CN114995203A - Robot control method and device, computer readable storage medium and controller - Google Patents

Abstract

The present application provides a control method, device, computer-readable storage medium, and controller for a robot. The method includes: when the robot is in an external automatic mode, and when a teaching pendant establishes a communication connection with the robot, determining a first Operation mode and second operation mode, wherein the first operation mode is the operation mode that the teach pendant wants to control the robot to enter, and the second operation mode is the operation mode that the controller wants to control the robot to enter. At least according to the state of the robot, it is determined that the robot enters The first operating mode or the second operating mode. Therefore, when the robot is in the external automatic mode, the robot can still run according to the instruction of the teach pendant, and the teach pendant can still participate in the control of the robot, thus solving the problem that the existing solution can only be used after switching to the external automatic mode. The problem of controlling the operating mode of the robot by adjusting the position of the switch electrically connected to the robot to select the controller.

Description

Robot control method, device, computer-readable storage medium, and controller

technical field

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

Background technique

Robot external automatic mode means that the robot can control the robot without using the teach pendant, such as: start, pause, etc.

When the user needs to use the external automatic mode, he needs to switch to the external automatic mode. However, after switching to the external automatic mode in the prior art, the teach pendant cannot control the robot and can only monitor the robot. The robot can work only by adjusting the position of the switch electrically connected to the robot to select the operation mode of the controller to control the robot.

SUMMARY OF THE INVENTION

The main purpose of the present application is to provide a robot control method, device, computer-readable storage medium and controller, so as to solve the problem that the existing solution can only adjust the position of the switch electrically connected to the robot after switching to the external automatic mode. The problem of choosing the operating mode of the controller to control the robot.

According to an aspect of the embodiments of the present invention, a method for controlling a robot is provided, which is applied in a controller of the robot, the control method comprising: when the robot is in an external automatic mode, and when a teach pendant is connected to the robot In the case of establishing a communication connection, determine a first operation mode and a second operation mode, wherein the first operation mode is the operation mode that the teach pendant wants to control the robot to enter, and the second operation mode is the control The external automatic mode refers to the operating mode in which the robot does not control the robot through the teach pendant; at least according to the state of the robot, determine the The robot enters the first operation mode or the second operation mode, wherein the state of the robot is one of the following: a stop state and a motion state.

Optionally, at least according to the state of the robot, determining that the robot enters the first operation mode or the second operation mode includes: when the state of the robot is the stop state, controlling the robot The robot enters the second operation mode; when the state of the robot is the motion state, it is determined that the robot enters the first operation mode according to whether the first operation mode and the second operation mode are the same the operating mode or the second operating mode.

Optionally, when the state of the robot is the motion state, according to whether the first operation mode and the second operation mode are the same, it is determined that the robot enters the first operation mode or the The second operation mode includes: when the first operation mode and the second operation mode are the same, controlling the robot to enter the second operation mode; in the first operation mode and the second operation mode When the modes are different, a selection mark is displayed on the display screen of the robot, and the selection mark is used to select the first operation mode or the second operation mode; operation, determine the selected operating mode, and control the robot to enter the selected operating mode.

Optionally, the selection identification includes a first identification and a second identification, the first identification is used to characterize the first operation mode, and the second identification is used to characterize the second operation mode, in response to the action The operation on the selection marker, determining the selected operation mode, and controlling the robot to enter the selected operation mode includes: in response to the operation acting on the first marker, determining the selected operation mode The operation mode is the first operation mode, and the robot is controlled to enter the first operation mode; in response to the operation acting on the second marker, it is determined that the selected operation mode is the second operation mode , control the robot to enter the second operation mode.

Optionally, after controlling the robot to enter the second operation mode, the method further includes: generating first prompt information, and displaying the first prompt information on the display screen, the first prompt information The prompt information is used to prompt that the first operation mode and the second operation mode are different, wherein the position of the mode selection switch of the teach pendant is adjusted based on the first prompt information so that the teach pendant is to be controlled The operation mode entered by the robot is updated to the second operation mode.

Optionally, controlling the robot to enter the first operation mode includes: updating the operation mode that the controller intends to control the robot to enter to the first operation mode; controlling the robot to enter the first operation model.

Optionally, the method further includes: after the operating mode that the teach pendant intends to control the robot to enter is updated to the second operating mode, generating second prompt information, and displaying the second prompt information On the display screen, the second prompt information is used to indicate that the operation mode that the teach pendant intends to control the robot to enter has been updated to the second operation mode.

Optionally, the first operating mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operating mode is one of an external automatic mode, a manual low-speed mode, a manual high-speed mode, and an automatic mode one.

According to another aspect of the embodiments of the present invention, there is also provided a control device for a robot, the device includes an acquisition unit and a processing unit; the acquisition unit is used when the robot is in an external automatic mode, and when the teach pendant is established with the robot In the case of communication connection, determine a first operation mode and a second operation mode, wherein the first operation mode is the operation mode that the teach pendant wants to control the robot to enter, and the second operation mode is the controller that wants to control The operation mode that the robot enters, and the external automatic mode refers to the operation mode in which the robot does not control the robot through the teach pendant; the processing unit is used to determine the operation mode at least according to the state of the robot. The robot enters the first operation mode or the second operation mode, wherein the state of the robot is one of the following: a stop state and a motion state.

According to another aspect of the embodiments of the present invention, a computer-readable storage medium is further provided, and the computer-readable storage medium includes a stored program, wherein the program executes any one of the robot control methods.

According to another aspect of the embodiments of the present invention, there is also provided a controller comprising one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the in said memory and configured to be executed by said one or more processors, said one or more programs comprising a control method for executing any one of said robots.

In the embodiment of the present invention, it is determined that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, so as to realize that when the robot is in the external automatic mode, the robot can still Make the robot run according to the instruction of the teach pendant, and then the teach pendant can still participate in the control of the robot, thus solving the problem that the existing solution can only select the controller control by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode. Problems with the operation mode of the robot.

Description of drawings

The accompanying drawings that form a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute improper limitations on the present application. In the attached image:

1 shows a flowchart of a method for controlling a robot according to an embodiment of the present application;

FIG. 2 shows a schematic diagram of a control device of a robot according to an embodiment of the present application;

FIG. 3 shows a flowchart of a control scheme of a robot according to an embodiment of the present application.

Detailed ways

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

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

It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having" and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those expressly listed Rather, those steps or units may include other steps or units not expressly listed or inherent to these processes, methods, products or devices.

It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element can be "directly connected" to the other element or "connected" to the other element through a third element.

As mentioned in the background art, after switching to the external automatic mode in the prior art, the teach pendant cannot control the robot, but can only monitor the robot. If the user wants to make the robot work, he can only adjust and communicate with the robot. The position of the electrically connected switch is used to select the operation mode of the controller to control the robot. In order to solve the problem that the controller can only control the operation mode of the robot by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode. Problem, in a typical embodiment of the present application, a control method, device, computer-readable storage medium, and controller of a robot are provided.

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

FIG. 1 is a flowchart of a control method of a robot according to an embodiment of the present application. As shown in Figure 1, the method is applied in the controller of the robot, and the method includes the following steps:

Step S101, when the robot is in an external automatic mode, and when the teach pendant establishes a communication connection with the robot, determine a first operation mode and a second operation mode, wherein the first operation mode is that the teach pendant wants to control the above The operation mode that the robot enters, the second operation mode is the operation mode that the controller wants to control the robot to enter, and the external automatic mode refers to the operation mode that the robot does not control the robot through the teach pendant;

Step S102, at least according to the state of the robot, it is determined that the robot enters the first operation mode or the second operation mode, wherein the state of the robot is one of the following: a stop state and a motion state.

In the above steps, it is determined that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, so as to realize that the robot is in the external automatic mode. The instruction of the teach pendant runs, and the teach pendant can still participate in controlling the robot, thus solving the problem that the existing solution can only control the operation of the robot by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode. mode problem.

It should be noted that the steps shown in the flowcharts of the accompanying drawings may be executed in a computer system, such as a set of computer-executable instructions, and, although a logical sequence is shown in the flowcharts, in some cases, Steps shown or described may be performed in an order different from that herein.

In an embodiment of the present application, determining that the robot enters the first operation mode or the second operation mode according to at least the state of the robot includes: when the state of the robot is the stop state In this case, control the robot to enter the second operation mode; in the case that the state of the robot is the motion state, determine the The robot enters the first operating mode or the second operating mode.

Specifically, for example, when the state of the robot is in the stopped state, the robot is controlled according to the instruction of the controller, that is, the controller drives the robot to run according to the second operation mode instructed by the controller. When the robot is in a stopped state, the robot can be controlled without manual operation.

In an embodiment of the present application, when the state of the robot is the motion state, it is determined that the robot enters the first operation mode according to whether the first operation mode and the second operation mode are the same. An operation mode or the second operation mode includes: when the first operation mode and the second operation mode are the same, controlling the robot to enter the second operation mode; in the first operation mode In the case of being different from the second operation mode, a selection mark is displayed on the display screen of the robot, and the selection mark is used to select the first operation mode or the second operation mode; The operation on the selection flag determines the selected operation mode, and controls the robot to enter the selected operation mode.

Specifically, for example, when the state of the robot is the motion state, and the first operation mode and the second operation mode are both the manual low-speed mode, the robot is controlled to enter the manual low-speed mode; for another example, when the robot is in the manual low-speed mode When the state of the robot is the motion state, and the first operation mode is the manual low-speed mode, and the second operation mode is the manual high-speed mode, two option boxes are displayed on the display screen of the robot (that is, the selection mark, this application does not (limited to two embodiments of option box and selection mark), respectively the first option box and the second option box, the first option box corresponds to the manual low-speed mode, the second option box corresponds to the manual high-speed mode, if the first option box is selected, then Control the robot to enter the manual low-speed mode. If the second option box is selected, control the robot to enter the manual high-speed mode.

In an embodiment of the present application, the selection identifier includes a first identifier and a second identifier, the first identifier is used to represent the first operating mode, and the second identifier is used to represent the second In the operation mode, determining the selected operation mode in response to the operation acting on the selection marker, and controlling the robot to enter the selected operation mode includes: in response to the operation acting on the first marker, determining that the selected operation mode is the first operation mode, and controlling the robot to enter the first operation mode; in response to an operation acting on the second marker, determining that the selected operation mode is In the second operation mode, the robot is controlled to enter the second operation mode. The selected operation mode is determined by the operation acting on the selection flag.

In an embodiment of the present application, after controlling the robot to enter the second operation mode, the method further includes: generating first prompt information, and displaying the first prompt information on the display screen Above, the first prompt information is used to prompt that the first operation mode and the second operation mode are different, wherein the position of the mode selection switch of the teach pendant is adjusted based on the first prompt information so that all The operation mode that the teach pendant intends to control the robot to enter is updated to the second operation mode.

Specifically, for example, when the state of the robot is the motion state, and the first operation mode is the manual low-speed mode, and the second operation mode is the manual high-speed mode, two options are displayed on the display screen of the robot box, respectively the first option box and the second option box, the first option box corresponds to the manual low-speed mode, the second option box corresponds to the manual high-speed mode, after selecting the second option box, a prompt message is displayed on the display screen, Therefore, the worker knows that the operation mode that the teach pendant wants to control the robot to enter is different from the operation mode that the controller wants to control the robot to enter.

In an embodiment of the present application, controlling the robot to enter the first operation mode includes: updating the operation mode that the controller intends to control the robot to enter to the first operation mode; controlling the robot Enter the first operating mode.

In an embodiment of the present application, the method further includes: after the operation mode that the teach pendant intends to control the robot to enter is updated to the second operation mode, generating second prompt information, and updating the operation mode to the second operation mode. The second prompt information is displayed on the display screen, and the second prompt information is used to indicate that the operation mode that the teach pendant intends to control the robot to enter has been updated to the second operation mode. It is convenient for other workers to know that the operation mode that the teach pendant wants to control the robot to enter and the operation mode that the controller wants to control the robot to enter have been kept consistent.

In an embodiment of the present application, the first operating mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operating mode is an external automatic mode, a manual low-speed mode, and a manual high-speed mode and one of the automatic modes.

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

FIG. 2 is a schematic diagram of a control device of a robot according to an embodiment of the present application. As shown in FIG. 2 , the device includes an acquisition unit 10 and a processing unit 20;

The acquisition unit 10 is used to determine the first operation mode and the second operation mode when the robot is in the external automatic mode and when the teach pendant establishes a communication connection with the above-mentioned robot, wherein the above-mentioned first operation mode is that the teach pendant wants to operate. The operation mode that the above-mentioned robot is controlled to enter, the above-mentioned second operation mode is the operation mode that the controller wants to control the above-mentioned robot to enter, and the above-mentioned external automatic mode refers to the above-mentioned robot without using the above-mentioned teaching pendant to realize the operation mode of controlling the above-mentioned robot;

The processing unit 20 is configured to determine that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, wherein the state of the robot is one of the following: a stop state and a motion state.

In the above device, it is determined that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, so as to realize that the robot is in the external automatic mode, and the robot can be made to follow the The instruction of the teach pendant runs, and the teach pendant can still participate in controlling the robot, thus solving the problem that the existing solution can only control the operation of the robot by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode. mode problem.

In an embodiment of the present application, the processing unit includes a first processing module and a second processing module, and the first processing module is configured to control the robot to enter the rest state when the state of the robot is the stop state. the second operation mode; the second processing module is configured to determine that the robot enters the desired state according to whether the first operation mode and the second operation mode are the same when the state of the robot is the motion state. the first operating mode or the second operating mode.

Specifically, for example, when the state of the robot is in the stopped state, the robot is controlled according to the instruction of the controller, that is, the controller drives the robot to run according to the second operation mode instructed by the controller. When the robot is in a stopped state, the robot can be controlled without manual operation.

In an embodiment of the present application, the second processing module includes a first processing sub-module, a display sub-module, and a second processing sub-module, and the first processing sub-module is used in the first operating mode and the second processing sub-module In the case of the same operation mode, the robot is controlled to enter the second operation mode; the display sub-module is used for displaying the robot when the first operation mode and the second operation mode are different. A selection mark is displayed on the screen, and the selection mark is used to select the first operation mode or the second operation mode; the second processing sub-module is used for determining the selected operation mode in response to the operation acting on the selection mark operation mode, and control the robot to enter the selected operation mode.

Specifically, for example, when the state of the robot is the motion state, and the first operation mode and the second operation mode are both the manual low-speed mode, the robot is controlled to enter the manual low-speed mode; for another example, when the robot is in the manual low-speed mode When the state of the robot is the motion state, and the first operation mode is the manual low-speed mode, and the second operation mode is the manual high-speed mode, two option boxes are displayed on the display screen of the robot (that is, the selection mark, this application does not (limited to two embodiments of option box and selection mark), respectively the first option box and the second option box, the first option box corresponds to the manual low-speed mode, the second option box corresponds to the manual high-speed mode, if the first option box is selected, then Control the robot to enter the manual low-speed mode. If the second option box is selected, the robot is controlled to enter the manual high-speed mode. The selection mark can also be displayed on the display screen of the teach pendant for the staff to operate.

In an embodiment of the present application, the selection identifier includes a first identifier and a second identifier, the first identifier is used to represent the first operating mode, and the second identifier is used to represent the second operation mode, the second processing sub-module includes a first determination sub-module and a second determination sub-module; the first determination sub-module is used to determine the selected operation mode in response to an operation acting on the first identifier In the first operation mode, the robot is controlled to enter the first operation mode; the second determination sub-module is configured to determine that the selected operation mode is the operation mode in response to the operation acting on the second mark A second operation mode, controlling the robot to enter the second operation mode. The selected operation mode is determined by the operation acting on the selection flag.

In an embodiment of the present application, the second processing submodule includes a first generation submodule, and after the robot is controlled to enter the second operation mode, the first generation submodule is configured to generate first prompt information, and The first prompt information is displayed on the display screen, and the first prompt information is used to prompt that the first operation mode and the second operation mode are different, wherein the adjustment of the first operation mode is based on the first prompt information. The position of the mode selection switch of the teach pendant is updated so that the operation mode that the teach pendant intends to control the robot to enter is updated to the second operation mode.

Specifically, for example, when the state of the robot is the motion state, and the first operation mode is the manual low-speed mode, and the second operation mode is the manual high-speed mode, two options are displayed on the display screen of the robot box, respectively the first option box and the second option box, the first option box corresponds to the manual low-speed mode, the second option box corresponds to the manual high-speed mode, after selecting the second option box, a prompt message is displayed on the display screen, Therefore, the worker knows that the operation mode that the teach pendant wants to control the robot to enter is different from the operation mode that the controller wants to control the robot to enter.

In an embodiment of the present application, the first processing sub-module includes a switching sub-module and a third processing sub-module, and the switching sub-module is used to update the operating mode that the controller intends to control the robot to enter to the third processing sub-module. an operation mode; the third processing sub-module is used to control the robot to enter the first operation mode.

In an embodiment of the present application, the second processing sub-module includes a second generating sub-module, and the second generating sub-module is configured to update the operating mode that the teach pendant wants to control the robot to enter to the second generating sub-module. After the operation mode, second prompt information is generated and displayed on the display screen. The second prompt information is used to indicate that the operation mode that the teach pendant wants to control the robot to enter has been completed. Update to the second operating mode. It is convenient for other workers to know that the operation mode that the teach pendant wants to control the robot to enter and the operation mode that the controller wants to control the robot to enter have been kept consistent.

In an embodiment of the present application, the first operating mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operating mode is an external automatic mode, a manual low-speed mode, and a manual high-speed mode and one of the automatic modes.

The control device of the robot includes a processor and a memory. The acquisition unit and the processing unit are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.

The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the existing solution can only select the operation mode of the controller to control the robot by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode.

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

An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the control method of the robot is implemented.

An embodiment of the present invention provides a processor for running a program, wherein the control method of the robot is executed when the program is run.

An embodiment of the present invention provides a device. The device includes a processor, a memory, and a program stored in the memory and running on the processor. When the processor executes the program, at least the following steps are implemented: when the robot is in an external automatic mode, and when the robot is in an external automatic mode, When the teach pendant establishes a communication connection with the robot, determine a first operation mode and a second operation mode, wherein the first operation mode is the operation mode that the teach pendant wants to control the robot to enter, and the first operation mode is the operation mode that the teach pendant wants to control the robot to enter. The second operation mode is the operation mode that the controller wants to control the robot to enter, and the external automatic mode refers to the operation mode in which the robot does not control the robot through the teach pendant; at least according to the The state of the robot determines that the robot enters the first operation mode or the second operation mode, wherein the state of the robot is one of the following: a stop state and a motion state. The devices in this article can be servers, PCs, PADs, mobile phones, and so on.

The application also provides a computer program product, when executed on a data processing device, adapted to execute a program initialized with at least the following method steps: when the robot is in an external automatic mode, and when the teach pendant establishes communication with the robot In the case of connection, determine a first operation mode and a second operation mode, wherein the first operation mode is the operation mode that the teach pendant wants to control the robot to enter, and the second operation mode is the operation mode that the controller wants to enter. an operation mode in which the robot is controlled to enter, and the external automatic mode refers to an operation mode in which the robot does not control the robot through the teach pendant; at least according to the state of the robot, it is determined that the robot enters In the first operation mode or the second operation mode, the state of the robot is one of the following: a stop state and a motion state.

An embodiment of the present application further provides a controller, the controller includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are Configured to be executed by the one or more processors, the one or more programs include a control method for executing any one of the described robots. By determining that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, it is realized that the robot can be made to follow the instruction of the teach pendant even when the robot is in the external automatic mode. Instruct the operation, and then the teach pendant can still participate in controlling the robot, thus solving the problem that the existing solution can only select the operation mode of the controller to control the robot by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode.

In order for those skilled in the art to understand the technical solutions of the present application more clearly, the technical solutions and technical effects of the present application will be described below with reference to specific embodiments.

Example 1

The embodiment of the present application also provides a control scheme of a robot. FIG. 3 is a flowchart of the control scheme of the robot according to the embodiment of the present application, as shown in FIG. 3 , including the following steps:

Step 1: When the robot is in the external automatic mode, and when the teach pendant establishes a communication connection with the above-mentioned robot, determine the first operation mode and the second operation mode, wherein the above-mentioned first operation mode is that the teach pendant wants to control the above-mentioned operation mode. The operation mode that the robot enters, the second operation mode is the operation mode that the controller wants to control the robot to enter, and the external automatic mode refers to the operation mode that the robot does not control the robot through the teach pendant;

Step 2: when the state of the robot is the stop state, control the robot to enter the second operation mode; when the state of the robot is the motion state, according to the first Whether the operation mode and the second operation mode are the same, it is determined that the robot enters the first operation mode or the second operation mode;

Step 3: if the first operation mode and the second operation mode are the same, control the robot to enter the second operation mode; if the first operation mode and the second operation mode are different In the case of , display the selection mark on the display screen of the teach pendant (that is, the state of the controller or the state of the teach pendant, the state of the controller is the operating mode that the controller wants to control the above robot The state is the same, and will not be repeated here), the selection flag is used to select the first operating mode or the second operating mode; in response to the operation acting on the selection flag, determine the selected operating mode mode, and control the robot to enter the selected operation mode;

Step 4: Controlling the robot to enter the second operation mode based on the state of the controller, and displaying first prompt information on the display screen of the teach pendant, where the first prompt information is used to prompt the first operation The mode is different from the second operation mode, wherein the position of the mode selection switch of the teach pendant is adjusted based on the first prompt information, so that the operation mode that the teach pendant wants to control the robot to enter is updated to the desired mode. the second operating mode;

Step 5: After the operation mode that the teach pendant wants to control the robot to enter is updated to the second operation mode, a second prompt message is generated, and the second prompt message is displayed on the display screen of the teach pendant Above, the second prompt information is used to indicate that the operation mode that the teach pendant intends to control the robot to enter has been updated to the second operation mode.

By determining that the robot enters the first operation mode or the second operation mode, or enters the second operation mode according to at least the state of the robot, it is realized that when the robot is in the external automatic mode, It can also make the robot run according to the instruction of the teach pendant, and then the teach pendant can still participate in the control of the robot, thus solving the problem that the existing solution can only select the control by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode. The controller controls the operation mode of the robot.

Example 2

Embodiments of the present application also provide a control system for a robot, including a robot and a teach pendant, the robot includes a controller, and the teach pendant is electrically connected to an interface of the controller to implement communication between the teach pendant and the controller;

There is a knob switch on the teach pendant, and the knob switch has a first position, a second position and a third position. When the knob switch is in the first position, it means that the operation mode that the teach pendant wants to control the robot to enter is manual low speed mode , when the knob switch is at the second position, it means that the operation mode that the teach pendant wants to control the robot to enter is the manual high-speed mode, and when the knob switch is at the third position, it means that the teach pendant wants to control the robot to enter the operation mode for automatic mode;

The teach pendant has a first display screen, and the robot has a second display screen. For example, two option boxes (that is, selection signs, this application is not limited to options) are displayed on both the second display screen of the robot and the first display screen of the teach pendant. The first option box corresponds to the manual low-speed mode, and the second option box corresponds to the manual high-speed mode. If the first option box is selected, the robot will be controlled. Enter the manual low-speed mode, if the second option box is selected, the robot will be controlled to enter the manual high-speed mode. operation mode, and after selecting the second option box, first prompt information is displayed on both the first display screen and the second display screen, and the first prompt information is used to prompt the controller to control the operation mode and display of the robot to enter. The operation modes that the teach pendant wants to control the robot to enter are different, wherein the position of the knob switch of the teach pendant is adjusted based on the first prompt information so that the teach pendant wants to control the operation mode that the robot enters. Update to the second operating mode (ie, adjust the rotary switch from the second position to the first position).

In the above-mentioned embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative, for example, the division of the units may be a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or Integration into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The integrated unit, if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes .

From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

1) The control method of the robot of the present application, by determining that the robot enters the first operation mode or the second operation mode at least according to the state of the robot, thereby realizing the situation that the robot is in the external automatic mode In this way, the robot can run according to the instruction of the teach pendant, and the teach pendant can still participate in the control of the robot, thus solving the problem that the existing solution can only adjust the position of the switch electrically connected to the robot after switching to the external automatic mode. The problem of choosing the operating mode of the controller to control the robot.

2) The control device of the robot of the present application determines that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, thereby realizing the situation that the robot is in the external automatic mode In this way, the robot can run according to the instruction of the teach pendant, and the teach pendant can still participate in the control of the robot, thus solving the problem that the existing solution can only adjust the position of the switch electrically connected to the robot after switching to the external automatic mode. The problem of choosing the operating mode of the controller to control the robot.

3) The controller of the present application determines that the robot enters the first operation mode or the second operation mode according to at least the state of the robot, thereby realizing that when the robot is in the external automatic mode, It can also make the robot run according to the instruction of the teach pendant, and then the teach pendant can still participate in the control of the robot, thus solving the problem that the existing solution can only select the control by adjusting the position of the switch electrically connected to the robot after switching to the external automatic mode. The controller controls the operation mode of the robot.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (11)

1. A control method for a robot, applied to a controller of the robot, the control method comprising:

when a robot is in an external automatic mode, and when a demonstrator establishes communication connection with the robot, determining a first operation mode and a second operation mode, wherein the first operation mode is an operation mode in which the demonstrator intends to control the robot to enter, the second operation mode is an operation mode in which the controller intends to control the robot to enter, and the external automatic mode is an operation mode in which the robot does not realize control over the robot through the demonstrator;

determining that the robot enters the first operation mode or the second operation mode at least according to the state of the robot, wherein the state of the robot is one of the following: a stopped state and a moving state.

2. The method of claim 1, wherein determining that the robot enters the first mode of operation or the second mode of operation based at least on the state of the robot comprises:

controlling the robot to enter the second operation mode when the state of the robot is the stop state;

and under the condition that the state of the robot is the motion state, determining that the robot enters the first operation mode or the second operation mode according to whether the first operation mode and the second operation mode are the same.

3. The method of claim 2, wherein determining that the robot enters the first operation mode or the second operation mode according to whether the first operation mode and the second operation mode are the same in the case that the state of the robot is the motion state comprises:

under the condition that the first operation mode and the second operation mode are the same, controlling the robot to enter the second operation mode;

under the condition that the first operation mode is different from the second operation mode, displaying a selection identifier on a display screen of the robot, wherein the selection identifier is used for selecting the first operation mode or the second operation mode;

in response to an operation acting on the selection indicator, determining a selected operation mode, and controlling the robot to enter the selected operation mode.

4. The method of claim 3, wherein the selection indicator comprises a first indicator for characterizing the first operating mode and a second indicator for characterizing the second operating mode,

in response to an operation acting on the selection indicator, determining a selected operation mode and controlling the robot to enter the selected operation mode, including:

in response to an operation acting on the first identifier, determining that the selected operation mode is the first operation mode, and controlling the robot to enter the first operation mode;

and in response to an operation acting on the second identifier, determining the selected operation mode as the second operation mode, and controlling the robot to enter the second operation mode.

5. The method of claim 4, wherein after controlling the robot into the second mode of operation, the method further comprises:

generating first prompt information, and displaying the first prompt information on the display screen, wherein the first prompt information is used for prompting that the first operation mode is different from the second operation mode, and the position of a mode selection switch of the teach pendant is adjusted based on the first prompt information so that the operation mode of the teach pendant, which the robot is to be controlled to enter, is updated to the second operation mode.

6. The method of claim 4, wherein controlling the robot into the first mode of operation comprises:

updating the operation mode which the controller wants to control the robot to enter into the first operation mode;

controlling the robot to enter the first operation mode.

7. The method of claim 5, further comprising:

and after the operation mode which the teach pendant wants to control the robot to enter is updated to the second operation mode, generating second prompt information, and displaying the second prompt information on the display screen, wherein the second prompt information is used for representing that the operation mode which the teach pendant wants to control the robot to enter is updated to the second operation mode.

8. The method of any one of claims 1 to 7, wherein the first mode of operation is one of a manual low speed mode, a manual high speed mode, and an automatic mode; the second operation mode is one of an external automatic mode, a manual low speed mode, a manual high speed mode, and an automatic mode.

9. A control device for a robot, comprising:

the robot control system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for determining a first operation mode and a second operation mode when the robot is in an external automatic mode and a demonstrator establishes communication connection with the robot, the first operation mode is an operation mode that the demonstrator intends to control the robot to enter, the second operation mode is an operation mode that a controller intends to control the robot to enter, and the external automatic mode is an operation mode that the robot does not realize control over the robot through the demonstrator;

a processing unit, configured to determine, according to at least a state of the robot, that the robot enters the first operation mode or the second operation mode, where the state of the robot is one of: a stopped state and a moving state.

10. A computer-readable storage medium characterized by comprising a stored program, wherein the program executes the control method of the robot according to any one of claims 1 to 8.

11. A controller, comprising: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the control method of the robot of any of claims 1-8.

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