Robot control method and device, robot system and storage medium

You are here: Homepage > Search

Robot control method and device, robot system and storage medium

Free access

LIU YIFAN / LI JIACHEN / WU JIACHUN

The embodiment of the invention provides a robot control method and device, a robot system and a storage medium, and relates to the technical field of robots. The method comprises the steps that after the robot puts down a cargo carrying device carried on the top of the robot, the projection position of the robot in a horizontal plane is obtained and serves as a first position; determining a driving-out edge used for indicating the robot to drive out of the space below the cargo carrying appliance in the horizontal plane; determining a driving-out position allowing the robot to pass through in the driving-out edge; under the condition that the minimum turning radius of the robot supports driving according to the first curve path, the robot is controlled to drive from the first position to the driving-out position according to the first curve path so as to drive out of the space below the cargo carrying device from the driving-out position; and under the condition that the minimum turning radius does not support driving according to the first curve path, the robot is controlled to drive from the first position to the driving-out position according to the linear path so as to drive out of the space below the cargo carrying device from the driving-out position. And the robot can safely drive out of the space below the cargo carrying device.

本申请实施例提供了一种机器人控制方法、装置、机器人系统及存储介质，涉及机器人技术领域。方法包括：在机器人将自身顶部背负的载货器具放下后，获取机器人在水平面内的投影位置，作为第一位置；确定水平面内用于指示机器人驶出载货器具下方的空间的驶出边；确定驶出边中允许机器人通过的驶出位置；在机器人的最小转弯半径支持按照第一曲线路径行驶的情况下，控制机器人从第一位置按照第一曲线路径向驶出位置行驶，以从驶出位置处驶出载货器具下方的空间；在最小转弯半径不支持按照第一曲线路径行驶的情况下，控制机器人从第一位置按照直线路径向驶出位置行驶，以从驶出位置处驶出载货器具下方的空间。保证机器人安全驶出载货器具下方的空间。

Access

Download

Export, share and cite

Document information

Title :

Robot control method and device, robot system and storage medium

Additional title:

一种机器人控制方法、装置、机器人系统及存储介质

Contributors:

LIU YIFAN (author) / LI JIACHEN (author) / WU JIACHUN (author)

Publication date :

2024-04-02

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion