CN106054829B - Family send the method for operating of water service robot system - Google Patents
Family send the method for operating of water service robot system Download PDFInfo
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- CN106054829B CN106054829B CN201610369602.3A CN201610369602A CN106054829B CN 106054829 B CN106054829 B CN 106054829B CN 201610369602 A CN201610369602 A CN 201610369602A CN 106054829 B CN106054829 B CN 106054829B
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- water
- family
- service robot
- cup
- master control
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
Abstract
The invention discloses a kind of families to send water service robot system and its method of operating, belong to home-services robot field, it includes order-taker, master control system, vision system, navigation positioning system, executing agency and the operating device for remote controlled that the family, which send water service robot system, the master control system is connect with described instruction receiving device, vision system and navigation positioning system respectively, the executing agency connect with navigation positioning system, in which: described instruction receiving device is for receiving control instruction；The master control system is for the processing of the control instruction, the planning of task and scheduling and the control of each system；The vision system and navigation positioning system are for indoor navigation positioning and identification and positioning to task object；The executing agency is for grabbing and placing task object.The present invention can complete one after the control instruction of drinking water for receiving user and completely send water task, preferably can provide service for user.
Description
Technical field
The present invention relates to home-services robot fields, and in particular to a kind of family send water service robot system and its dynamic
Make method.
Background technique
Chinese population aging accelerated development during " 12th Five-Year Plan ", aging of population situation is more acute, gradually shows
Aging, aging, empty nesting accelerated development three new features.The acceleration of aging of population necessarily causes the aged healthy
Problem highlights, the treatment nursing problem at advanced age, disability and illness the elderly, should more obtain the common concern of society.
With being constantly progressive for intelligent robot technology in recent years, home-services robot industry has also obtained quick hair
Exhibition.Function is more complete in the family for current all kinds of home-services robots, but can not provide more preferably for patient or the elderly
Service, independently can not complete a certain item task under unmanned interference well.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of families to send water service robot system and its method of operating,
One can be completed after the control instruction of drinking water for receiving user completely send water task.
In order to solve the above technical problems, present invention offer technical solution is as follows:
A kind of family send water service robot system, including order-taker, master control system, vision system, navigation
Positioning system, executing agency and the operating device for remote controlled, the master control system receive with described instruction respectively
Device, vision system and navigation positioning system connection, the executing agency connect with navigation positioning system, in which:
Described instruction receiving device is for receiving control instruction；
The master control system is for the processing of the control instruction, the planning of task and scheduling and the control of each system
System；
The vision system and navigation positioning system are for indoor navigation positioning and identification and positioning to task object；
The executing agency is for grabbing and placing task object.
Further, described instruction receiving device has a feedback procedure, i.e. institute after receiving the control instruction
State the process of control instruction confirmation.
Further, the master control system has the function of receiving time reservation, and the executing agency includes mostly freely
The mechanical arm of degree and the manipulator for being set to the mechanical arm tail end.
Further, the radio frequency identification dress for task object described in initial alignment is provided in the navigation positioning system
It sets.
Further, the family send water service robot system further include power-supply management system and with the main control system
The display device of system connection, the power-supply management system provide the energy, the power supply pipe for each system, movement and executing agency
Reason system is recharging mode；The display device is for showing the control instruction and task.
Further, it further includes automatic water boiler, quantitative water fetching device that the family, which send water service robot system, it is described from
It is dynamic heat up water, quantitative water fetching device includes hot-water heating system, cooling device, water attemperator, weighing device and laser liquid-level measurement
Device, the cooling device are connect with hot-water heating system and water attemperator respectively, and the weighing device is set to holding water cup
The lower section at place, the laser liquid-level measuring device are set to water outlet.
Above-mentioned family send the method for operating of water service robot system, comprising:
Step 1: described instruction receiving device receives the instruction of drinking water that user issues from the operating device, and passes through
Feedback element is drunk water the confirmation of instruction described in completing；
Step 2: instruction of drinking water described in master control system processing, and completion is drunk water the planning of task；
Step 3: the navigation positioning system is navigated and is determined to cup and the automatic water boiler, quantitative water fetching device
Position, later the master control system complete family send between water service robot and cup and cup and the automatic water boiler,
Path planning between quantitative water fetching device；
Step 4: after the rfid device detects the initial alignment of cup, the vision system further progress water
The identification positioning of cup；
Step 5: sent between water service robot and cup according to the task of drinking water after planning, family, cup and it is described from
It is dynamic heat up water, the path between quantitative water fetching device and the vision system further identify positioning, the execution to cup
Mechanism grabs cup under the control of the master control system and cup is placed on the automatic water boiler, quantifies water fetching device
Water outlet completes the water intaking of accurate quantification；
Step 6: after water intaking, the navigation positioning system to family send the path between water service robot and user into
Row navigation and positioning, the master control system completes family and send the path planning between water service robot and user later,
Family send water service robot to send water to user under the control of master control system；
Step 7: after the completion of the task of drinking water, family send water service robot under the control of master control system by cup
It is placed on original position, completes a control instruction.
Further, the path planning in the step 3 and step 6, comprising:
Step a: the vision system acquires indoor environment information in real time, and is pre-processed；
Step b: barrier and safety zone are determined to pretreated indoor environment information using edge detection algorithm
Edge；
Step c: the characteristic point that principle determines barrier in visual pattern is extended using edge；
Step d: the safety zone that family send water service robot to travel is determined using improved repulsion field model.
Further, step a includes:
Step a1: the indoor environment information of acquisition is converted into HSV image:
If: Max=max (R, G, B)；Min=min (R, G, B)；
As Max ≠ Min:
As Max=Min, i.e. when R=G=B,
Step a2: and then picture noise is removed using median filtering:
Wherein,For the corresponding output of w (j, k) after filtering, w (j, k) is the gray value of image, and A is indicated
The point set of image pixel, L indicate the number of point set A, and T is threshold value, and w (x, y) indicates that any point set (x, y) is corresponding in A
Pixel value.
Further, the improved repulsion field model are as follows:
Wherein: UrepIt (q) is repulsion field function, krIt is repulsion field gain coefficient, ρ send water service robot to institute for family
State the distance of barrier characteristic point in visual pattern, ρ0The range influenced for the repulsion field of indoor barrier.
The invention has the following advantages:
Compared with prior art, family of the invention send the instruction of water service robot system and its method of operating to receive dress
User can accurately be received by setting is instructed by the task control that operating device is sent, and is controlled by master control system
Make the processing of instruction, the planning and scheduling of task, navigation positioning system and vision system may be implemented autonomous indoor navigation and
Task object is found in positioning, and executing agency realizes the crawl of task object under the control of master control system, sends back to, effectively
Ground solves the demand that current family send water service, can better service user etc..
Detailed description of the invention
Fig. 1 is the schematic diagram that family of the invention send water service robot system；
Fig. 2 is the schematic diagram that family of the invention send the automatic water boiler of water service robot system, quantitative water fetching device；
Fig. 3 is the schematic diagram that family of the invention send water service robot system method of operating；
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
On the one hand, the present invention provides a kind of family and send water service robot system 1, as shown in Fig. 1 to Fig. 3, including instruction
Receiving device 12, master control system 13, vision system 14, navigation positioning system 15, executing agency 17 and be used for remote controlled
Operating device 11, master control system 13 connect with order-taker 12, vision system 14 and navigation positioning system 15 respectively,
Executing agency 17 connect with navigation positioning system 15, in which:
Order-taker 12 is for receiving control instruction；
Master control system 13 is for the processing of control instruction, the planning of task and scheduling and the control of each system；
Vision system 14 and navigation positioning system 15 are positioned for indoor navigation and the identification and positioning of task object；
Executing agency 17 is for grabbing and placing task object.
Family of the invention send the order-taker of water service robot system and its method of operating that can accurately connect
The task control sent by user by operating device instructs, and by the processing of master control system progress control instruction,
Autonomous indoor navigation and positioning may be implemented in the planning and scheduling of task, navigation positioning system and vision system, finds task
Target, executing agency realize the crawl of task object under the control of master control system, send back to, efficiently solve current family
The demand of water service is sent in front yard, can better service user etc..
Further, order-taker 12 can receive various control instruction, for example, can receive to pass through brain-computer interface
The control instruction of the sendings such as system, voice, gesture.
Preferably, order-taker 12 can have a feedback procedure after receiving control instruction 19, that is, control
The process of confirmation command.The confirmation of control instruction is exactly the confirmation ring an of task for family send water service robot
Section, to ensure the accuracy of task, for example, when order-taker 12 receives the control instruction of brain machine interface system sending,
It can be confirmed by the method for " strabismus ", after the control instruction and task received is shown in display device 18, be used
Person " squints " to the left to be represented by family and send water service robot identification mission correct, is confirmed；User " squints " to the right can table
It is shown as family and send water service robot identification mission mistake, cancel；When user carries out identification control instruction by voice, family
Front yard send water service robot to receive semantic task, and repeats the task and confirmed that, if identification mission is correct, user can lead to
It crosses display device 18 to be confirmed, can also be confirmed by voice prompting " correct "；If identification mission mistake, user can
Cancelled by display device 18, can also be cancelled by voice prompting " cancellation ".
As an improvement of the present invention, master control system 13 preferably has the function of receiving time reservation, executing agency
17 may include multivariant mechanical arm and the manipulator for being set to mechanical arm tail end.The time reservation of master control system 13
Function periodically can provide or remind hot water or medicine to user, and user is avoided to forget to drink water or take medicine on time；It is mechanical
Arm and manipulator are for grabbing and placing task object etc..
Further, the radio frequency identification for initial alignment task object can be set in indoor navigation positioning system 15
Device 16.Indoor navigation positioning system 15 can carry out indoor navigation, rfid device 16 under the assistance of vision system 14
Family, which may be implemented, send water service robot system 1 to accurately identify positioning to the identification and positioning of task object and vision.
Preferably, it can also include power-supply management system (not shown) and and master control that family, which send water service robot system 1,
The display device 18 that system 13 processed connects, power-supply management system can provide the energy for each system, movement and executing agency 17,
Power-supply management system is recharging mode；Display device 18 is used for display control signal and task object.Power-supply management system
Have the function of low-voltage variation, alarm etc., when low pressure can carry out low-voltage variation, and by warning note low battery, stop house
The task of water service robot is sent in front yard, and autonomous to " accumulator plant " carries out recharging, to ensure that family send water service-delivery machine
People stops and can not move indoors；Display device 18 can assist the confirmation of the feedback and task of control instruction.
It is improved as another kind of the invention, it can also include automatic water boiler that family, which send water service robot system 1, quantitative
Water fetching device 19, automatic water boiler, quantitative water fetching device 19 may include hot-water heating system 191, cooling device 192, water heat preservation dress
193, weighing device 194 and laser liquid-level measuring device 195 are set, cooling device 192 is kept the temperature with hot-water heating system 191 and water respectively
Device 193 connects, and weighing device 194 is set to the lower section at holding water cup, and laser liquid-level measuring device 195 is set to water outlet
Place.
Hot-water heating system 191 is automatically turned on when cold water is automatically injected after water temperature is picked out lower than set temperature or hot water
Water boiling function is voluntarily closed when water is boiled, to guarantee the water and the supply of water supply attemperator 193 in hot-water heating system 191
Water be always boiled water；Boiled water when cooling device 192 is mainly used for rigid injection cools down, when in water attemperator 193
When having hot water injection, cooling device 192 is automatically turned on, so that hot water is cooled to set temperature, when the water in water attemperator 193 is low
When set temperature, heat insulation function is automatically turned on, is suitable temperature always when to guarantee water intaking, such family send water to take
Robot be engaged in when being fetched water, guarantees that the water picked out is what constant temperature was suitable for, can directly drink.
Cup is measured using the cup of unified weight, the same shape with guaranteeing that the weight of cup arrives laser liquid-level with height
The distance of device 195 is consistent；Weighing device 194 is used to measure the weight of injection water water in the cup, guarantees the weight of injection water every time
It is equal, prevent the spilling of water；Weighing device 194 and laser liquid-level measuring device 195 are to prevent the spilling of water, priority phase
Together, as long as that is, weighing device 194 and laser liquid-level measuring device 195 there is one to arrive first at setting value to be turned off water filling
Function simultaneously stops filling the water, and prevents the spilling of water.
On the other hand, the method for operating that a kind of pair of family send water service robot system 1 is provided, comprising:
Step 1: order-taker 12 receives the instruction 21 of drinking water that user issues from operating device 11, and by anti-
Feedback link completes the confirmation of instruction of drinking water, it is ensured that the accuracy of the instruction of drinking water received；
Step 2: the processing of master control system 13 is drunk water instruction 21, and the planning for task of completing to drink water, master control system processing
It drinks water after instruction 21, receiving is drunk water task, and further progress is drunk water the parsing and scheduling of task, completes the task of drinking water with this
Planning；
Step 3: navigation positioning system 15 and vision system 14 lead cup and automatic water boiler, quantitative water fetching device 19
Boat and positioning, later master control system 13 complete family send between water service robot and cup and cup and automatic water boiler,
Path planning between quantitative water fetching device 19, to ensure that family send water service robot that can accurately judge cup and automatic
It heats up water, the position of quantitative water fetching device 19；
Step 4: after radio frequency identification detection device 16 detects the initial alignment of cup, 14 further progress of vision system
The identification of cup positions, this step, which is positioned to executing agency 17 for the identification of cup, can accurately grab cup；
Step 5: being sent between water service robot and cup according to the task of drinking water after planning, family, cup is burnt with automatic
Path and vision system 14 between water, quantitative water fetching device 19 further identify positioning to cup, and executing agency 17 exists
Cup is grabbed under the control of master control system 13 and cup is placed on to the water outlet of automatic water boiler, quantitative water fetching device 19,
Complete the water intaking of accurate quantification；
Step 6: after water intaking, navigation positioning system 15 send the path between water service robot and user to carry out family
Navigation and positioning, and complete family and give path planning between water service robot and user, family send water service later
Robot send water to user under the control of master control system 13；
Step 7: after the completion of task of drinking water, family send water service robot under the control of master control system 13 by water
Cup is placed on original position, completes a control instruction.
User will be drunk water using operating device 11 after assignment instructions sending, send each of water service robot system in family
Mutually coordinated work between system, executing agency, common the completing to send water of the task.Family send water service robot system can also be with
Realize the functions such as Timed medicine delivery.
Preferably, the path planning in step 3 and step 6 may include:
Step a: vision system 14 acquires indoor environment information in real time, and is pre-processed；
Step b: barrier and safety zone are determined to pretreated indoor environment information using edge detection algorithm
Edge, edge detection algorithm can detecte the boundary curve of barrier, can distinguish well barrier with safety zone
It comes；
Step c: the characteristic point that principle determines barrier in visual pattern is extended using edge；
Step d: determining the safety zone that family send water service robot to travel using improved repulsion field model, improved
Repulsion field model is able to solve local minimum problem present in Artificial Potential Field Method and the inaccessible problem of target point, it is ensured that
The accuracy for the safety zone that family send water service robot to travel.
Further, step a can also include:
Step a1: the indoor environment information of acquisition is converted into HSV image:
If: Max=max (R, G, B)；Min=min (R, G, B)；
As Max ≠ Min:
As Max=Min, i.e. when R=G=B,
The indoor environment information of acquisition, which is converted into HSV image, can more easily be handled it, facilitate its saturation of adjustment
Degree and brightness.
Step a2: and then picture noise is removed using median filtering:
Wherein,For the corresponding output of w (j, k) after filtering, w (j, k) is the gray value of image, A table
Show that the point set of image pixel, L indicate the number of point set A, T is threshold value, and w (x, y) indicates that any point set (x, y) is corresponding in A
Pixel value.Median filter method operation is simple and fast speed, can protect well while removing picture noise
Image border restores image preferably.
Preferably, improved repulsion field model are as follows:
Wherein: UrepIt (q) is repulsion field function, krIt is repulsion field gain coefficient, ρ send water service robot to institute for family
State the distance of barrier characteristic point in visual pattern, ρ0The range influenced for the repulsion field of indoor barrier.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (6)
1. the method for operating that a kind of family send water service robot system, which is characterized in that the family send water service robot
System include order reception apparatus, master control system, vision system, navigation positioning system, executing agency and for remotely by
The operating device of control, the master control system are connect with described instruction reception device, vision system and navigation positioning system respectively,
The executing agency connect with navigation positioning system, in which:
Described instruction reception device is for receiving control instruction；Described instruction reception device is equal after receiving the control instruction
There are a feedback procedure, i.e., the process of the described control instruction confirmation；
The master control system is for the processing of the control instruction, the planning of task and scheduling and the control of each system；
The vision system and navigation positioning system are for indoor navigation positioning and identification and positioning to task object；It is described to lead
The rfid device for task object described in initial alignment is provided in boat positioning system；
The executing agency is for grabbing and placing task object；
It further includes automatic water boiler, quantitative water fetching device, the automatic water boiler, quantitative that the family, which send water service robot system,
Water installations include hot-water heating system, cooling device, water attemperator, weighing device and laser liquid-level measuring device, the cooling
Device is connect with hot-water heating system and water attemperator respectively, and the weighing device is set to the lower section at holding water cup, described
Laser liquid-level measuring device is set to water outlet；
The family send the method for operating of water service robot system to include:
Step 1: described instruction reception device receives the instruction of drinking water that user issues from the operating device, and passes through feedback
Link is drunk water the confirmation of instruction described in completing；
Step 2: instruction of drinking water described in master control system processing, and completion is drunk water the planning of task；
Step 3: the navigation positioning system is navigated and is positioned to cup and the automatic water boiler, quantitative water fetching device, it
The master control system is completed family and is sent between water service robot and cup and cup and the automatic water boiler, quantitative afterwards
Path planning between water installations；
Step 4: after the rfid device detects the initial alignment of cup, the vision system further progress cup
Identification positioning；
Step 5: being sent between water service robot and cup according to the task of drinking water after planning, family, cup and the automatic burning
Path and the vision system between water, quantitative water fetching device further identify positioning, the executing agency to cup
Cup is grabbed under the control of the master control system and cup is placed on to the water outlet of the automatic water boiler, quantitative water fetching device
At mouthful, the water intaking of accurate quantification is completed；
Step 6: after water intaking, the navigation positioning system send the path between water service robot and user to lead family
Boat and positioning, the master control system completes family and send the path planning between water service robot and user, family later
Water service robot is sent to send water to user under the control of master control system；
Step 7: after the completion of the task of drinking water, family send water service robot to place cup under the control of master control system
In original position, a control instruction is completed.
2. method of operating according to claim 1, which is characterized in that the master control system has receiving time reservation
Function, the executing agency include multivariant mechanical arm and the manipulator for being set to the mechanical arm tail end.
3. method of operating according to claim 1 or 2, which is characterized in that the family send water service robot system also
Including power-supply management system and the display device being connect with the master control system, the power-supply management system be each system,
Movement and executing agency provide the energy, and the power-supply management system is recharging mode；The display device is for showing institute
State control instruction and task.
4. method of operating according to claim 3, which is characterized in that the path planning in the step 3 and step 6, packet
It includes:
Step a: the vision system acquires indoor environment information in real time, and is pre-processed；
Step b: the edge of barrier and safety zone is determined to pretreated indoor environment information using edge detection algorithm；
Step c: the characteristic point that principle determines barrier in visual pattern is extended using edge；
Step d: the safety zone that family send water service robot to travel is determined using improved repulsion field model.
5. method of operating according to claim 4, which is characterized in that step a includes:
Step a1: the indoor environment information of acquisition is converted into HSV image:
If: Max=max (R, G, B)；Min=min (R, G, B)；
As Max ≠ Min:
Definition:
Then:
Wherein:
As Max=Min, i.e. when R=G=B,
Step a2: and then picture noise is removed using median filtering:
Wherein,For the corresponding output of w (j, k) after filtering, w (j, k) is the gray value of image, and A indicates image
The point set of pixel, L indicate the number of point set A, and T is threshold value, and w (x, y) indicates the corresponding pixel of any point set (x, y) in A
Value.
6. method of operating as claimed in claim 4, which is characterized in that the improved repulsion field model are as follows:
Wherein: UrepIt (q) is repulsion field function, krIt is repulsion field gain coefficient, ρ is that family send water service robot to the vision
The distance of barrier characteristic point, ρ in image0The range influenced for the repulsion field of indoor barrier.
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| CN108227691A (en) * | 2016-12-22 | 2018-06-29 | 深圳光启合众科技有限公司 | Control method, system and the device and robot of robot |
| CN110864763B (en) * | 2019-11-27 | 2020-10-30 | 西安维米克自控仪表技术有限公司 | Glass liquid level meter |
| CN112671894A (en) * | 2020-12-22 | 2021-04-16 | 上海有个机器人有限公司 | Robot task remote cancelling method, device, terminal and storage medium |
| CN114905529A (en) * | 2022-06-06 | 2022-08-16 | 商丘职业技术学院 | Multifunctional water delivery robot control system |
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|---|---|
| CN106054829A (en) | 2016-10-26 |
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