CN102909721A - Multi-track robot capable of locating and operating target object and control method thereof - Google Patents
Multi-track robot capable of locating and operating target object and control method thereof Download PDFInfo
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- CN102909721A CN102909721A CN2012104313928A CN201210431392A CN102909721A CN 102909721 A CN102909721 A CN 102909721A CN 2012104313928 A CN2012104313928 A CN 2012104313928A CN 201210431392 A CN201210431392 A CN 201210431392A CN 102909721 A CN102909721 A CN 102909721A
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Abstract
The invention relates to a robot, and particularly relates to a multi-track robot capable of locating and operating a target object and a control method thereof. The multi-track robot capable of locating and operating the target object comprises a center control part, an ultrasonic transmission unit, a controlled unit, a robot arm, slide rails, an electric pulley, and a charging coil; the robot arm, the ultrasonic transmission unit, the electric pulley and the charging coil are electrically connected with the center control part respectively; the center control part communicates with the controlled unit in an infrared, Bluetooth or radio frequency manner; the ultrasonic transmission unit emits an ultrasonic signal at fixed time; the controlled unit and the robot arm calculate the positions and respectively transmit to the center control part according to the receiving moment of the ultrasonic signal; and the robot arm can move along the slide rails arranged on a ceiling, a wall, or the ground or other planes through the electric pulley under control of a center control system, and can locate, move or operate the target object in a certain range of three-dimensional space.
Description
Technical field
The present invention relates to a kind of robot, relate in particular to a kind of also many rails robot of Action Target thing of locating.
Background technology
Progress along with science and technology, robot more and more participates in human work and life, can predict: robot will replace the mankind to bear more and more complicated, hard works in the future, and people then can free from hard work, live more easily with easy.But at present, robot (automation equipment that perhaps has the robot function), can only be engaged in the automated job of some simple repeatability, for example: indoor cleaning machine people, weed-eradicating robot, nautch robot, educational robot, welding robot etc., these robots all can't realize the location to object, general intelligent degree is not high, large amount of complex, hard work in people's work and the daily life, still be take manpower as main, the wait in expectation appearance of robot with higher intelligence of epoch.
On the control algolithm of robot, most literature has all been selected the relative understandable rectangular coordinate system of human brain with application, algorithm is complicated, the unknown parameter of most points all is three in this coordinate system, often need loaded down with trivial details derivation to calculate, that is to say: rectangular coordinate system meets we mankind's thinking in images, but the coordinate system of suitable control always not.
On the structural design of robot, some document and application place ultrasonic transmitter in the target object, ultrasonic receiving system is installed in a plurality of corners of ceiling, the result of design is like this: ultrasonicly have a directionality because of what the ultrasonic transmitter in the target object was launched, and its angle of departure reduces along with the increase of distance, this scheme can't guarantee that all ultrasonic receiving systems all receive signal, greatly reduce the reliability of this system.
On the Functional Design of robot, rarely the power supply supply of the electronic system in the target object is considered in document and application, there is the scholar to propose the scheme of high capacity cell, but object varies, and says from application point, and battery is the smaller the better, and the small size of battery is an insoluble contradictory problems with large capacity, and capacity is large battery again, and its electric weight is limited eventually; Also have in some schemes and disposed cable power to object, can only say: the application space of this scheme is very limited, and in the time of more, power line can limit the scope of activities of robot and hinder robot to the operation of object.
Summary of the invention
A kind of also many rails robot of Action Target thing of locating that the present invention relates to can overcome above-mentioned shortcoming, has higher intelligence, can in people's work or life, replace the human work of finishing relative complex.
The present invention relates to locate and many rails robot of Action Target thing comprises middle control part, ultrasound emission unit, controlled cell, mechanical hand, slide rail, electronic pulley, the mechanical hand base portion attaches electronic pulley, can move along the slide rail that is installed on ceiling, wall, ground or other plane, mechanical hand, ultrasound emission unit, electronic pulley are electrically connected with middle control part respectively.
Middle control part comprises one or more in microprocessor and the microcontroller, is core of the present invention, is undertaking information gathering, the analytical calculation of whole system, the vital task of Real-time Decision.
Controlled cell places object inside or is fixed in the object surface, comprises in microprocessor and the microcontroller one or more, is an intelligent subsystem that has detection, calculating, control, communication function.
Middle control part and controlled cell have a kind of in infrared communication interface, bluetooth communication interface, the radio communication interface at least simultaneously, can carry out radio communication between the two, the content of radio communication includes but not limited to the real-time measuring data of the clock sync signal of system, controlled cell.
Mechanical hand adopts extension type, rotary type, have in three kinds of designs of one or more frees degree one or more.
Two or two parallel being fixed on ceiling, wall, ground or other plane of above slide rail, these slide rails parallel to each other temporarily are called the X-axis slide rail; Other has one or many one slide rails (temporarily being called the Y-axis slide rail here) parallel to each other, and the direction vertical with the X-axis slide rail is attached on the X-axis slide rail by electronic pulley, and can reciprocatingly slide in X-direction along the X-axis slide rail; Mechanical hand is attached to a side of Y-axis slide rail by electronic pulley, mechanical hand can with the vertical direction on X-axis, plane, Y-axis place, it is Z-direction, stretch or swing by one or more realizations scalable, that have in one or more frees degree, the rotatable three kinds of speciality, like this, under the control of main control part, mechanical hand can be located in the three dimensions within the specific limits, mobile or Action Target thing.
Each ultrasound emission unit is inner integrated a plurality of ultrasonic transmitters, the control area that the ultrasonic signal covering system that these ultrasonic transmitters are launched simultaneously requires, the present invention includes the ultrasound emission unit more than three or three, these ultrasound emission unit are fixed on the diverse location in space, and have a ultrasound emission unit and all the other ultrasound emission unit at least at three dimensions conllinear not, under the control of main control part, ultrasonic signal is launched respectively at different process regular time intervals, ultrasound emission unit, controlled cell, mechanical hand all comprises the ultrasonic signal receiving-member, and under the prerequisite of self clock cumulative errors less than setting, constantly multiply by ultrasonic aerial speed with the time difference of agreement x time according to receiving ultrasonic signal, can calculate the relative distance of self and three ultrasound emission unit, afterwards related data be sent to respectively middle control part.
After the positional information of middle control part all controlled cells and mechanical hand in receiving system, by comparison and calculating, can realize the location to all objects and mechanical hand, pass through afterwards the driving to the electronic pulley of mechanical hand base portion, and the posture of mechanical hand self changes, realize mechanical hand mobile and close object that will operate in certain three dimensions, in close process, the position of mechanical hand and object is calculated fast in real time, and draw between the two optimum near the path, when the distance when between the two can operate ultimate range less than mechanical hand, mechanical hand just can carry out various operations to object under the control of main control part.
Controlled cell among the present invention also comprises the contact charging inlet and is subjected in the electric induction coil one or more except comprising energy-storage battery.The energy-storage battery type that adopts includes but not limited to Ni-MH battery, lithium battery, lithium iron battery, lead-acid accumulator, liquid flow energy storage battery, Fly wheel energy storage system.
For the situation with contact charging inlet, when the corresponding object of controlled cell is idle, mechanical hand under the control of middle control part, removable its to specifying the charging zone reliably to contact with charging electrode, carrying out energy-storage battery in the controlled cell, to carry out electric energy additional; For having the situation that is subjected to the electric induction coil, include charge coil in the system, charge coil and the electrical connection of middle control part, middle control part is carried out pulse width modulation by the electronic power switch device to the voltage waveform of charge coil, controlled cell partly comprises is subjected to the electric induction coil, near in the certain limit of charge coil, can be the charging of controlled cell internal battery by electromagnetic induction.
Real time position among the present invention calculates except selecting traditional rectangular coordinate system, can also use polar coordinate system, and perhaps two kinds of coordinates are had complementary advantages, and are combined with.In fact, no matter be ultrasound emission, receiving system, or mechanical hand, all more be fit to polar model, the unknown parameter of most points all is three in the rectangular coordinate system, and the unknown parameters of most points all are two (the ultrasound emission unit that known parameter is exactly the polar coordinates initial point and the distances of object in polar coordinate system, the known quantity that directly to measure), deriving, it is relatively simple to calculate under more situation, reduced the calculating of middle control part and derived the time, for the quick response of system provides condition.
Generally: the advantage of rectangular coordinate system is the occasion of linear movement control; The polar coordinate system control that is fit to rotatablely move, both mutuals are short long, location algorithm among the present invention is according to practical situation, in employing polar coordinate system, the rectangular coordinate system one or both, carry out the situation of computational analysis adopting two kinds of coordinate systems to combine, positional parameter can transform between two kinds of coordinate systems, is convenient to the real time kinematics control of robot.
Description of drawings
Fig. 1 is system function module schematic diagram of the present invention.
Fig. 2 is system mechanics structural representation of the present invention.
Fig. 3 is polar coordinates algorithm schematic diagram of the present invention.
The specific embodiment
Following examples belong to a kind of in the concrete form of the present invention, and the purpose that provides is more detailed description the present invention, rather than limits the scope of the invention, and neither limit application form of the present invention.
A kind of also many rails robot of Action Target thing of locating that the present invention relates to has higher intelligence, can in people's work or life, replace the human work of finishing relative complex.
The system function module schematic diagram of a kind of specific embodiment of the present invention as shown in Figure 1, corresponding system mechanics structural representation is as shown in Figure 2.
This embodiment comprises middle control part, ultrasound emission unit, controlled cell, mechanical hand, slide rail, electronic pulley, charge coil, the electronic pulley that mechanical hand is installed by base portion, can move along the slide rail that is installed on ceiling, wall, ground or other plane, mechanical hand, ultrasound emission unit are electrically connected with middle control part respectively, can carry out infrared, Bluetooth communication between middle control part and the controlled cell, the content of radio communication includes but not limited to the clock sync signal of system, is derived from the real-time measuring data of each part of system.
Middle control part comprises microcontroller shown in label among Fig. 21, be core of the present invention, is undertaking information gathering, the analytical calculation of whole system, the vital task of Real-time Decision.
Controlled cell is fixed in the object surface shown in label among Fig. 22, comprise microcontroller, is an intelligent subsystem that has detection, calculating, control, communication function, and controlled cell comprises energy-storage battery and charge coil.
Mechanical hand is shown in label among Fig. 24, and is scalable, can also base portion be center of circle rotation, and can under the instruction of middle control part, move along the slide rail that is installed on ceiling, wall, ground or other plane.
Electronic pulley is shown in label among Fig. 28.
Two one slide rails are parallel to be fixed on ceiling, wall, ground or other plane, and this temporarily is called X-axis slide rail (shown in label among Fig. 2 5) to slide rail; Other has one or more slide rail parallel to each other, temporarily is called Y-axis slide rail (shown in label among Fig. 2 6) here, and the direction vertical with the X-axis slide rail is attached on the X-axis slide rail by electronic pulley, and can reciprocatingly slide in X-direction along the X-axis slide rail; Mechanical hand is attached to a side of Y-axis slide rail by electronic pulley, mechanical hand can be in the flexible or swing with the vertical direction (Z-direction) on X-axis, plane, Y-axis place, like this, under the control of main control part, mechanical hand can be located in the three dimensions within the specific limits, mobile or Action Target thing (shown in label among Fig. 2 7).
Ultrasound emission unit (shown in label among Fig. 2 3) is fixed on the end of X-axis slide rail, in the Practical Calculation, guaranteeing wherein to have at least a ultrasound emission unit and all the other ultrasound emission unit on the three dimensions not under the prerequisite of conllinear, chooses arbitrarily three.Under the control of main control part, all ultrasound emission unit are every launches respectively one group of ultrasonic signal through the certain hour interval, controlled cell, mechanical hand all comprise the ultrasonic signal receiving-member, and before this within the time that system accuracy requires, realized the synchronous check and correction of clock, they multiply by ultrasonic aerial speed with the time difference of agreement x time constantly according to receiving ultrasonic signal, can calculate the relative distance of self and three ultrasound emission unit, afterwards related data be sent to respectively middle control part.
After middle control part receives this positional information, calculate certain controlled cell or the position coordinates of mechanical hand in system by following algorithm: polar coordinates algorithm schematic diagram as shown in Figure 3, for the needs that illustrate, set up simultaneously corresponding XYZ three dimensions rectangular coordinate system among the figure as reference.At first, in this polar coordinate system, corresponding O, A, B 3 points are distinguished in three ultrasound emission unit, establish now: the polar coordinates that O is ordered are (0,0,0); The polar coordinates that A is ordered are (m, 0,0); The polar coordinates that B is ordered are (n, 0, π/4).Certain object or mechanical hand represent that with the Q point Q point and O, A, 3 actual ranges through ultrasonic measurement of B are used respectively ρ
1, ρ
2And ρ
3Expression, do now the Q point at the intersection point q on O, A, plane, 3 places of B, with dashed lines is connected with O, A, 3 of B respectively, then: three triangle Δ OQq, Δ AQq, Δ BQq are the right angled triangles take the q point as the summit, right angle, relative theory according to " solid geometry " subject, angle α shown in Fig. 3 is the angle on vectorial OQ and O, A, plane, 3 places of B, and angle β is the angle on O, Q, q plane, 3 places and X-axis, plane, Z axis place.
According to above-mentioned derivation, in this polar coordinate system, the polar coordinates that Q is ordered are (ρ
1, α, β), wherein the computational methods of α and β are shown below:
When system has more than three ultrasound emission unit, can do 3 different combinations in all ultrasound emission unit, calculate respectively the polar coordinates of object or mechanical hand according to above-mentioned algorithm, acquired results is got average afterwards, then can reduce error, improve the certainty of measurement of system.
By above-mentioned algorithm, after the positional information of middle control part all controlled cells and mechanical hand in receiving system, by comparison and calculating, can realize the location to all objects and mechanical hand, pass through afterwards the driving to the electronic pulley of mechanical hand base portion, and the posture of mechanical hand self changes, realize the movement of mechanical hand in certain three dimensions, can be near the object that will operate, in close process, the real time position of mechanical hand and object is calculated fast in real time, and draw between the two optimum near the path, when the distance when between the two can operate ultimate range less than mechanical hand, mechanical hand just can carry out various operations to object under the control of main control part.
Whenever undeniable, in the control occasion of linear movement, rectangular co-ordinate has the advantage of oneself, for middle control part,, needs the rectangular co-ordinate of certain known polar point, only needs calculate and can obtain according to following computational methods:
And as follows to polar conversion computational methods from rectangular co-ordinate:
Like this, the parameter of two kinds of coordinates can be changed at any time mutually, interosculates, and can control robot more easily.
The present invention can in field extensive uses such as Smart Home, industry manufacturing, Aero-Space, realize the automation control of higher intelligence.
Claims (10)
1. can locate also many rails robot of Action Target thing for one kind, it is characterized in that comprising middle control part, ultrasound emission unit, controlled cell, mechanical hand, slide rail, electronic pulley, controlled cell places object inside or is fixed in the object surface, mechanical hand is by the electronic pulley that is installed on base portion, can move along the slide rail that is installed on ceiling, wall, ground or other plane, mechanical hand, ultrasound emission unit, electronic pulley are electrically connected with middle control part respectively.
2. a kind of also many rails robot of Action Target thing of locating according to claim 1 is characterized in that middle control part comprises one or more in microprocessor and the microcontroller.
3. a kind of the location and many rails robot of Action Target thing according to claim 2, it is characterized in that to carry out radio communication between control part and the controlled cell, the mode of radio communication includes but not limited to one or more in infrared communication, Bluetooth communication, the radio communication, and the content of radio communication includes but not limited to the real-time measuring data of the clock sync signal of system, controlled cell.
4. a kind of the location and many rails robot of Action Target thing according to claim 3, it is characterized in that each ultrasound emission unit inner integrated a plurality of ultrasonic transmitters, the control area that the ultrasonic signal covering system that these ultrasonic transmitters are launched simultaneously requires, the present invention includes the ultrasound emission unit more than three or three, these ultrasound emission unit are fixed on the diverse location in space, and have a ultrasound emission unit and all the other ultrasound emission unit at least at three dimensions conllinear not, different ultrasound emission unit is through regular time interval sequential transmissions ultrasonic signal, controlled cell, mechanical hand all comprises the ultrasonic signal receiving-member, calculates self-position and issues respectively middle control part according to time of reception behind the reception ultrasonic signal.
5. a kind of the location and many rails robot of Action Target thing according to claim 4, it is characterized in that mechanical hand adopts extension type, rotary type, has in three kinds of designs of one or more frees degree one or more, under the instruction of middle control part, can pass through electronic pulley, move along the slide rail that is installed on ceiling, wall, ground or other plane, and locate in the three dimensions within the specific limits, move or the Action Target thing.
6. a kind of also many rails robot of Action Target thing of locating according to claim 5 is characterized in that controlled cell comprises one or more in microprocessor and the microcontroller.
7. a kind of the location and many rails robot of Action Target thing according to claim 6, it is characterized in that two or two parallel being fixed on ceiling, wall, ground or other plane of above slide rail, these slide rails parallel to each other temporarily are called the X-axis slide rail, other has one or many one slide rails (temporarily being called the Y-axis slide rail here) parallel to each other, in the direction vertical with the X-axis slide rail, be attached on the X-axis slide rail by electronic pulley, and can reciprocatingly slide in X-direction along the X-axis slide rail; Mechanical hand is attached on the Y-axis slide rail by electronic pulley, mechanical hand can with the vertical direction on X-axis, plane, Y-axis place, it is Z-direction, stretch or swing by one or more realizations scalable, that have in one or more frees degree, the rotatable three kinds of speciality, like this, under the control of main control part, mechanical hand can be located in the three dimensions within the specific limits, mobile or Action Target thing.
8. according to claim 1～a kind of also many rails robot of Action Target thing of locating claimed in claim 7, it is characterized in that controlled cell comprises energy-storage battery and contact charging inlet, when the corresponding object of controlled cell is idle, mechanical hand is under the control of middle control part, removable its reliably contacts with charging electrode to appointment charging zone, carrying out electric energy replenishes, the energy-storage battery type that adopts includes but not limited to Ni-MH battery, lithium battery, lithium iron battery, lead-acid accumulator, liquid flow energy storage battery, Fly wheel energy storage system, contact charging inlet and the electrical connection of middle control part.
9. according to claim 1～a kind of also many rails robot of Action Target thing of locating claimed in claim 7, it is characterized in that comprising energy-storage battery and charge coil, the energy-storage battery type includes but not limited to Ni-MH battery, lithium battery, lithium iron battery, lead-acid accumulator, liquid flow energy storage battery, Fly wheel energy storage system, charge coil and the electrical connection of middle control part, middle control part is carried out pulse width modulation by the electronic power switch device to the voltage waveform of charge coil, controlled cell partly comprises is subjected to the electric induction coil, near in the certain limit of charge coil, can be the charging of controlled cell internal battery by electromagnetic induction.
10. according to claim 1～a kind of also many rails robot of Action Target thing of locating claimed in claim 7, it is characterized in that adopting in the location algorithm in polar coordinate system, the rectangular coordinate system one or both, carry out the situation of computational analysis adopting two kinds of coordinate systems to combine, positional parameter can transform between two kinds of coordinate systems, is convenient to the motion control of robot.
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| CN104647369A (en) * | 2015-01-05 | 2015-05-27 | 嘉兴科瑞迪医疗器械有限公司 | Fully-automatic five-axis manipulator |
| CN106671008A (en) * | 2017-02-20 | 2017-05-17 | 华中科技大学 | Mounting and positioning fixture for detachable induction heating coil and use method of mounting and positioning fixture |
| CN108927811A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of linear motor type substation room |
| CN108927794A (en) * | 2018-06-27 | 2018-12-04 | 国网山东省电力公司菏泽供电公司 | Robot and method are detected in a kind of Cartesian coordinate type substation room |
| WO2021057603A1 (en) * | 2019-09-23 | 2021-04-01 | 常州铭赛机器人科技股份有限公司 | Width adjustment device and width adjustment method for rail mechanism |
| CN112591051A (en) * | 2020-12-23 | 2021-04-02 | 上海交通大学 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
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| CN112591051B (en) * | 2020-12-23 | 2021-11-12 | 上海交通大学 | Movable guide rail suitable for underwater operation tool, underwater robot and operation method |
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Application publication date: 20130206 |