CN112959320A - Method and device for controlling automatic writing of manipulator, manipulator and system - Google Patents
Method and device for controlling automatic writing of manipulator, manipulator and system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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
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Abstract
The invention discloses a method, a device, a manipulator and a system for controlling the manipulator to automatically write, wherein the method comprises the following steps: when the situation that the manipulator needs to be controlled to write is detected, acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written; and calculating the motion tracks corresponding to every two adjacent path points of the stroke order, and controlling the mechanical arm to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain characters corresponding to the stroke order. Therefore, after the manipulator is detected to be controlled to write, the motion tracks corresponding to every two adjacent path points of the obtained writing order of the characters are automatically calculated, and then the manipulator is controlled to write according to the motion tracks corresponding to every two adjacent path points, so that the writing accuracy and efficiency of the manipulator can be improved, and the writing intelligence of the manipulator is improved; and the writing instantaneity and convenience of the manipulator can be improved by automatically planning the motion path corresponding to the stroke order of the characters.
Description
Technical Field
The invention relates to the technical field of manipulator control, in particular to a method, a device, a manipulator and a system for controlling the manipulator to automatically write.
Background
With the rapid progress of science and technology and the rapid development of society, the application of manipulators is more and more extensive, for example: aerospace, medical treatment, industrial production and the like. And with the gradual maturity of artificial intelligence technology, the manipulator is gradually applied to writing.
In practical application, although the existing manipulator can write, the existing manipulator adopts a simple teaching mode or a mode of inputting specific characters in advance to write, namely the manipulator collects writing gestures of people and simulates the writing gestures of people to simply write, or the manipulator writes according to the stroke order of the characters input in advance. However, it has been found in practice that neither the teaching mode nor the text-ahead mode can accurately write, particularly for complicated text.
Disclosure of Invention
The invention provides a method, a device, a manipulator and a system for controlling the automatic writing of the manipulator, which can improve the writing accuracy and efficiency of the manipulator.
The first aspect of the embodiment of the invention discloses a method for controlling a manipulator to automatically write, which comprises the following steps:
when the situation that the manipulator needs to be controlled to write is detected, acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written;
and calculating the motion tracks corresponding to every two adjacent path points of the stroke order, and controlling the mechanical arm to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain the characters corresponding to the stroke order.
As an optional implementation manner, in the first aspect of this embodiment of the present invention, the method further includes:
judging whether path points which do not meet the motion condition of the manipulator exist in all the path points, and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order when judging that the path points which do not meet the motion condition of the manipulator do not exist;
and when judging that the path points which do not meet the motion conditions of the manipulator exist, deleting the path points which do not meet the motion conditions of the manipulator from all the path points, and triggering and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the determining whether there is a path point that does not satisfy the motion condition of the manipulator among all the path points includes:
determining the position of each path point in the space, and judging whether path points with the positions not in the corresponding measuring range of the manipulator exist in all the path points according to the positions of all the path points in the space;
and when judging that path points of which the positions are not in the range corresponding to the manipulator exist in all the path points, determining that the path points which do not meet the motion condition of the manipulator exist in all the path points, and the path points which do not meet the motion condition of the manipulator include the path points which are not in the range corresponding to the manipulator.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the calculating a motion trajectory corresponding to each two adjacent path points of the stroke order includes:
and solving vector information corresponding to every two adjacent path points of the stroke order, wherein the vector information corresponding to every two adjacent path points comprises position vectors corresponding to every two adjacent path points, and generating a motion track corresponding to every two adjacent path points of the stroke order according to the position vectors corresponding to every two adjacent path points.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, before the calculating the motion trajectory corresponding to each two adjacent path points of the stroke order, the method further includes:
judging whether the number of the motion paths corresponding to every two adjacent path points is greater than 1, and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order when the judged number is equal to 1;
when the number is larger than 1, selecting a target motion path matched with the type of the stroke order for each two adjacent path points from all motion paths corresponding to each two adjacent path points according to the type of the stroke order, wherein the target motion path is one of the shortest path for motion or the most gentle path for motion;
wherein, the calculating the motion trail corresponding to each two adjacent path points of the stroke order comprises:
and calculating the motion track corresponding to each two adjacent path points of the stroke order according to the target motion path corresponding to each two adjacent path points.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the acquiring a plurality of path points corresponding to a stroke order of a character to be written includes:
acquiring a stroke order of characters, and generating a motion path corresponding to the stroke order of the characters;
and decomposing the motion path corresponding to the stroke order of the character to obtain a plurality of path points corresponding to the stroke order of the character.
The second aspect of the embodiments of the present invention discloses a device for controlling a manipulator to automatically write, where the device includes:
the acquisition module is used for acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written when the situation that the manipulator needs to be controlled to write is detected;
the calculation module is used for calculating the motion tracks corresponding to every two adjacent path points of the stroke order;
and the control module is used for controlling the mechanical arm to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain characters corresponding to the stroke order.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the apparatus further includes:
the first judging module is used for judging whether path points which do not meet the motion condition of the manipulator exist in all the path points or not, and when judging that the path points which do not meet the motion condition of the manipulator do not exist, triggering the calculating module to execute the operation of calculating the motion track corresponding to every two adjacent path points of the stroke order;
and the eliminating module is used for deleting the path points which do not meet the motion condition of the manipulator from all the path points and triggering the calculating module to execute the operation of calculating the motion track corresponding to each two adjacent path points of the stroke order when the first judging module judges that the path points which do not meet the motion condition of the manipulator exist.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the manner that the first determining module determines whether there is a path point that does not satisfy the motion condition of the manipulator, among all the path points, is specifically:
determining the position of each path point in the space, and judging whether path points with the positions not in the corresponding measuring range of the manipulator exist in all the path points according to the positions of all the path points in the space;
and when judging that path points of which the positions are not in the range corresponding to the manipulator exist in all the path points, determining that the path points which do not meet the motion condition of the manipulator exist in all the path points, and the path points which do not meet the motion condition of the manipulator include the path points which are not in the range corresponding to the manipulator.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, a manner of calculating, by the calculation module, motion trajectories corresponding to every two adjacent path points of the stroke order is specifically:
and solving vector information corresponding to every two adjacent path points of the stroke order, wherein the vector information corresponding to every two adjacent path points comprises position vectors corresponding to every two adjacent path points, and generating a motion track corresponding to every two adjacent path points of the stroke order according to the position vectors corresponding to every two adjacent path points.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the apparatus further includes:
a second judging module, configured to judge whether the number of motion paths corresponding to every two adjacent path points of the stroke order is greater than 1 before the calculating module calculates the motion trajectories corresponding to every two adjacent path points of the stroke order, and when the number of motion paths corresponding to every two adjacent path points of the stroke order is equal to 1, trigger the calculating module to perform the operation of calculating the motion trajectories corresponding to every two adjacent path points of the stroke order;
a selecting module, configured to select, when the second determining module determines that the number is greater than 1, a target motion path matched with the type of the stroke order for each two adjacent path points from all motion paths corresponding to each two adjacent path points according to the type of the stroke order, where the target motion path is one of a shortest path for motion or a most gentle path for motion;
the mode of the calculation module calculating the motion trajectories corresponding to every two adjacent path points of the stroke order specifically is as follows:
and calculating the motion track corresponding to each two adjacent path points of the stroke order according to the target motion path corresponding to each two adjacent path points.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, a manner of acquiring, by the acquiring module, a plurality of path points corresponding to a stroke order of a character to be written is specifically:
acquiring a stroke order of characters, and generating a motion path corresponding to the stroke order of the characters;
and decomposing the motion path corresponding to the stroke order of the character to obtain a plurality of path points corresponding to the stroke order of the character.
In a third aspect of the present invention, there is disclosed another apparatus for controlling automatic writing by a robot, the apparatus comprising:
a storage storing executable program code;
a processor coupled to the depository;
the processor calls the executable program code stored in the storage device to execute the method for controlling the automatic writing of the manipulator disclosed by the first aspect of the invention.
The fourth aspect of the invention discloses a computer storage medium, wherein the computer storage medium stores computer instructions, and when the computer instructions are called, the computer instructions are used for executing the method for controlling the automatic writing of the manipulator disclosed by the first aspect of the invention.
A fifth aspect of the present invention discloses a manipulator control system for executing the method for controlling automatic writing of a manipulator disclosed in the first aspect of the present invention.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method, a device, a manipulator and a system for controlling the manipulator to automatically write, wherein the method comprises the following steps: when the situation that the manipulator needs to be controlled to write is detected, acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written; and calculating the motion tracks corresponding to every two adjacent path points of the stroke order, and controlling the mechanical arm to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain characters corresponding to the stroke order. Therefore, after the manipulator is detected to be controlled to write, the motion tracks corresponding to every two adjacent path points of the obtained writing order of the characters are automatically calculated, and then the manipulator is controlled to write according to the motion tracks corresponding to every two adjacent path points, so that the writing accuracy and efficiency of the manipulator can be improved, and the writing intelligence of the manipulator is improved; and the writing instantaneity and convenience of the manipulator can be improved by automatically planning the motion path corresponding to the stroke order of the characters.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating a method for controlling a manipulator to automatically write according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another method for controlling the robot to automatically write according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus for controlling a manipulator to automatically write according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of another apparatus for controlling automatic writing by a manipulator according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of another apparatus for controlling automatic writing of a manipulator according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a manipulator control system according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a manipulator disclosed in the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or apparatus that comprises a list of steps or elements is not limited to those listed but may alternatively include other steps or elements not listed or inherent to such process, method, product, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The invention discloses a method, a device, a manipulator and a system for controlling the manipulator to write automatically, which can automatically calculate the corresponding motion trail of every two adjacent path points of the obtained stroke order of characters after detecting that the manipulator needs to be controlled to write, and then control the manipulator to write according to the corresponding motion trail of every two adjacent path points, thereby improving the writing accuracy and efficiency of the manipulator and improving the writing intelligence of the manipulator; and the writing instantaneity and convenience of the manipulator can be improved by automatically planning the motion path corresponding to the stroke order of the characters. The following are detailed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flowchart illustrating a method for controlling a manipulator to automatically write according to an embodiment of the present invention. The method for controlling the automatic writing of the manipulator described in fig. 1 may be applied to a device for controlling the automatic writing of the manipulator, where the device for controlling the automatic writing of the manipulator includes a manipulator control system (a manipulator control device or a manipulator control server, where the manipulator control server includes a local server or a cloud server) or a manipulator. The manipulator control system may be in communication connection with a user terminal having a writing function, where the user terminal includes a terminal such as a smart phone (e.g., an Android phone, an iOS phone), a smart phone watch, a tablet computer, a palmtop computer, a vehicle-mounted computer, a desktop computer, a netbook, a Personal Digital Assistant (PDA), an intelligent navigator, and a Mobile Internet Device (MID). As shown in fig. 1, the method for controlling the manipulator to automatically write may include the following operations:
101. and when the situation that the manipulator needs to be controlled to write is detected, acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written.
In the embodiment of the invention, the number of the orders of the characters is more than or equal to 1. Optionally, the characters include one or more combinations of characters of chinese, korean, japanese, and english, and further, the characters may also include one or more combinations of characters, numbers, and graphic characters.
In the embodiment of the present invention, optionally, obtaining a plurality of path points corresponding to the stroke order of the text to be written includes:
acquiring the stroke order of the characters, and generating a motion path corresponding to the stroke order of the characters;
and decomposing the motion path corresponding to the stroke order of the characters to obtain a plurality of path points corresponding to the stroke order of the characters.
Therefore, the embodiment of the invention can generate the path points of the stroke order by decomposing the motion path corresponding to the stroke order of the characters, and improves the generation accuracy and efficiency of the path points of the stroke order.
In this optional implementation manner, optionally, the obtaining of the stroke order of the text includes:
acquiring the characters in the determined character database based on the determined stroke order acquisition method to obtain the stroke order of the characters, wherein the character database is used for storing the characters and the stroke order of the characters; or the like, or, alternatively,
acquiring a writing track of a person on a visual page of a writing board based on a sensor arranged on the writing board, and analyzing the writing track to obtain a stroke order of characters corresponding to the writing track; or the like, or, alternatively,
acquiring a gesture track made by a person, and analyzing the gesture track to obtain a stroke order of characters corresponding to the gesture track;
wherein, gather the gesture orbit that personnel made, include:
acquiring a gesture track made by a person in an identification range of the image acquisition device based on the determined image acquisition device; alternatively, the first and second electrodes may be,
acquiring a gesture track of a person holding the writing device for writing through the writing device (such as a writing pen with a communication function) with which communication is established in advance;
the gesture track obtained by the action of a person grasping the manipulator is sensed through a sensor on the manipulator.
In this optional embodiment, the determined order of strokes acquisition method includes a method based on a crawler technology. And the character database comprises characters with different font types, and the number of the characters with each font type is more than or equal to 1. The font type comprises one or more of a Song style type, a black body type, a regular script type, a Chinese regular script type and the like.
In this alternative embodiment, the tablet/image capture device/writing instrument is communicatively connected to the device that controls the robot arm to write automatically, and reports the captured trajectory to the device that controls the robot arm to write automatically.
Therefore, in the optional implementation mode, through a method of crawling the character database, or through analysis of a track written on the writing board, or through analysis of an acquired gesture track automatically planned by a user, the order of strokes of the characters can be acquired, the acquisition mode of the order of strokes is enriched, the writing instantaneity and convenience of the manipulator are improved, and the intelligent function of the manipulator control system is enriched.
In this optional implementation manner, further optionally, decomposing the motion path corresponding to the stroke order of the text to obtain a plurality of path points corresponding to the stroke order of the text, includes:
extracting a central line of the stroke order of the characters according to the motion path corresponding to the stroke order of the characters, and determining information of the stroke order of the characters, wherein the information of the stroke order comprises the type of the stroke order and/or the curvature corresponding to the stroke order;
determining point taking information corresponding to the central line of the stroke order according to the information of the stroke order, wherein the point taking information corresponding to the central line of the stroke order comprises the point taking quantity and/or the point taking interval length corresponding to the central line of the stroke order;
and executing point taking operation on the central line of the stroke order according to the point taking information corresponding to the central line of the stroke order, and determining all points taken on the central line of the stroke order as a plurality of path points corresponding to the stroke order.
In this alternative embodiment, the types of orders of writing optionally include dots "", horizontal "" vertical "" left falling "" into a horizontal stroke
Lifting device
Folding device
The greater the curvature of the stroke order, the greater the number of points taken and/or the shorter the interval between points taken for the corresponding centerline.
In this optional embodiment, before extracting the centerline of each stroke order of the text according to the vector information of the text, the method may further include: performing binarization operation on all stroke orders of the characters based on the determined binarization mode (such as a global threshold value binarization mode) to obtain a binarized stroke order;
wherein, the central line of the order of strokes of characters is extracted according to the motion path that the order of strokes of characters corresponds, includes:
and extracting the central line of the stroke order of the binarized character according to the motion path corresponding to the stroke order of the character based on the determined thinning algorithm (such as Rosenfeld).
Therefore, in the optional embodiment, the number of points taken and/or the interval length of the points taken of the center line of the stroke order of the characters are determined according to the type and/or the curvature of the stroke order of the characters, and the point taking operation is performed on the center line of the stroke order based on the number of the points taken and/or the interval length of the points taken, so that the path points corresponding to the stroke order can be obtained, and the determination efficiency and the accuracy of the path points corresponding to the stroke order are improved; and before the central line of the stroke order is extracted, the stroke order is binarized, so that the recognition efficiency of the stroke order can be improved, and the extraction accuracy and efficiency of the central line of the stroke order can be improved.
102. And calculating the motion track corresponding to each two adjacent path points of the stroke order.
In this embodiment of the present invention, optionally, calculating the motion trajectory corresponding to each two adjacent path points of the stroke order includes:
and solving vector information corresponding to every two adjacent path points of the stroke order, wherein the vector information corresponding to every two adjacent path points comprises position vectors corresponding to every two adjacent path points, and generating motion tracks corresponding to every two adjacent path points of the stroke order according to the position vectors corresponding to every two adjacent path points.
Therefore, the embodiment of the invention can generate the motion trail corresponding to the path point by solving the position vector and the attitude vector of the path point of the stroke order of the characters, thereby improving the generation accuracy and the reliability of the motion trail.
In this optional implementation manner, optionally, solving the position vector corresponding to each two adjacent path points of the stroke order includes:
determining motion paths corresponding to every two adjacent path points of the stroke order, and analyzing the types of the motion paths corresponding to every two adjacent path points, wherein the types of the motion paths corresponding to every two adjacent path points comprise a linear type or a non-linear type, and when the types of the motion paths corresponding to every two adjacent path points are linear types, a target point corresponding to every two adjacent path points is a certain point on the motion path corresponding to every two adjacent path points; when the type of the motion path corresponding to each two adjacent path points is a non-linear type, the target point corresponding to each two adjacent path points is a middle point corresponding to each two adjacent path points;
and determining target points corresponding to every two adjacent path points according to the types of the motion paths corresponding to every two adjacent path points, and solving the angle value of each joint of the manipulator on the target point corresponding to every two adjacent path points based on the determined kinematics to obtain the position vector of the manipulator on the target point corresponding to every two adjacent path points, wherein the position vector is used as the position vector corresponding to every two adjacent path points of the stroke order.
In this optional embodiment, the vector information corresponding to each two adjacent path points further includes a pose vector corresponding to each two adjacent path points. And optionally, generating a posture vector corresponding to each two adjacent path points of the manipulator based on the determined posture algorithm. The determined attitude algorithm comprises one of an angular coordinate system representation method, an equivalent axis coordinate system representation method and a four-element representation method (such as a four-element spherical difference algorithm), and the four-element representation method is preferably selected, so that the smoother and accurate motion track can be obtained.
In this optional embodiment, a robot having a number of joints of 4 or more and a number of preferential joints of 6 is optional.
It can be seen that the position vectors of the target points corresponding to every two adjacent path points of the orders of the pens are solved by determining different methods according to the different types of the motion paths corresponding to every two adjacent path points of the orders of the pens, the solving efficiency and accuracy of the position vectors of the target points corresponding to every two adjacent path points of the orders of the pens can be improved, and further the vector information corresponding to every two adjacent path points is solved to include the attitude vectors corresponding to every two adjacent path points, so that the generation accuracy and efficiency of the motion trail of the manipulator can be further improved, the control flexibility of the manipulator can be improved, and the accuracy and efficiency of controlling the writing of the manipulator can be further improved.
103. And controlling the manipulator to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain characters corresponding to the stroke order.
Therefore, by implementing the method for controlling the automatic writing of the manipulator described in fig. 1, after it is detected that the manipulator needs to be controlled to write, the motion trajectories corresponding to every two adjacent path points of the stroke order of the obtained characters are automatically calculated, and then the manipulator is controlled to write according to the motion trajectories corresponding to every two adjacent path points, so that the writing accuracy and efficiency of the manipulator can be improved, and the writing intelligence of the manipulator is improved; and the writing instantaneity and convenience of the manipulator can be improved by automatically planning the motion path corresponding to the stroke order of the characters.
In an alternative embodiment, the method for controlling the automatic writing of the manipulator may include the following operations:
judging whether path points which do not meet the motion condition of the manipulator exist in all the path points, and executing the operation of calculating the motion track corresponding to every two adjacent path points of the stroke order when judging that the path points which do not meet the motion condition of the manipulator do not exist;
and when judging that the path points which do not meet the motion conditions of the manipulator exist, deleting the path points which do not meet the motion conditions of the manipulator from all the path points, and triggering and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order.
Therefore, after the stroke order of the characters is obtained, the optional embodiment further judges whether path points which do not meet the motion condition of the manipulator exist in the path points of the stroke order of the characters, if the path points do not meet the motion condition of the manipulator, the motion track corresponding to the path points is directly calculated, if the path points do not meet the motion condition, the path points which do not meet the condition are removed, and then the motion track is calculated, so that the occurrence situation that the motion track with low accuracy is calculated due to the fact that the motion track is still calculated due to the existence of the path points which do not meet the motion condition of the manipulator can be reduced, and the accuracy and reliability of writing of the manipulator.
In this optional embodiment, optionally, the determining whether there is a path point that does not satisfy the motion condition of the manipulator in all the path points includes:
determining the position of each path point in the space, and judging whether path points with the positions not in the corresponding measuring range of the manipulator exist in all the path points according to the positions of all the path points in the space;
and when judging that the path points of which the positions are not in the range corresponding to the manipulator exist in all the path points, determining that the path points which do not meet the motion condition of the manipulator exist in all the path points, and the path points which do not meet the motion condition of the manipulator include the path points which are not in the range corresponding to the manipulator.
In this optional embodiment, optionally, the range of the measuring range corresponding to the manipulator is a spherical area range which takes the center point of the base of the manipulator as a spherical center and takes the longest extending distance of the manipulator as a radius stroke.
In this optional embodiment, optionally, when it is determined that there is no waypoint whose position is not within the range of the measurement range corresponding to the manipulator among all waypoints, it is determined that there is no waypoint that does not satisfy the motion condition of the manipulator among all waypoints.
In this optional embodiment, optionally, the determining whether there is a path point that does not satisfy the motion condition of the manipulator in all the path points includes:
judging whether path points which collide with the manipulator when the manipulator moves according to the corresponding motion path exist in all the path points according to the motion paths corresponding to all the path points;
and when judging that the path points which can collide with the manipulator when the manipulator moves according to the corresponding motion path exist in all the path points, determining that the path points which do not meet the motion condition of the manipulator exist in all the path points, and the path points which do not meet the motion condition of the manipulator include the path points which can collide with the manipulator when the manipulator moves according to the corresponding motion path.
Therefore, in the optional embodiment, when the position of the path point of the stroke order of the characters is judged not to be in the range corresponding to the manipulator, or when the manipulator collides with the manipulator when the manipulator moves according to the motion path corresponding to the path point, it can be determined that the path point does not satisfy the motion condition of the manipulator, the determination mode that the path point does not satisfy the motion condition of the manipulator is enriched in all the path points of the stroke order of the characters, and the determination efficiency and accuracy of the path point satisfying or not satisfying the motion condition of the manipulator are improved.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating another method for controlling the robot to automatically write according to the embodiment of the present invention. The method for controlling the robot to automatically write described in fig. 2 may be applied to a device for controlling the robot to automatically write, where the device for controlling the robot to automatically write includes a robot control system (a robot control device or a robot control server, where the robot control server includes a local server or a cloud server) or a robot. The manipulator control system may be in communication connection with a user terminal having a writing function, where the user terminal includes a terminal such as a smart phone (e.g., an Android phone, an iOS phone), a smart phone watch, a tablet computer, a palmtop computer, a vehicle-mounted computer, a desktop computer, a netbook, a Personal Digital Assistant (PDA), an intelligent navigator, and a Mobile Internet Device (MID). As shown in fig. 2, the method for controlling the manipulator to automatically write may include the following operations:
201. and when the situation that the manipulator needs to be controlled to write is detected, acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written.
202. Judging whether the number of the motion paths corresponding to each two adjacent path points is greater than 1, and triggering to execute the step 205 when the judged number is equal to 1; when the number is judged to be greater than 1, step 203 may be triggered to be executed;
203. and selecting a target motion path matched with the type of the stroke order for each two adjacent path points from all motion paths corresponding to each two adjacent path points according to the type of the stroke order, wherein the target motion path is one of the shortest path for motion or the most gentle path for motion.
In the embodiment of the invention, in the process of generating the motion path corresponding to each two adjacent path points of the stroke order, the motion duration corresponding to the motion path is generated and the smoothness of the corresponding motion path is recorded. Optionally, the types of stroke orders include dots "" strokes "" horizontal "" vertical "" left falling "" right falling "" left falling "" right
Lifting device
Folding device
"am" with the hookOr (2) to (d). For example: when the type of the order of strokes is horizontal one, selecting a motion path with the shortest motion duration, namely the shortest path for motion; and when the type of the stroke order is a 'threatened' or hooked type, selecting a motion path with the highest smoothness, namely the path with the slowest motion.
204. And calculating the motion track corresponding to each two adjacent path points of the stroke order according to the target motion path corresponding to each two adjacent path points.
205. And calculating the motion track corresponding to each two adjacent path points of the stroke order.
206. And controlling the manipulator to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain characters corresponding to the stroke order.
In the embodiment of the present invention, please refer to the related detailed description of steps 101 to 103 in the first embodiment for the other descriptions of steps 201, 205, and 206, which are not repeated herein.
Therefore, after the plurality of path points corresponding to the stroke order of the characters are obtained, whether the number of the motion paths corresponding to every two adjacent path points of the stroke order is only one is further judged, if yes, the motion trail of the character is directly calculated, if not, the motion path matched with the type of the stroke order is obtained, and then the motion trail is calculated according to the motion path matched with the type of the stroke order, so that the accurate motion path can be obtained, the calculation accuracy and the reliability of the motion trail corresponding to the stroke order of the characters are improved, and the writing accuracy and the writing reliability of the manipulator are further improved.
Therefore, by implementing the method for controlling the automatic writing of the manipulator described in fig. 2, after it is detected that the manipulator needs to be controlled to write, the motion trajectories corresponding to every two adjacent path points of the stroke order of the obtained characters are automatically calculated, and then the manipulator is controlled to write according to the motion trajectories corresponding to every two adjacent path points, so that the writing accuracy and efficiency of the manipulator can be improved, and the writing intelligence of the manipulator is improved; and the writing instantaneity and convenience of the manipulator can be improved by automatically planning the motion path corresponding to the stroke order of the characters. In addition, an accurate motion path can be acquired, so that the calculation accuracy and reliability of the motion track corresponding to the stroke order of the characters are improved, and the writing accuracy and reliability of the manipulator are improved.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of an apparatus for controlling a manipulator to automatically write according to an embodiment of the present invention. The device for controlling the automatic writing of the manipulator described in fig. 3 may be applied to a device for controlling the automatic writing of the manipulator, where the device for controlling the automatic writing of the manipulator includes a manipulator control system (a manipulator control device or a manipulator control server, where the manipulator control server includes a local server or a cloud server) or a manipulator. The manipulator control system may be in communication connection with a user terminal having a writing function, where the user terminal includes a terminal such as a smart phone (e.g., an Android phone, an iOS phone), a smart phone watch, a tablet computer, a palmtop computer, a vehicle-mounted computer, a desktop computer, a netbook, a Personal Digital Assistant (PDA), an intelligent navigator, and a Mobile Internet Device (MID). As shown in fig. 3, the apparatus for controlling robot automatic writing may include: an obtaining module 301, a generating module 302, and a determining module 303, wherein:
the obtaining module 301 is configured to obtain a plurality of path points corresponding to the stroke order of the text to be written when it is detected that the manipulator needs to be controlled to write.
The calculating module 302 is configured to calculate a motion trajectory corresponding to each two adjacent path points of the stroke order.
And the control module 303 is configured to control the manipulator to write the stroke order according to the motion trajectories corresponding to each two adjacent path points, so as to obtain characters corresponding to the stroke order.
It can be seen that, by implementing the device for controlling the automatic writing of the manipulator described in fig. 3, after it is detected that the manipulator needs to be controlled to write, the movement tracks corresponding to every two adjacent path points of the stroke order of the obtained characters are automatically calculated, and then the manipulator is controlled to write according to the movement tracks corresponding to every two adjacent path points, so that the writing accuracy and efficiency of the manipulator can be improved, and the writing intelligence of the manipulator is improved; and the writing instantaneity and convenience of the manipulator can be improved by automatically planning the motion path corresponding to the stroke order of the characters.
In an alternative embodiment, as shown in fig. 4, the apparatus for controlling robot automatic writing may further include a first judging module 304 and a rejecting module 305, wherein:
the first determining module 304 is configured to determine whether there is a path point that does not satisfy the motion condition of the manipulator among all the path points, and when it is determined that there is no path point that does not satisfy the motion condition of the manipulator, trigger the calculating module 302 to perform the above operation of calculating the motion trajectory corresponding to each two adjacent path points of the stroke order.
And a removing module 305, configured to delete, when the first determining module 304 determines that there is a path point that does not satisfy the motion condition of the manipulator, a path point that does not satisfy the motion condition of the manipulator from all path points, and trigger the calculating module 302 to perform the above operation of calculating the motion trajectory corresponding to each two adjacent path points of the stroke order.
It can be seen that, with the implementation of the apparatus described in fig. 4, after the stroke order of the text is obtained, it can be further determined whether there is a path point that does not satisfy the motion condition of the manipulator among the path points of the stroke order of the text, if not, the motion trajectory corresponding to the path point is directly calculated, if there is a path point that does not satisfy the condition, the path point that does not satisfy the condition is removed, and then the motion trajectory is calculated, which can reduce the occurrence of calculating a low-accuracy motion trajectory due to the fact that there is a path point that does not satisfy the motion condition of the manipulator but the motion trajectory is still calculated, thereby improving the accuracy and reliability of writing by the manipulator.
In another alternative embodiment, as shown in fig. 4, the manner for the first determining module 304 to determine whether there is a path point that does not satisfy the motion condition of the manipulator among all the path points is specifically as follows:
determining the position of each path point in the space, and judging whether path points with the positions not in the corresponding measuring range of the manipulator exist in all the path points according to the positions of all the path points in the space;
and when judging that the path points of which the positions are not in the range corresponding to the manipulator exist in all the path points, determining that the path points which do not meet the motion condition of the manipulator exist in all the path points, and the path points which do not meet the motion condition of the manipulator include the path points which are not in the range corresponding to the manipulator.
It can be seen that the apparatus described in fig. 4 can also be implemented to determine that the path point does not satisfy the motion condition of the manipulator by determining that the position of the path point of the stroke order of the characters is not within the range corresponding to the manipulator.
In yet another alternative embodiment, as shown in fig. 4, the manner for the calculating module 302 to calculate the motion trajectory corresponding to each two adjacent path points of the stroke order is specifically as follows:
and solving vector information corresponding to every two adjacent path points of the stroke order, wherein the vector information corresponding to every two adjacent path points comprises position vectors corresponding to every two adjacent path points, and generating motion tracks corresponding to every two adjacent path points of the stroke order according to the position vectors corresponding to every two adjacent path points.
Therefore, by implementing the device described in fig. 4, the position vector and the attitude vector of the path point of the stroke order of the characters can be solved, so that the motion track corresponding to the path point can be generated, and the generation accuracy and reliability of the motion track are improved.
In yet another alternative embodiment, as shown in fig. 4, the apparatus for controlling robot arm automatic writing may further include a second judging module 306 and a selecting module 307, wherein:
the second determining module 306 is configured to determine whether the number of the motion paths corresponding to each two adjacent path points of the stroke order is greater than 1 before the calculating module 302 calculates the motion trajectories corresponding to each two adjacent path points of the stroke order, and when the number is equal to 1, trigger the calculating module 302 to perform the operation of calculating the motion trajectories corresponding to each two adjacent path points of the stroke order.
And a selecting module 307, configured to select, when the second determining module 306 determines that the number is greater than 1, a target motion path matched with the type of the stroke order for each two adjacent path points from all motion paths corresponding to each two adjacent path points according to the type of the stroke order, where the target motion path is one of a shortest path for motion or a most gentle path for motion.
The mode of the calculating module 302 calculating the motion trajectory corresponding to each two adjacent path points of the stroke order specifically is as follows:
and calculating the motion track corresponding to each two adjacent path points of the stroke order according to the target motion path corresponding to each two adjacent path points.
It can be seen that, after the device described in fig. 4 is implemented to obtain a plurality of path points corresponding to the stroke order of the text, it is further determined whether there is only one motion path corresponding to each two adjacent path points of the stroke order, if yes, the motion trajectory of the motion path is directly calculated, if not, the motion path matched with the type of the stroke order is obtained first, and then the motion trajectory is calculated according to the motion path matched with the type of the stroke order, so that an accurate motion path can be obtained, thereby improving the calculation accuracy and reliability of the motion trajectory corresponding to the stroke order of the text, and further improving the writing accuracy and reliability of the manipulator.
In yet another alternative embodiment, as shown in fig. 4, the manner for acquiring the multiple path points corresponding to the stroke order of the text to be written by the acquiring module 301 specifically is as follows:
acquiring the stroke order of the characters, and generating a motion path corresponding to the stroke order of the characters;
and decomposing the motion path corresponding to the stroke order of the characters to obtain a plurality of path points corresponding to the stroke order of the characters.
Therefore, the implementation of the device described in fig. 4 can also generate path points of the stroke order by decomposing the motion path corresponding to the stroke order of the characters, thereby improving the accuracy and efficiency of generating the path points of the stroke order.
Example four
Referring to fig. 5, fig. 5 is a schematic diagram illustrating another apparatus for controlling a manipulator to automatically write according to an embodiment of the present invention. As shown in fig. 5, the apparatus for controlling robot automatic writing may include:
a storage 501 in which executable program code is stored;
a processor 502 coupled to a store 501;
further, an input interface 503 and an output interface 504 coupled to the processor 502 may be included;
the processor 502 calls the executable program code stored in the storage 501 for executing the steps of the method for controlling the robot to automatically write as described in the first embodiment or the second embodiment.
EXAMPLE five
Referring to fig. 6, fig. 6 is a robot control system according to an embodiment of the present invention, the robot control system includes the device for controlling the robot to automatically write as shown in fig. 3, 4 or 5, and the robot control system is used to execute the steps of the method for controlling the robot to automatically write as described in the first embodiment or the second embodiment.
EXAMPLE six
Referring to fig. 7, fig. 7 is a diagram illustrating a robot according to an embodiment of the present invention, where the robot includes the device for controlling the robot to automatically write as shown in fig. 3, 4 or 5, and the robot is used to perform the steps of the method for controlling the robot to automatically write as described in the first embodiment or the second embodiment.
EXAMPLE seven
The embodiment of the invention discloses a computer storage medium which stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the steps of the method for controlling the automatic writing of a manipulator described in the first embodiment or the second embodiment.
Example eight
The embodiment of the invention discloses a computer program product, which comprises a non-transitory computer readable storage medium storing a computer program, wherein the computer program is operable to make a computer execute the steps of the method for controlling the automatic writing of a manipulator described in the first embodiment or the second embodiment.
The above-described embodiments of the apparatus are merely illustrative, and the modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above detailed description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a necessary general hardware platform, and may also be implemented by hardware. Based on such understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, wherein the storage medium includes a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically Erasable Programmable Read-Only Memory (EPROM-on-ROM), an optical Disc (EEPROM), a Read-Only optical Disc (CD-on-ROM), or other magnetic Disc, or a ROM, a magnetic disk, or a combination thereof, A tape storage, or any other medium readable by a computer that can be used to carry or store data.
Finally, it should be noted that: the method, the apparatus, the manipulator and the system for controlling the manipulator to automatically write disclosed in the embodiments of the present invention are only preferred embodiments of the present invention, and are only used for illustrating the technical solutions of the present invention, not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of controlling a manipulator to automatically write, the method comprising:
when the situation that the manipulator needs to be controlled to write is detected, acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written;
and calculating the motion tracks corresponding to every two adjacent path points of the stroke order, and controlling the mechanical arm to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain the characters corresponding to the stroke order.
2. The method of controlling manipulator automated writing according to claim 1, further comprising:
judging whether path points which do not meet the motion condition of the manipulator exist in all the path points, and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order when judging that the path points which do not meet the motion condition of the manipulator do not exist;
and when judging that the path points which do not meet the motion conditions of the manipulator exist, deleting the path points which do not meet the motion conditions of the manipulator from all the path points, and triggering and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order.
3. The method of controlling robot automatic writing according to claim 2, wherein the determining whether there is a path point that does not satisfy the motion condition of the robot among all the path points includes:
determining the position of each path point in the space, and judging whether path points with the positions not in the corresponding measuring range of the manipulator exist in all the path points according to the positions of all the path points in the space;
and when judging that path points of which the positions are not in the range corresponding to the manipulator exist in all the path points, determining that the path points which do not meet the motion condition of the manipulator exist in all the path points, and the path points which do not meet the motion condition of the manipulator include the path points which are not in the range corresponding to the manipulator.
4. The method for controlling the manipulator to automatically write according to any one of claims 1 to 3, wherein the calculating the motion trail corresponding to each two adjacent path points of the stroke order comprises:
and solving vector information corresponding to every two adjacent path points of the stroke order, wherein the vector information corresponding to every two adjacent path points comprises position vectors corresponding to every two adjacent path points, and generating a motion track corresponding to every two adjacent path points of the stroke order according to the position vectors corresponding to every two adjacent path points.
5. The method for controlling the manipulator to automatically write according to any one of claims 1 to 3, wherein before the calculating the motion trail corresponding to each two adjacent path points of the stroke order, the method further comprises:
judging whether the number of the motion paths corresponding to every two adjacent path points is greater than 1, and executing the operation of calculating the motion tracks corresponding to every two adjacent path points of the stroke order when the judged number is equal to 1;
when the number is larger than 1, selecting a target motion path matched with the type of the stroke order for each two adjacent path points from all motion paths corresponding to each two adjacent path points according to the type of the stroke order, wherein the target motion path is one of the shortest path for motion or the most gentle path for motion;
wherein, the calculating the motion trail corresponding to each two adjacent path points of the stroke order comprises:
and calculating the motion track corresponding to each two adjacent path points of the stroke order according to the target motion path corresponding to each two adjacent path points.
6. The method for controlling the manipulator to automatically write according to any one of claims 1 to 3, wherein the acquiring a plurality of path points corresponding to the stroke order of the characters to be written comprises:
acquiring a stroke order of characters, and generating a motion path of the stroke order of the characters;
and decomposing the motion path of the stroke order of the character to obtain a plurality of path points corresponding to the stroke order of the character.
7. An apparatus for controlling an automatic writing of a manipulator, the apparatus comprising:
the acquisition module is used for acquiring a plurality of path points corresponding to the stroke order of the characters needing to be written when the situation that the manipulator needs to be controlled to write is detected;
the calculation module is used for calculating the motion tracks corresponding to every two adjacent path points of the stroke order;
and the control module is used for controlling the mechanical arm to write the stroke order according to the motion tracks corresponding to every two adjacent path points to obtain characters corresponding to the stroke order.
8. A manipulator, characterized in that it is adapted to perform a method of controlling the manipulator for automatic writing according to any of claims 1-6.
9. A manipulator control system, characterized in that the manipulator control system is adapted to perform a method of controlling the automatic writing of a manipulator according to any of claims 1-6.
10. An apparatus for controlling an automatic writing of a manipulator, the apparatus comprising:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to execute the method for controlling the automatic writing of a manipulator according to any one of claims 1 to 6.
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