The invention provides a robot control method, a robot control device and a robot. The robot control method comprises the steps that image information, collected by an image collector, of a plugging object at an initial position is obtained, a robot is controlled to move from the initial position to a first position based on the image information of the plugging object at the initial position, and when the robot is located at the first position, the robot is controlled to move; the lens plane of the image collector is opposite to the end surface, matched with the execution mechanism, of the plugging object; image information, collected by the image collector, of the plugging object at the first position is obtained, the robot is controlled to move from the first position to a second position based on the image information of the plugging object at the first position, and when the robot is located at the second position, the geometric center line of the execution end of the execution mechanism and the geometric center line of the plugging object are located on the same straight line; and controlling the execution mechanism to perform plugging operation on the plugging object. According to the invention, automation of the charging gun plugging operation process can be realized, so that the user experience is improved.

    本公开提供了一种机器人控制方法、机器人控制装置及机器人。其中,机器人控制方法包括:获取图像采集器采集的插拔对象在初始位置的图像信息,基于插拔对象在初始位置的图像信息,控制机器人从初始位置移动至第一位置,当机器人位于第一位置,图像采集器的镜头平面与插拔对象用于与执行机构配合的端面相对;获取图像采集器采集的插拔对象在第一位置的图像信息,基于插拔对象在第一位置的图像信息,控制机器人从第一位置移动至第二位置,当机器人位于第二位置,执行机构的执行端的几何中心线与插拔对象的几何中心线处在同一直线;控制执行机构对插拔对象进行插拔操作。本公开能够实现充电枪插拔操作流程的自动化,从而提高用户体验。


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    Title :

    Robot control method, robot control device and robot


    Additional title:

    机器人控制方法、机器人控制装置及机器人


    Contributors:
    REN LIWEI (author) / WANG LELE (author) / TONG TIANCHEN (author) / HUANG DANIAN (author)

    Publication date :

    2022-07-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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