CN105291114A - Home service type robot system based on mobile internet - Google Patents
Home service type robot system based on mobile internet Download PDFInfo
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- CN105291114A CN105291114A CN201510886088.6A CN201510886088A CN105291114A CN 105291114 A CN105291114 A CN 105291114A CN 201510886088 A CN201510886088 A CN 201510886088A CN 105291114 A CN105291114 A CN 105291114A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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Abstract
The invention discloses a home service type robot system based on the mobile internet. The home service type robot system comprises an operation device, a cloud server and a robot, wherein the operation device is configured to emit a control signal to the robot and complete robot motion state feedback; the cloud server is configured to transmit and store information between the operation device and the robot; and the robot is configured to complete the home task. According to the home service type robot system based on the mobile internet disclosed by the invention, the robot and an accompanied object are controlled to interact or the robot is controlled to complete operation, so that accompanying effect with sense of immediacy of accompanying one is provided for the accompanied object, and therefore, real-time effective accompanying for the accompanied object, psychological needs of the accompanied object, and the like are satisfied.
Description
Technical field
The present invention relates to areas of information technology, particularly relate to a kind of household based on mobile Internet service humanoid robot system.
Background technology
In recent decades, along with developing rapidly of Chinese society economy, the raising of living standards of the people, improvement of medical and health services, the rapid decline of fertility-rate and the death rate, age composition in the population there occurs change sharply.Teenager's population proportion significantly declines, and elderly population proportion rises rapidly.From now on to the year two thousand fifty, Chinese aging society will experience starting, accelerate to the evolution on peak, the features such as aging population course is fast by presentation speed, the time is short.
Compared with developed countries, the speed of Chinese population aging faster, time ask shorter.According to statistics, the proportion of more than 60 years old elderly population rises to 14% by 7%, only needs about 25 years, the Japan more fastest than world population aging is also fast, and other developed countries complete this process and used the longer time, France 115 years, Sweden 85 years, Germany and Britain 45 years.Aged in China population proportion rises to 28% by 14%, approximately needs about 35 years, Chinese population aging speed fast considerably beyond original prediction.China will become one of fastest country of world population aging, and aging population fast will produce deep effect to population and socioeconomic development.
With advancing age, the physical function of the elderly declines, affection need increases day by day, and major embodiment has:
1, in physical function; The physical function of the elderly is degenerated, of flaccid muscles, language is slow, deaf and blind, finger is trembled, dyskinesia, and the reserve capacity of health is reduced.Simultaneously sensory perception go down, decrease of memory, slow in reacting, adaptive capacity weakens, and resistance declines, and self care ability reduces.
2, in emotion: children not situation at one's side happen occasionally.Because close toward not to mental healths such as the companies of the elderly, cause that a lot of the elderly can feel depressed, mood is gloomy.Meanwhile, to the hypokinetic uneasiness of body and mind, the uneasiness to physiological maladies and the fear to death, and the psychological problems caused also is the problem of the emotion aspect that the elderly often runs into.
Based on above feature, the demand of the following aspects that old man family is accompanied and attended to:
1, housework service
(1) medicine and article transmission.The elderly is due to body ages, and legs and feet inconvenience, gets the action of passing article and so on for some, have certain difficulty, need to serve accordingly.
(2) switch lamp, switch gate.Simple housework work, be in our daily life especially simply, action frequently, but for old man, the especially old man of legs and feet inconvenience, seem particularly difficulty.
(3) push boat chair.For having a bodily deformity, take action the constant old man needing to do wheelchair, needs people and push wheelchair and help them to have a breath of fresh air at indoor moving or to outdoor.
2, psychology is accompanied and attended to
(1) speech exchange.By communication, the elderly can be made to experience comfort, alleviate lonely, the mental symptoms such as anxiety.
(2) video image exchanges.This further promotes on the basis of communication, exchanged, can link up at any time by picture, recognizes the information that voice cannot provide.
(3) limbs exchange.By the action of shaking hands, waving, embracing etc., carry out the contact in sense of touch.
3, nonreciprocal operation
(1) personnel positioning.When old man runs into emergency case within the family time, in time old man is positioned, the position of old man can be determined rapidly, implement corresponding measure.
(2) health status on-line monitoring.Real-Time Monitoring is carried out, on-line monitoring to the health of the elderly, once the health of the elderly has problem, can remind timely.
(3) indoor air chemical pollution.The elderly is stricter than young man to environmental requirement, by the monitoring to aspects such as room temperature humidity, when environment changes, can regulate.
Summary of the invention
For this reason, the present invention proposes a kind of new service of the household based on mobile Internet humanoid robot system at least partially that can solve the problem.
Of the present inventionly provide a kind of household based on mobile Internet service humanoid robot system, comprising: operating means, be configured for and send control information to robot and complete robot motion's feedback of status; Cloud Server, is configured for transmission between operating means and robot and storing information; And robot, be configured for household task.
Alternatively, according to the service of the household based on mobile Internet humanoid robot system of the present invention, wherein, described operating means comprises: motion capture device, is configured for and obtains operator's limb action language; And control command interactive device, be configured for generation control information.
Alternatively, according to the service of the household based on mobile Internet humanoid robot system of the present invention, wherein, described Cloud Server comprises: information transmission and storage device, for transmission, stores and retrieval bidirectional information; Intelligent globe control device, for carrying out Based Intelligent Control distribution and real time coordination to robot and the human world; And operational order expert device, for generating the operational order sequence that matches with controlled robot in real time and to described robot sending controling instruction.
Alternatively, according to the household based on mobile Internet of the present invention service humanoid robot system, wherein, described motion-captured comprise grand movement catch and stereoscopic vision motion-captured.
Alternatively, according to the service of the household based on mobile Internet humanoid robot system of the present invention, wherein, described grand movement catches and comprises: by video acquisition to determine the spatial coordinate location of human body; The movement angle in each joint of human body is calculated by spatial coordinate location; And the information of the movement angle in the coupling each joint of human body also sends to robot.
Alternatively, according to the service of the household based on mobile Internet humanoid robot system of the present invention, wherein, described stereoscopic vision is motion-captured to be comprised: utilize fine manipulation binocular vision system to obtain human body characteristic information; Analyst's body region characteristic information also builds human synovial figure information; And human synovial figure information is sent to robot.
Alternatively, according to the household based on mobile Internet of the present invention service humanoid robot system, wherein, described robot comprises and follows mutual robot, minitype biped anthropomorphic robot and small dual-arm Mobile working machine people.
Household based on mobile Internet of the present invention service humanoid robot system is fulfiled assignment by control and accompany and attend to object interaction or control, for being provided the effect of accompanying and attending to family members height telepresenc by object of accompanying and attending to, solve and object of accompanying and attending to effectively accompanied and attended in real time and the problem such as psychological needs meeting object of accompanying and attending to.
Accompanying drawing explanation
By reading hereafter detailed description of the preferred embodiment, various other advantage and benefit will become cheer and bright for those of ordinary skill in the art.Accompanying drawing only for illustrating the object of preferred embodiment, and does not think limitation of the present invention.And in whole accompanying drawing, represent identical parts by identical reference symbol.Wherein in the accompanying drawings, the multiple identical parts of alphabetic flag instruction after reference number, when making a general reference these parts, by its last alphabetic flag of omission.In the accompanying drawings:
Fig. 1 is the structural representation of the household based on mobile Internet of the present invention service humanoid robot system;
Fig. 2 is the flow chart that grand movement catches;
Fig. 3 is the motion-captured flow chart of stereoscopic vision;
Fig. 4 is the layout drawing of experimental field in the present invention;
Fig. 5 is robot right arm operation pulse diagram;
Fig. 6 is robot left arm operation pulse diagram; And
Fig. 7 is the block diagram showing the computing equipment that can be used to put into practice embodiments of the present invention.
In the accompanying drawings, use same or similar label to refer to same or similar element.
Detailed description of the invention
Illustrative embodiments of the present invention is described in detail referring now to accompanying drawing.The embodiment that to should be appreciated that shown in accompanying drawing and describe is only exemplary, is intended to explain principle of the present invention and spirit, and not limits the scope of the invention.
Fig. 1 shows the structural representation of the household based on mobile Internet of the present invention service humanoid robot system.As shown in Figure 1, the described service of the household based on mobile Internet humanoid robot system comprises operating means 10, Cloud Server 20 and robot 30, wherein, described operating means 10 is for sending control information to robot 30 and completing robot 30 motion state feedback, described Cloud Server 20 for transmitting and storing information between described operating means 10 and described robot 30, described robot 30 receives described operating means 10 and transmits by described Cloud Server 20 the control information of coming, and make relevant instruction by control information, and feedack is sent to described operating means 10 by described Cloud Server 20.
In household based on mobile Internet service humanoid robot system of the present invention, described operating means 10 comprises motion capture device 11 and control command interactive device 12.Operating means 10 can show the environmental information from robot 30 operation field in real time, makes operator on the spot in person, and operator according to field conditions and operation intention, and uses described control command interactive device 12 to send control command to robot.As shown in Figure 1, described operating means 10 comprises motion capture device 11 and control command interactive device 12, wherein, described motion capture device 11 is in acquisition operator limb action language, described control command interactive device 12 is for generating control information, described motion capture device 11 is connected with described control command interactive device 12, operator's limb action language message of acquisition is sent to described control command interactive device 12 by described motion capture device 11, and described control command interactive device 12 generates control information according to its information.
In household based on mobile Internet service humanoid robot system of the present invention, described Cloud Server 20 comprises information transmission and storage device 21, intelligent globe control device 22 and operational order expert device 23.As shown in Figure 1, described Cloud Server 20 comprises information transmission and storage device 21, intelligent globe control device 22 and operational order expert device 23, wherein, described information transmission and storage device 21 are for transmitting, store and retrieving bidirectional information, described bidirectional information is the information mutually transmitted between described operating means 10 and described robot 30, described information transmission and storage device 21 can not only complete data and transmit, and can also carry out storage and retrieval to the pattern of described robot 30.
Described intelligent globe control device 22 is applicable to multi-mode and controls and be that the household of multi-configuration is accompanied and attended to robot system, in order to avoid the conflict of control information, confusion and injury are accompanied and attended to sending of object command, described intelligent globe control device 22 can realize distributing and real time coordination mechanism the Based Intelligent Control of robot-people.
Described operational order expert device 23 is for generating the operational order sequence that matches with controlled robot 30 in real time and to described robot 30 sending controling instruction, to complete the tasks such as the coupling of compound action, thus alleviating the complexity of operation.
In household based on mobile Internet of the present invention service humanoid robot system, described motion-captured comprise grand movement catch and stereoscopic vision motion-captured.Large-scale motion is had for the motion caught, also stereoscopic vision is had to move, grand movement is such as walked to go forward to embrace the people that accompanies and attends to, what wherein relate to is the joint motions of both legs and both hands, the hand motion that stereoscopic vision motion is such as trickle, as the finger-joint action of switch gate or switch lamp, human bioequivalence be based upon depth image basis on.
In household based on mobile Internet service humanoid robot system of the present invention, as shown in Figure 2, described grand movement catches and comprises: by video acquisition to determine the spatial coordinate location S102 of human body; The movement angle S104 in each joint of human body is calculated by spatial coordinate location; And the information of the movement angle in the coupling each joint of human body also sends to robot S106.The operation principle that shown grand movement catches is by completing motion-captured task to the Monitor and track of luminous point specific on human body.Describe grand movement below by specific embodiment to catch, in step s 102,16 thermal cameras are used to carry out the spatial coordinate location of 40 coordinate points on determination operation person's health, wherein, for each coordinate points, as long as it can simultaneously by two video camera findings, then according to image and the camera parameter of same two shot by camera in a flash, namely the locus of this point of this moment can be determined, when video camera is taken continuously with sufficiently high speed, from image sequence, just can obtain the movement locus of this coordinate points; In step S104, the movement angle in human body 34 joints can be calculated according to the spatial coordinate location of these 40 coordinate points; In step s 106, through mating the information of the movement angle in each joint of human body and sending to robot.Although it is to be appreciated that described above is the method for concrete grand movement, the present invention is not limited to someway concrete.
In household based on mobile Internet service humanoid robot system of the present invention, as shown in Figure 3, described stereoscopic vision is motion-captured to be comprised: utilize fine manipulation binocular vision system to obtain human body characteristic information S202; Analyst's body region characteristic information also builds human synovial figure information S204; And human synovial figure information is sent to robot S206.Described fine manipulation binocular vision system generally adopts Kinect, and described Kinect is a kind of 3D body sense video camera, and it has imported the functions such as instant motion capture, image identification, microphone input, speech recognition, community interactive simultaneously.Be colour imagery shot in the middle of described Kinect, be used for obtaining colour information; Left side is infrared projection machine, and right side is thermal camera.In step S202, Kinect to human bioequivalence be based upon depth image basis on, Kinect carries out Pixel-level assessment to depth image, first sees profile clearly and sees details again.Kinect recognizes seen human body characteristic information with the eye of Pixel-level, uses advanced algorithm parallel processing technique, the final human body characteristic information obtaining refinement.In step S204, the free degree that human synovial is corresponding is drawn by analyst's body region characteristic information, then human synovial figure is built, such as arm is human body part more flexibly, and it has wrist, elbow and shoulder three artis, and wrist can freely overturn, elbow can free bend, shoulder can up and down or move left and right, and analyzes the motion process drawing wrist, elbow and shoulder, thus constructs the joint figure at these positions.In step S206, the information of human synovial figure is sent to robot, corresponding action is made according to these information by robot.
In household based on mobile Internet of the present invention service humanoid robot system, described robot 30 comprises and follows mutual robot, minitype biped anthropomorphic robot and small dual-arm Mobile working machine people.Describedly follow mutual robot and adopt Omnibearing wheel type to move, any direction that can realize zero radius of turn moves, and major function is accompanied and attended to the real-time tracking of old man, and will accompany and attend to object and indoor information feed back are to operator; Described minitype biped anthropomorphic robot has 25 frees degree, flexible movements, and it is provided with inertial navigation instrument apparatus, very steady when mobile, and can determine the position of oneself at any time, and ultrasonic sensor can be leaned on to detect and cut-through thing; The left and right both arms of described small dual-arm Mobile working machine people upper limbs respectively have three degree of freedom, chassis has four frees degree, can Real-time Feedback around it and the various situations of operating environment, enabling can also be completed, close the door, turn on light, turn off the light, in emergency circumstances transmit medicine, help switch elevator etc.
Applicant has carried out systematic research and demonstration to the effect of the inventive method and feasibility.
In order to verification system validity, the present invention selects and designed has carried out demonstration test based on mobile Internet small dual-arm Mobile working machine people remote control system.The experiment of open and close lamp is carried out by operator's Long-distance Control moving wheeled type both arms Work robot.Test the actions such as the robot that selects can realize advancing, retreats, turns, arm is brandished.
Experiment selects operand to be conventional switch, the plate of 150*270cm regulation is installed one high be the switch of 30cm, the electricity-saving lamp of control 30w.
Telepresenc system is arranged in robotic end, adopt the DS-2CC11A7P-A camera that Haikang prestige is looked, totally two, for the video of Real-time Collection associated machine people, as shown in Figure 4, during experiment, robot distance operative goals 2.5m lays respectively at the two ends in corridor to its method for arranging.
Above operation field is arranged in laboratory building 5 layers of corridor, and operating means is arranged in laboratory building 1 layer.Operating means uses fine manipulation binocular vision system to carry out somatic data collection.The Kinect1.0 type stereoscopic vision motion capture system that the binocular vision system that in experimentation, operator uses is Microsoft.Use WiFi that operating means is connected to Cloud Server.
Cloud Server is arranged in the public server that IP address is 182.92.233.31.At the remote operating software systems server end of this server disposition independent development.
This experiment is divided into following process:
Step one: starting stage.Prepared to start by operating means control, Proximity operation target, when human body left arm lifts and keeps level, robot left arm also reaches same attitude, prepares to move to operative goals.Now operator's action required device (comprising motion capture device and control command interactive device), robot, cloud service has started complete all, and it is normal that robot arm action display receives operating means order, and warming-up exercise.
Step 2: mobile phase.Operating means control, close to operative goals, is the lamp switch opened in this experiment.In operation, operator upwards lifts left arm, and this action is considered as control and advances by operating means.When human body left arm is up lifted by poised state, operating means sends information to robot, and robot setting in motion, close to operative goals, mobile maximal rate is not more than 0.05m/s.
Step 3: pose adjustment stage.Robot linear running is close to after target, need to adjust attitude, to carry out the operation of switch lamp, operating means receives operator and uses leg action to change moving direction with driven machine people, such as, fine manipulation binocular vision system in operating means captures the right crus of diaphragm of operator with standing on tiptoe, be transferred to robot by server, robot makes the action of right-hand rotation, and revolute's speed is not higher than 180 °/s in this experiment.
Step 4: sessions.Robot is reaching operative goals address, and start to enter sessions, now operator uses right arm, and control right arm carries out turning off the light action.In this experiment, the action of turning off the light comes from arm and presses down, and to complete transferring of switch, in this process, the operation amplitude of arm needs to control within 1cm, and therefore, operation intensity is larger.
Table 1 represents that robot is in operation process, the different phase robot distance distance of operative goals, the speed of travel and time.
Table 1-robot turns off the light operation
| Step | Distance (m) | Speed (m/s) | Time (s) |
| Start | 2.5 | 0 | 0 |
| Close | 1.0 | 0.05 | 29 |
| Adjustment | 0.6 | 0.03 | 40 |
| Operation | 0.2 | 0 | 100 |
Fig. 5 and Fig. 6 respectively illustrates robot, and in mobile operating process, right arm and left arm are in not impulse magnitude in the same time, and black represents shoulder, and grey represents upper arm, and white represents ancon.
In Fig. 5 and Fig. 6, the motor pulses number of each 3 frees degree of left arm and right arm, embodies the implementation status of the job task in operation, wherein, can see that the movement tendency of multiaxis is basically identical.Under normality work, within motor pulses number is operated in 40% of maximum.
From experimental result, when robot starts to move to operative goals, the left arm robot that will raise up starts mobile, and the speed of robot is not more than 0.05m/s.
Conclusion: control REMOTE MACHINE people by utilizing the motion-captured acquisition body motion information of stereoscopic vision and to turn off the light experiment, demonstrate the feasibility of native system remote control robot operation.
Fig. 7 shows the structured flowchart of the example calculation equipment that can be used for putting into practice embodiment of the present invention.Be appreciated that client, agency and/or the server recorded in present disclosure can utilize the computing equipment shown in Fig. 7 to realize.As shown in Figure 7, computing equipment can comprise: CPU (CPU) 401, RAM (random access memory) 402, ROM (read-only storage) 403, system bus 404, hard disk controller 405, KBC 406, serial interface controller 407, parallel interface controller 408, display controller 409, hard disk 410, keyboard 411, serial peripheral equipment 412, concurrent peripheral equipment 413 and display 414.In these parts, what be coupled with system bus 404 has CPU401, RAM402, ROM403, hard disk controller 405, KBC 406, serial interface controller 407, parallel interface controller 408 and display controller 409.Hard disk 410 is coupled with hard disk controller 405, keyboard 411 is coupled with KBC 406, serial peripheral equipment 412 is coupled with serial interface controller 407, and concurrent peripheral equipment 413 is coupled with parallel interface controller 408, and display 414 is coupled with display controller 409.
Household based on mobile Internet of the present invention service humanoid robot system is fulfiled assignment by control and accompany and attend to object interaction or control, for being provided the effect of accompanying and attending to family members height telepresenc by object of accompanying and attending to, solve and object of accompanying and attending to effectively accompanied and attended in real time and the problem such as psychological needs meeting object of accompanying and attending to.
Some embodiments of the present invention are described by way of example above.Above-mentioned different masses, can being performed at least partially of operation and technology, by using hardware, processor performs firmware instructions, the instruction of processor executive software, or and any combination.When adopting the processor performing firmware and software instruction to perform, software or firmware instructions can be stored in the storage of any computer-readable, such as disk, CD or other storage mediums, at RAM or ROM or flash memory, processor, hard disk, CD, disk etc.Similarly, software and firmware instructions can be transferred to user or system, are comprised by transmission means that is known or that expect arbitrarily, such as, at computer readable diskette or other portable computer memory mechanisms or pass through telecommunication media.Telecommunication media typically specifically talks about computer-readable instruction, data structure, program module or other data in modulated message signal such as carrier wave or other transmission mechanisms.By example, and unrestricted, and communication media comprises wire medium such as cable network or single line and connects, and wireless medium, such as sound, wireless frequency, infrared and other wireless medium.Thus, software and firmware instructions can be transferred to user or system, by communication channel, such as telephone wire, DSL line, cable TV line, optical fiber cable, wireless channel, internet, etc. (provide such software by portable storage media, it is counted as identical or interchangeable).Software or firmware instructions can comprise and instructions, and it causes processor to perform different action when being executed by a processor.
It should be noted that embodiments of the present invention can be realized by the combination of software, hardware or software and hardware.Hardware components can utilize special logic to realize; Software section can store in memory, and by suitable instruction execution system, such as microprocessor or special designs hardware perform.Those having ordinary skill in the art will appreciate that above-mentioned method and system and computer executable instructions can be used and/or be included in processor control routine and realize, such as, on the programmable memory of mounting medium, such as read-only storage (firmware) or the data medium of such as optics or electrical signal carrier of such as disk, CD or DVD-ROM, provide such code.The equipment of present embodiment and module thereof can be realized by the hardware circuit of the programmable hardware device of the semiconductor of such as super large-scale integration or gate array, such as logic chip, transistor etc. or such as field programmable gate array, programmable logic device etc., also with the software simulating performed by various types of processor, also can be realized by the combination such as firmware of above-mentioned hardware circuit and software.
The communication network mentioned in description can comprise disparate networks, include but not limited to LAN (" LAN "), wide area network (" WAN "), based on IP agreement network (such as, internet) and ad-hoc network (such as, adhoc peer-to-peer network).
In addition, although describe the operation of the inventive method in the accompanying drawings with particular order, this is not that requirement or hint must perform these operations according to this particular order, or must perform the result that all shown operation could realize expectation.On the contrary, the step described in flow chart can change execution sequence.Additionally or alternatively, some step can be omitted, multiple step is merged into a step, or a step is decomposed into multiple step.Although describe the present invention with reference to some detailed description of the invention, should be appreciated that, the present invention is not limited to disclosed detailed description of the invention.The present invention is intended to contain the interior included various amendment of spirit and scope and the equivalent arrangements of claims.The scope of claims meets the most wide in range explanation, thus comprises all such amendments and equivalent structure and function.
Claims (7)
1., based on a household service humanoid robot system for mobile Internet, comprising:
Operating means (10), is configured for and sends control information to robot (30) and complete robot (30) motion state feedback;
Cloud Server (20), is configured for and transmits and storing information between operating means (10) and robot (30); And
Robot (30), has been configured for household task.
2. the service of the household based on mobile Internet humanoid robot system according to claim 1, wherein, described operating means (10) comprising:
Motion capture device (11), is configured for and obtains limb action language; And
Control command interactive device (12), is configured for generation control information.
3. the service of the household based on mobile Internet humanoid robot system according to claim 1, wherein, described Cloud Server (20) comprising:
Information transmission and storage device (21), for transmission, store and retrieval bidirectional information;
Intelligent globe control device (22), for carrying out Based Intelligent Control distribution and real time coordination to robot and the human world; And
Operational order expert device (23), for generating the operational order sequence that matches with controlled robot (30) in real time and to described robot (30) sending controling instruction.
4. the household based on mobile Internet according to claim 2 service humanoid robot system, wherein, described motion-captured comprise grand movement catch and stereoscopic vision motion-captured.
5. the service of the household based on mobile Internet humanoid robot system according to claim 4, wherein, described grand movement catches and comprises:
By video acquisition to determine the spatial coordinate location (S102) of human body;
The movement angle (S104) in each joint of human body is calculated by spatial coordinate location; And
The information of the movement angle in the coupling each joint of human body also sends to robot (S106).
6. the service of the household based on mobile Internet humanoid robot system according to claim 4, wherein, described stereoscopic vision is motion-captured to be comprised:
Fine manipulation binocular vision system is utilized to obtain human body characteristic information (S202);
Analyst's body region characteristic information also builds human synovial figure information (S204); And
Human synovial figure information is sent to robot (S206).
7. the household based on mobile Internet according to claim 1 service humanoid robot system, wherein, described robot (30) comprises and follows mutual robot, minitype biped anthropomorphic robot and small dual-arm Mobile working machine people.
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| CN109531565A (en) * | 2018-08-27 | 2019-03-29 | 苏州博众机器人有限公司 | A kind of control method of mechanical arm, device, service robot and storage medium |
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