CN103433925A - Method for returning robot to starting point, robot running method, robot and robot control device - Google Patents
Method for returning robot to starting point, robot running method, robot and robot control device Download PDFInfo
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- CN103433925A CN103433925A CN2013103299364A CN201310329936A CN103433925A CN 103433925 A CN103433925 A CN 103433925A CN 2013103299364 A CN2013103299364 A CN 2013103299364A CN 201310329936 A CN201310329936 A CN 201310329936A CN 103433925 A CN103433925 A CN 103433925A
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Abstract
The embodiment of the invention discloses a method of returning a robot to a starting point. The method comprises the steps of obtaining a current position point of the robot; judging whether the current position point is in a safety area or not; enabling the robot not to directly execute default automatic running operation if not, wherein the default automatic running operation comprises the action that the robot returns to the starting point from the current position point in the safety area. The embodiment of the invention also discloses a robot control device, a robot running method and the robot. In such a way, the probability of causing collision accidents during a process that the robot returns to the starting point can be greatly reduced.
Description
Technical field
The present invention relates to the robot field, particularly relate to method, robot operation method, robot controller and robot that a kind of robot returns to starting point after out of service.
Background technology
Industrial robot is in being processed the process of operation according to the robot program, because making robot, human factor or machine factor move Halfway Stopping behind certain path, when the operator selects to restart present procedure or load other programs after the robot Halfway Stopping, now at first robot need stop the starting point that residing location point returns to current path from current, to move new program.
The present inventor finds in long-term R & D, and the method for returning to starting point in prior art after robot is out of service is generally: make robot be stopped residing location point and returned to starting point according to optimal path by current.Greatly may occur the accident that robot and processed object collide etc. and to clash in the process that makes robot directly by the current location point, return to starting point in prior art, have certain potential safety hazard.
Summary of the invention
The technical problem that the present invention mainly solves is to provide method, robot operation method, robot controller and the robot that a kind of robot returns to starting point, can greatly reduce robot and clash into unexpected odds in returning to the process of starting point.
For solving the problems of the technologies described above, a first aspect of the present invention is: the method for starting point is provided after providing a kind of robot out of service, is comprised: obtain the current residing location point of robot, wherein, robot is current in run-stopping status; Judge that current residing location point is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status; If current residing location point not in safety zone, makes robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point.
Wherein, if current residing location point also comprises step not in safety zone: the prompting user adjusts the current residing location point of robot to safety zone; Adjusting the current residing location point of robot to after in safety zone, then making robot carry out the automatic operation of acquiescence.
Wherein, the artificial six-joint robot of machine; One preset angles r scope of the location point coordinate that when safety zone is the starting point of robot in current path, each axle of robot is corresponding, wherein, the robot location point coordinate that each axle is corresponding when starting point is (x, y, z, m, n, o), the safety zone that each axle of robot is corresponding is: (x-r, x+r), (y-r, y+r), (z-r, z+r), (m-r, m+r), (n-r, n+r) and (o-r, o+r).
Wherein, the step of obtaining the current residing location point of robot specifically comprises: the location point coordinate that obtains the current correspondence of each axle of robot.
Wherein, judge current residing location point whether the step in safety zone be specially: whether the location point coordinate that judges the current correspondence of each axle of robot all at each axle of robot in corresponding safety zone; The prompting user adjusts the current residing location point of robot to the step in safety zone and is specially: the prompting user adjusts not at each axle of safety zone Nei robot to corresponding safety zone, so that the location point coordinate of the current correspondence of each axle of robot is all at each axle of robot in corresponding safety zone.
Wherein, if current residing location point in safety zone, makes robot carry out the automatic operation of acquiescence.
For solving the problems of the technologies described above, a second aspect of the present invention is: a kind of robot operation method is provided, comprises: robot is moved according to current operation procedure; After making robot current operation procedure out of service, obtain the current residing location point of robot; Judge that current residing location point is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status; If current residing location point not in safety zone, makes robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point; If current residing location point, not in safety zone, also comprises step: the prompting user adjusts the current residing location point of robot to safety zone; Adjusting the current residing location point of robot to after in safety zone, then making robot carry out the automatic operation of acquiescence; After making robot carry out the automatic operation of acquiescence, make robot move current operation procedure or subsequent job program.
For solving the problems of the technologies described above, a third aspect of the present invention is: a kind of robot controller is provided, comprises: acquisition module, and for obtaining the current residing location point of robot, wherein, robot is current in run-stopping status; Judge module, for judging that current residing location point is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status; Control module, be used at current residing location point not in the situation of safety zone, make robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point.
Wherein, the device also comprise: reminding module, at current residing location point not in the situation of safety zone, the prompting user adjust the current residing location point of robot to safety zone; Control module also, for adjusting the current residing location point of robot to after in safety zone, makes robot carry out the automatic operation of acquiescence.
For solving the problems of the technologies described above, a fourth aspect of the present invention is: a kind of robot is provided, comprises: the first control module, for making robot, according to current operation procedure, move; Acquisition module, for after making robot current operation procedure out of service, obtain the current residing location point of robot; Judge module, for judging that current residing location point is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status; The second control module, be used at current residing location point not in the situation of safety zone, make robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point; Reminding module, in situation, not pointing out the user to adjust the current residing location point of robot to safety zone at current residing location point in safety zone; The second control module also, for adjusting the current residing location point of robot to after in safety zone, makes robot carry out the automatic operation of acquiescence; The first control module also, for after making robot carry out the automatic operation of acquiescence, makes robot move current operation procedure or subsequent job program.
The invention has the beneficial effects as follows: the situation that is different from prior art, the present invention is by obtaining the current residing location point of robot, further judge that current residing location point is whether in safety zone, if current residing location point is not directly carried out the automatic operation of acquiescence in safety zone Nei Zeshi robot, by judging before robot returns to starting point whether current residing location point is in safety zone, can greatly reduce robot and clash into unexpected odds in returning to the process of starting point.
The accompanying drawing explanation
Fig. 1 is the flow chart that robot of the present invention returns to method first embodiment of starting point after out of service;
Fig. 2 is the flow chart that robot of the present invention returns to method second embodiment of starting point after out of service;
Fig. 3 is the flow chart that robot of the present invention returns to method the 3rd embodiment of starting point after out of service;
Fig. 4 is the flow chart of robot of the present invention operation method one embodiment;
Fig. 5 is the theory diagram of robot controller one embodiment of the present invention;
Fig. 6 is the theory diagram of robot of the present invention one embodiment.
The specific embodiment
Below in conjunction with the accompanying drawing in embodiment of the present invention, the technical scheme in embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, rather than whole embodiments.Embodiment based in the present invention, those of ordinary skills, not making under the creative work prerequisite the every other embodiment obtained, all belong to the scope of protection of the invention.
Refer to Fig. 1, method the first embodiment that returns to starting point after robot of the present invention is out of service comprises:
Step S11: obtain the current residing location point of robot;
Obtain the current residing location point of robot, be specially: the location point coordinate that obtains the current correspondence of each axle of robot.Wherein, because the own factor of human factor or robot makes robot current in run-stopping status.
Step S12: judge that current residing location point is whether in safety zone;
Judge that the current residing location point of robot is whether in safety zone.Wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status, safety zone is arranged according to the putting position of the barriers such as processing object and the activity space situation of each axle of robot, and the barriers such as processing object are not in safety zone.
Step S13: make robot directly not carry out the automatic operation of acquiescence;
If above-mentioned steps S12 judgment result is that: the current residing location point of robot, not in safety zone, makes robot directly not carry out the automatic operation of acquiescence.Wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point, in present embodiment, the automatic operation of above-mentioned acquiescence is specially: robot returns to starting point according to the optimal path of planning by current residing location point in safety zone, in other embodiments, robot also can return to starting point according to other paths in safety zone.The path that robot returns is positioned at safety zone.
Be appreciated that, return to method first embodiment of starting point after robot of the present invention is out of service by obtaining the current residing location point of robot, further judge that current residing location point is whether in safety zone, if current residing location point is not directly carried out the automatic operation of acquiescence in safety zone Nei Zeshi robot, by judging before robot returns to starting point whether current residing location point is in safety zone, can greatly reduce robot and clash into unexpected odds in returning to the process of starting point.
Refer to Fig. 2, method the second embodiment that returns to starting point after robot of the present invention is out of service comprises:
Step S21: obtain the current residing location point of robot;
Obtain the current residing location point of robot, wherein, robot is current in run-stopping status.
Step S22: judge that current residing location point is whether in safety zone;
Judge that the current residing location point of robot is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status.
Step S23: make robot directly not carry out the automatic operation of acquiescence;
If above-mentioned steps S22 judgment result is that: the current residing location point of robot, not in safety zone, makes robot directly not carry out the automatic operation of acquiescence.
Step S24: the prompting user adjusts the current residing location point of robot to safety zone;
If the current residing location point of robot is not in safety zone, also comprise step: the prompting user adjusts the current residing location point of robot to safety zone, prompting user's method specifically can be by indicator lamp and points out the user, for example under the indicator lamp normal condition, show green, when indicator lamp shows redness, mean that the user need carry out current residing location point to robot and be adjusted; Also can point out the user to adjust the current residing location point of robot by modes such as sound, words, not make too many restrictions herein.In addition, also can point out by modes such as indicator lamp, sound, words the band of position at place, safety zone.The user adjusts the current residing location point of robot to the process in safety zone and specifically can be: the direction of user towards safety zone moves the current robot in run-stopping status, after the user moves in safety zone by robot, can indicate certain color or point out the current residing location point of subscriber set people in safety zone by modes such as voice prompts by indicator lamp, now the user stops adjusting the current residing location point of robot.
In present embodiment, after making the robot automatic operation that directly execution is given tacit consent to, the prompting user adjusts the current residing location point of robot to safety zone; In other embodiments, also can make robot directly do not carry out the automatic operation of acquiescence before or simultaneously, the prompting user adjusts the current residing location point of robot to safety zone, does not make too many restrictions herein.
Step S25: make robot carry out the automatic operation of acquiescence.
Adjust the current residing location point of robot to after in safety zone the user, then make robot carry out the automatic operation of acquiescence, robot returns to starting point by current residing location point in safety zone.
Be appreciated that, return to method second embodiment of starting point after robot of the present invention is out of service by obtaining the current residing location point of robot, further judge that current residing location point is whether in safety zone, if current residing location point is not directly carried out the automatic operation of acquiescence in safety zone Nei Zeshi robot, and then the prompting user adjusts the current residing location point of robot to safety zone, after in being adjusted to safety zone, just make robot carry out the automatic operation of acquiescence, can greatly reduce robot and clash into unexpected odds in returning to the process of starting point.
Refer to Fig. 3, method the 3rd embodiment that returns to starting point after robot of the present invention is out of service comprises:
Step S31: obtain the current residing location point of robot;
Obtain the current residing location point of robot, be specially: the location point coordinate that obtains the current correspondence of each axle of robot.Wherein, robot is current in run-stopping status.In present embodiment, the artificial six-joint robot of machine, also can be the robot of other number of axle in other embodiments.
Step S32: judge that current residing location point is whether in safety zone;
Judge that the current residing location point of robot is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status, a preset angles r scope of the location point coordinate that when safety zone also is the starting point of robot in current path, each axle of robot is corresponding.
The robot location point coordinate that each axle is corresponding when starting point is (x, y, z, m, n, o), so safety zone corresponding to each axle of robot be: (x-r, x+r), (y-r, y+r), (z-r, z+r), (m-r, m+r), (n-r, n+r) and (o-r, o+r).In present embodiment, preset angles r value is 5 degree, in other embodiments, and according to the putting position of the barriers such as processing object and the preset angles r that actual space applicable cases is got other numerical value, and then define the safety zone that each axle is corresponding, do not make too many restrictions herein.Barrier such as processing object etc., not in safety zone, thereby can greatly reduce robot clash into unexpected occurrence probability in returning to the process of starting point.
Above-mentioned judge the current residing location point of robot whether the step in safety zone be specially: whether the location point coordinate that judges the current correspondence of each axle of robot all at each axle of robot in corresponding safety zone, safety zone corresponding to each axle be also: (x-r, x+r), (y-r, y+r), (z-r, z+r), (m-r, m+r), (n-r, n+r) and (o-r, o+r).
Step S33a: make robot directly not carry out the automatic operation of acquiescence;
If above-mentioned steps S32 judgment result is that: the current residing location point of robot, not in safety zone, makes robot directly not carry out the automatic operation of acquiescence.Wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point, and in present embodiment, the automatic operation of above-mentioned acquiescence is specially: robot returns to starting point according to the optimal path of planning by current residing location point in safety zone.
In addition, if the current residing location point of robot does not also comprise step in zone: the prompting user adjusts the current residing location point of robot to safety zone.Wherein, the prompting user adjusts the current residing location point of robot to the step in safety zone and is specially: the prompting user adjusts not at each axle of safety zone Nei robot to corresponding safety zone, so that the location point coordinate of the current correspondence of each axle of robot is all at each axle of robot in corresponding safety zone.For example, when judgement obtains two axle A, B in six axles of robot not in safety zone, point out the user to adjust in the safety zone that two axle A, B to A, the B in safety zone is not corresponding.Can point out which manipulator shaft of user not at it in corresponding safety zone by modes such as indicator lamp, sound or words, further at each axle of safety zone Nei robot, the direction of the safety zone corresponding towards it does not move the user by current, so that the location point coordinate of the current correspondence of each axle of robot is all at each axle of robot in corresponding safety zone.
Adjusting the current residing location point of robot to after in safety zone the user, is also that the location point coordinate of the current correspondence of each axle of robot all in corresponding safety zone, makes robot carry out the automatic operation of above-mentioned acquiescence at each axle of robot.
Step S33b: make robot carry out the automatic operation of acquiescence.
If above-mentioned steps S32 judgment result is that: the current residing location point of robot, in safety zone, directly makes robot carry out the automatic operation of acquiescence, that is: make robot return to starting point by current residing location point in safety zone.
In other embodiments, if the judgement obtain the current residing location point of robot in safety zone after, also can further judge whether robot need to return to starting point by current residing location point, if make robot carry out the automatic operation of acquiescence, otherwise not carry out any operation; If the judgement obtain the current residing location point of robot in safety zone after, also can manually robot be moved to starting point by current residing location point in safety zone by the user, do not make too many restrictions herein.
Method the 3rd embodiment that returns to starting point after below out of service to robot of the present invention is illustrated:
Obtain the robot location point coordinate that each axle is corresponding when run-stopping status (P1, P2, P3, P4, P5, P6), then judge the location point coordinate (P1 of the current correspondence of each axle of robot, P2, P3, P4, P5, P6) equal i.e. (x-r in corresponding safety zone at each axle of robot whether, x+r), (y-r, y+r), (z-r, z+r), (m-r, m+r), (n-r, n+r) and (o-r, o+r), judgment result is that the location point coordinate P3 of manipulator shaft 3 and manipulator shaft 5 current correspondences, P5 is the corresponding safety zone (z-r at its axle not, z+r), (n-r, n+r) in, judged result now is the current residing location point of robot not in safety zone, make robot directly not carry out the automatic operation of acquiescence, further the prompting user adjusts not the manipulator shaft in safety zone 3 and manipulator shaft 5 to corresponding safety zone (z-r, z+r), (n-r, n+r), adjusting manipulator shaft 3 and manipulator shaft 5 to after in corresponding safety zone, then making robot carry out the automatic operation of acquiescence, making robot return to starting point by current residing location point in safety zone.
Be appreciated that, return to method the 3rd embodiment of starting point after robot of the present invention is out of service by obtaining the current residing location point of robot, further judge that current residing location point is whether in safety zone, if current residing location point is not directly carried out the automatic operation of acquiescence in safety zone Nei Zeshi robot, and then the prompting user adjusts the current residing location point of robot to after in safety zone, make again robot carry out the automatic operation of acquiescence after in being adjusted to safety zone; If current residing location point directly makes robot carry out the automatic operation of acquiescence in safety zone.By judging before robot returns to starting point whether current residing location point is in safety zone, be in a safety zone before making robot carry out the automatic operation of giving tacit consent to, can greatly reduce robot and clash into unexpected odds in returning to the process of starting point.
Refer to Fig. 4, robot of the present invention operation method one embodiment comprises:
Step S41: robot is moved according to current operation procedure;
Robot is moved according to current operation procedure, for example make robot carry out processing job procedure so that workpiece is processed.
Step S42: obtain the current residing location point of robot;
After manually making the automatic current operation procedure out of service of robot current operation procedure out of service or robot, obtain the current residing location point of robot, wherein, robot is current in run-stopping status.
Step S43: judge that current residing location point is whether in safety zone;
Judge that the current residing location point of robot is whether in safety zone, wherein, safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status.
Step S44: make robot directly not carry out the automatic operation of acquiescence;
If the current residing location point of robot not in safety zone, makes robot directly not carry out the automatic operation of acquiescence.Wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point.
In addition, if the current residing location point of robot also comprises step not in safety zone: the prompting user adjusts the current residing location point of robot to safety zone.Wherein, can make robot directly do not carry out the automatic operation of acquiescence before, simultaneously or afterwards, the prompting user adjusts the current residing location point of robot to safety zone, does not make too many restrictions herein.
Adjust the current residing location point of robot to after in safety zone the user, then make robot carry out the automatic operation of acquiescence.
Step S45: make robot move current operation procedure or subsequent job program.
After the automatic operation that makes robot carry out acquiescence returns to the starting point of current path, make the robot above-mentioned current operation procedure of operation or subsequent job program.
Be appreciated that, robot of the present invention operation method one embodiment is by after current operation procedure out of service and before moving current operation procedure or subsequent job program, obtain the current residing location point of robot, further judge that current residing location point is whether in safety zone, if current residing location point is not directly carried out the automatic operation of acquiescence in safety zone Nei Zeshi robot, comprise that in addition the prompting user adjusts the current residing location point of robot to after in safety zone, after in being adjusted to safety zone, make again robot carry out the automatic operation of acquiescence, can greatly reduce the probability that robot collides with barrier in returning to the process of starting point, make robot normally to move.
Refer to Fig. 5, robot controller one embodiment of the present invention comprises:
Above-mentioned robot controller also comprises: reminding module, at current residing location point not in the situation of safety zone, the prompting user adjust the current residing location point of robot to safety zone.
Be appreciated that, robot controller one embodiment of the present invention obtains the current residing location point of robot by acquisition module, judge module further judges that current residing location point is whether in safety zone, if current residing location point not in safety zone control module make robot directly not carry out the automatic operation of acquiescence, by judging before robot returns to starting point whether current residing location point is in safety zone, can greatly reduce the probability that robot collides with barrier in returning to the process of starting point.
Refer to Fig. 6, robot of the present invention one embodiment comprises:
The first control module 61, move according to current operation procedure for making robot.
The second control module 64, be used at current residing location point not in the situation of safety zone, make robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point.
Reminding module 65, in situation, not pointing out the user to adjust the current residing location point of robot to safety zone at current residing location point in safety zone.
The second control module 64 also, for adjusting the current residing location point of robot to after in safety zone, makes robot carry out the automatic operation of acquiescence.
The first control module 61 also, for make robot carry out the automatic operation of acquiescence in the second control module 64 after, makes robot move current operation procedure or subsequent job program.
Be appreciated that, robot of the present invention one embodiment is by after current operation procedure out of service and before moving current operation procedure or subsequent job program, acquisition module obtains the current residing location point of robot, judge module further judges that current residing location point is whether in safety zone, if current residing location point is not directly carried out the automatic operation of acquiescence in safety zone Nei Zeshi robot, reminding module prompting user adjusts the current residing location point of robot to after in safety zone in addition, after in being adjusted to safety zone, the second control module makes robot carry out the automatic operation of acquiescence again, can greatly reduce the probability that robot collides with barrier in returning to the process of starting point, make robot normally to move.
The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes specification of the present invention and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in scope of patent protection of the present invention.
Claims (10)
1. a robot returns to the method for starting point after out of service, it is characterized in that, comprising:
Obtain the current residing location point of robot, wherein, described robot is current in run-stopping status;
Judge that described current residing location point is whether in safety zone, wherein, described safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status;
If described current residing location point is not in safety zone, make described robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of described acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point.
2. method according to claim 1, is characterized in that,
If described current residing location point, not in safety zone, also comprises step: the prompting user adjusts the current residing location point of described robot to safety zone;
Adjusting the current residing location point of described robot to after in safety zone, then making described robot carry out the automatic operation of described acquiescence.
3. method according to claim 2, is characterized in that,
The artificial six-joint robot of described machine;
One preset angles r scope of the location point coordinate that when described safety zone is the starting point of robot in current path, each axle of robot is corresponding,
Wherein, the described robot location point coordinate that each axle is corresponding when starting point is (x, y, z, m, n, o), the safety zone that each axle of described robot is corresponding is: (x-r, x+r), (y-r, y+r), (z-r, z+r), (m-r, m+r), (n-r, n+r) and (o-r, o+r).
4. method according to claim 3, is characterized in that, the described step of obtaining the current residing location point of robot specifically comprises:
Obtain the location point coordinate of the current correspondence of each axle of described robot.
5. method according to claim 4, is characterized in that,
Described judge current residing location point whether the step in safety zone be specially:
Whether the location point coordinate that judges the current correspondence of each axle of described robot is all at each axle of robot in corresponding safety zone;
Described prompting user adjusts the current residing location point of robot to the step in safety zone and is specially:
The prompting user adjusts not at each axle of described safety zone Nei robot to corresponding safety zone, so that the location point coordinate of the current correspondence of each axle of described robot is all at each axle of robot in corresponding safety zone.
6. method according to claim 1, is characterized in that,
If described current residing location point in safety zone, makes described robot carry out the automatic operation of acquiescence.
7. a robot operation method, is characterized in that, comprising:
Robot is moved according to current operation procedure;
After making described robot current operation procedure out of service, obtain the current residing location point of described robot;
Judge that described current residing location point is whether in safety zone, wherein, described safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status;
If described current residing location point is not in safety zone, make described robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of described acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point;
If described current residing location point, not in safety zone, also comprises step: the prompting user adjusts the current residing location point of described robot to safety zone;
Adjusting the current residing location point of described robot to after in safety zone, then making described robot carry out the automatic operation of described acquiescence;
After making described robot carry out the automatic operation of acquiescence, make described robot move current operation procedure or subsequent job program.
8. a robot controller, is characterized in that, comprising:
Acquisition module, for obtaining the current residing location point of robot, wherein, described robot is current in run-stopping status;
Judge module, for judging that described current residing location point is whether in safety zone, wherein, described safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status;
Control module, be used at described current residing location point not in the situation of safety zone, make described robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of described acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point.
9. device according to claim 8, is characterized in that,
Described device also comprises reminding module, at described current residing location point not in the situation of safety zone, the prompting user adjust the current residing location point of described robot to safety zone;
Described control module also, for adjusting the current residing location point of robot to after in safety zone, makes described robot carry out the automatic operation of described acquiescence.
10. a robot, is characterized in that, comprising:
The first control module, move according to current operation procedure for making robot;
Acquisition module, for after making described robot current operation procedure out of service, obtain the current residing location point of described robot;
Judge module, for judging that described current residing location point is whether in safety zone, wherein, described safety zone corresponding home scope when to be robot return to the starting point of current path by run-stopping status;
The second control module, for at described current residing location point not in safety zone in situation, make described robot directly not carry out the automatic operation of acquiescence, wherein, the automatic operation of described acquiescence comprises that robot is returned to the action of starting point in safety zone by current residing location point;
Reminding module, in situation, not pointing out the user to adjust the current residing location point of described robot to safety zone at described current residing location point in safety zone;
Described the second control module also, for adjusting the current residing location point of robot to after in safety zone, makes described robot carry out the automatic operation of acquiescence;
Described the first control module also, for after making robot carry out the automatic operation of acquiescence, makes described robot move current operation procedure or subsequent job program.
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| CN201310329936.4A CN103433925B (en) | 2013-07-31 | 2013-07-31 | Robot returns to method, operation method, robot and the control device of starting point |
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Cited By (16)
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| CN105446342A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and apparatus for place backflow of robot terminal |
| CN106965198A (en) * | 2017-03-30 | 2017-07-21 | 上海木爷机器人技术有限公司 | Robot control method and device |
| CN107735226A (en) * | 2015-06-25 | 2018-02-23 | 库卡罗伯特有限公司 | Default track is crossed using robot |
| WO2018148873A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Smart robot based on position information and control method therefor |
| CN109746936A (en) * | 2018-12-19 | 2019-05-14 | 北京镁伽机器人科技有限公司 | Joint limit method, device, system and the storage medium of robot |
| CN109967892A (en) * | 2017-12-27 | 2019-07-05 | 大族激光科技产业集团股份有限公司 | A kind of cutting method and control equipment and memory module of automatic control starting point |
| CN110393477A (en) * | 2018-04-25 | 2019-11-01 | 科沃斯机器人股份有限公司 | Self-movement robot and its ambulation control method, cleaning method, readable medium |
| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| WO2020108293A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳前海达闼云端智能科技有限公司 | Control method, related apparatus, and storage medium |
| CN111273661A (en) * | 2020-01-21 | 2020-06-12 | 上海悦易网络信息技术有限公司 | Method and equipment for eliminating repeated path of detection item |
| CN111922567A (en) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN112060091A (en) * | 2020-09-04 | 2020-12-11 | 苏州华兴源创科技股份有限公司 | Method and device for returning robot to original point, robot and storage medium |
| CN112518714A (en) * | 2020-11-05 | 2021-03-19 | 浙江工业大学 | Rapid online teaching method for safe area of feeding and discharging manipulator |
| CN113237688A (en) * | 2021-07-09 | 2021-08-10 | 深圳市普渡科技有限公司 | Robot, robot obstacle avoidance performance testing method and device and readable storage medium |
| CN114459480A (en) * | 2021-12-03 | 2022-05-10 | 广州极飞科技股份有限公司 | Operation safety region generation method, path planning method and related device |
| CN114700952A (en) * | 2022-04-24 | 2022-07-05 | 伍福人工智能(河南)有限公司 | Joint limiting control method and device, terminal equipment and storage medium |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107735226A (en) * | 2015-06-25 | 2018-02-23 | 库卡罗伯特有限公司 | Default track is crossed using robot |
| CN105446342A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and apparatus for place backflow of robot terminal |
| WO2018148873A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Smart robot based on position information and control method therefor |
| CN106965198A (en) * | 2017-03-30 | 2017-07-21 | 上海木爷机器人技术有限公司 | Robot control method and device |
| CN109967892A (en) * | 2017-12-27 | 2019-07-05 | 大族激光科技产业集团股份有限公司 | A kind of cutting method and control equipment and memory module of automatic control starting point |
| CN110393477A (en) * | 2018-04-25 | 2019-11-01 | 科沃斯机器人股份有限公司 | Self-movement robot and its ambulation control method, cleaning method, readable medium |
| WO2020108293A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳前海达闼云端智能科技有限公司 | Control method, related apparatus, and storage medium |
| CN109746936A (en) * | 2018-12-19 | 2019-05-14 | 北京镁伽机器人科技有限公司 | Joint limit method, device, system and the storage medium of robot |
| CN110815226B (en) * | 2019-11-15 | 2022-03-01 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN110815226A (en) * | 2019-11-15 | 2020-02-21 | 四川长虹电器股份有限公司 | Method for returning to initial position at any posture and any position of robot |
| CN111273661A (en) * | 2020-01-21 | 2020-06-12 | 上海悦易网络信息技术有限公司 | Method and equipment for eliminating repeated path of detection item |
| CN111273661B (en) * | 2020-01-21 | 2023-10-27 | 上海万物新生环保科技集团有限公司 | Method and equipment for eliminating repeated paths of detection items |
| CN111922567A (en) * | 2020-08-13 | 2020-11-13 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN111922567B (en) * | 2020-08-13 | 2022-06-21 | 北京博清科技有限公司 | Welding control method and device, computer readable storage medium and welding system |
| CN112060091B (en) * | 2020-09-04 | 2022-02-22 | 苏州华兴源创科技股份有限公司 | Method and device for returning robot to original point, robot and storage medium |
| CN112060091A (en) * | 2020-09-04 | 2020-12-11 | 苏州华兴源创科技股份有限公司 | Method and device for returning robot to original point, robot and storage medium |
| CN112518714A (en) * | 2020-11-05 | 2021-03-19 | 浙江工业大学 | Rapid online teaching method for safe area of feeding and discharging manipulator |
| CN112518714B (en) * | 2020-11-05 | 2022-03-08 | 浙江工业大学 | Rapid online teaching method for safe area of feeding and discharging manipulator |
| CN113237688A (en) * | 2021-07-09 | 2021-08-10 | 深圳市普渡科技有限公司 | Robot, robot obstacle avoidance performance testing method and device and readable storage medium |
| CN113237688B (en) * | 2021-07-09 | 2021-10-08 | 深圳市普渡科技有限公司 | Robot, robot obstacle avoidance performance testing method and device and readable storage medium |
| CN114459480A (en) * | 2021-12-03 | 2022-05-10 | 广州极飞科技股份有限公司 | Operation safety region generation method, path planning method and related device |
| CN114459480B (en) * | 2021-12-03 | 2024-06-07 | 广州极飞科技股份有限公司 | Operation safety area generation method, path planning method and related devices |
| CN114700952A (en) * | 2022-04-24 | 2022-07-05 | 伍福人工智能(河南)有限公司 | Joint limiting control method and device, terminal equipment and storage medium |
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