that, thread is being automatically controlled described in operation with to the robot After being automatically controlled, the method further includes：Whether the enable signal that detection is used to start the automatic control mode has interrupted；Interrupted if detecting for starting the enable signal of the automatic control mode, the automatic control out of service Thread processed is to stop automatically controlling the robot.
- A kind of 6. robot controller, it is characterised in that including：Whether first detection unit, the control model for detecting robot have switched to automatic control mode；Call unit, for having switched to the situation of the automatic control mode in the control model for detecting the robot Under, calling automatically controls thread；First control unit, described thread is automatically controlled to be automatically controlled to the robot for running.
- 7. device according to claim 6, it is characterised in that described device further includes：Acquiring unit, for detection robot control model whether have switched to automatic control mode before, obtain and institute State that automatic control mode is corresponding described to automatically control thread；Storage unit, for by the threads store that automatically controls into user program operation pond.
- 8. device according to claim 7, it is characterised in that the call unit is additionally operable to：According to the automatic control mode and the correspondence for automatically controlling thread, read from the user program operation pond Thread is automatically controlled described in taking.
- 9. device according to claim 6, it is characterised in that first control unit includes：Read module, for during thread is automatically controlled described in operation, reading preconfigured control parameter, wherein, Different control parameters correspond to different control instructions；Control module, for it is described automatically control the control parameter read is run in thread with the robot is carried out from Dynamic control.
- 10. device according to claim 6, it is characterised in that described device further includes：Second detection unit, for after thread is automatically controlled described in operation to be automatically controlled to the robot, examining Survey whether the enable signal for being used to start the automatic control mode has interrupted；Second control unit, for detecting the feelings interrupted for starting the enable signal of the automatic control mode It is out of service described to automatically control thread to stop automatically controlling the robot under condition.
- A kind of 11. robot, it is characterised in that including：Robot controller any one of claim 6 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610905811.5A CN107953330A (en) | 2016-10-18 | 2016-10-18 | Robot and control method and device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610905811.5A CN107953330A (en) | 2016-10-18 | 2016-10-18 | Robot and control method and device thereof |
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| CN107953330A true CN107953330A (en) | 2018-04-24 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610905811.5A Pending CN107953330A (en) | 2016-10-18 | 2016-10-18 | Robot and control method and device thereof |
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| CN (1) | CN107953330A (en) |
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| CN110427003A (en) * | 2019-07-29 | 2019-11-08 | 珠海格力智能装备有限公司 | Robot control method and device and robot |
| CN113561176A (en) * | 2021-07-22 | 2021-10-29 | 上海鲸鱼机器人科技有限公司 | Control method, robot, upper computer and readable storage medium |
| TWI789639B (en) * | 2020-10-14 | 2023-01-11 | 達明機器人股份有限公司 | Robot safety system and method for auto mode |
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Application publication date: 20180424 |