CN111055297B

CN111055297B - Manipulator operation device, control method, control device, computer device and medium

Info

Publication number: CN111055297B
Application number: CN202010038823.9A
Authority: CN
Inventors: 张正友; 杨思成; 赵龙飞; 戴媛; 黄碧丹; 李强; 迟万超; 向灵竹; 王帅
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-01-14
Filing date: 2020-01-14
Publication date: 2023-06-06
Anticipated expiration: 2040-01-14
Also published as: CN111055297A

Abstract

The manipulator operation device comprises a processing device, an image acquisition device and a manipulator arm, wherein the manipulator arm is connected with a first grabbing part and a second grabbing part; the image acquisition device is used for acquiring a target image; the processing device is used for acquiring a control strategy according to the target image; the mechanical arm is used for driving the first grabbing part to move to a first position according to a control strategy; the first grabbing part is used for grabbing a first unit; the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to a second position according to a control strategy; the second grabbing part is used for grabbing a second unit; the first gripping portion is used for placing the first unit on the second position. The application also provides a control method, a control device, computer equipment and a medium. Through setting up first grabbing portion and second grabbing portion, robotic arm only need carry out a action, can accomplish the replacement operation of first unit to the second unit, and it is shorter to consume time, has promoted the work efficiency of manipulator operation equipment.

Description

Manipulator operation device, control method, control device, computer device and medium

Technical Field

The present invention relates to the field of computer technologies, and in particular, to a manipulator operation device, a control method, a device, a computer device, and a medium.

Background

The man-machine chess playing robot generally comprises an identification device and a mechanical arm, wherein the identification device is used for identifying the current chess game after shooting a chessboard, and then the mechanical arm is controlled to control chess through processing of a processor to generate a control strategy, so that a real person can be simulated, and in the real world, the chess playing is performed by using the entity chess and a real person player.

The technical difficulty of the man-machine chess playing robot is that in the step of grabbing chesses by mechanical arms, taking a chess game as an example, chesses need to be played in the game process, namely, one chessman on the own side is replaced by one chessman on the chessboard to replace one chessman on the other side, so that the chessman is played.

In the prior art, the mechanical arm needs to act twice when the chess is eaten, namely, the eaten chess pieces are moved out of the chessboard, then the main chess pieces are placed at the positions of the eaten chess pieces, the robot chess eating action consumes long time, the efficiency is low, and the game time is prolonged. The user experience is affected.

Disclosure of Invention

In view of the above, the technical solution provided by the present invention is as follows:

a robot operating device comprising: the image acquisition device comprises a processing device, an image acquisition device and a mechanical arm, wherein the mechanical arm is connected with a first grabbing part and a second grabbing part;

the image acquisition device is used for acquiring a target image, wherein the target image is an image of a target object acquired by the image acquisition device;

the processing device is used for acquiring a control strategy according to the target image, wherein the control strategy comprises the steps of replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

the mechanical arm is used for driving the first grabbing part to move to the first position according to the control strategy;

the first grabbing part is used for grabbing the first unit;

the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to the second position according to the control strategy;

the second grabbing part is used for grabbing the second unit;

the first grabbing portion is used for placing the first unit on the second position.

A robot operating apparatus control method, the robot operating apparatus including a processing device, an image acquisition device, and a robot arm to which a first gripping portion and a second gripping portion are connected, the method for the processing device, the method comprising:

Acquiring a target image from the image acquisition device, wherein the target image is an image of a target object acquired by the image acquisition device;

acquiring a control strategy according to the target image, wherein the control strategy comprises the step of replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

after the mechanical arm is controlled to move to the first position, the first grabbing part grabs the first unit;

after the mechanical arm is controlled to move to the second position, the second grabbing part grabs the second unit;

the first grasping portion is controlled to place the first unit at the second position.

A manipulator operating device control apparatus, characterized in that the manipulator operating device comprises a processing apparatus, an image acquisition apparatus and a manipulator arm, the manipulator arm being connected with a first gripping part and a second gripping part, the method being used in the processing apparatus, the manipulator operating device control apparatus comprising:

a first acquisition unit configured to acquire a target image, which is an image of a target object acquired by the image acquisition device, from the image acquisition device;

A second acquisition unit configured to acquire a control policy according to the target image acquired by the first acquisition unit, the control policy including replacing a second unit placed at a second position with a first unit placed at a first position, the first position and the second position being different positions on the target object;

the first control unit is used for controlling the mechanical arm to move to the first position and then grabbing the first unit by the first grabbing part;

the second control unit is used for controlling the mechanical arm to move to the second position and then grabbing the second unit by the second grabbing part;

and a third control unit for controlling the first grasping portion to place the first unit at the second position.

Optionally, the first gripping portion and the second gripping portion are respectively connected with a first joint on the mechanical arm, and then the first control unit is further configured to:

after the first grabbing part is controlled to be close to the first unit through the first joint, grabbing the first unit;

the second control unit is further configured to:

after the second grabbing part is controlled to be close to the second unit through the first joint, grabbing the second unit;

The third control unit is further configured to:

controlling the second grabbing part to be far away from the target object through the first joint;

the first grabbing part is controlled to be close to the target object through the first joint, and the first unit is placed at the second position.

Optionally, the first gripping portion is connected to a second joint on the mechanical arm, and the second gripping portion is connected to a third joint on the mechanical arm, so that the first control unit is further configured to:

after the first grabbing part is controlled to be close to the first unit through the second joint, grabbing the first unit;

the second control unit is further configured to:

after the second grabbing part is controlled to be close to the second unit through the third joint, grabbing the second unit;

the third control unit is further configured to:

controlling the second grabbing part to be far away from the target object through the third joint;

the first grabbing part is controlled to be close to the target object through the second joint, and the first unit is placed at the second position.

Optionally, the first gripping part and/or the second gripping part comprises a motor and at least two claw hooks, the first control unit is further configured to:

controlling the motor to drive the at least two claw hooks to approach each other so as to grasp the first unit;

The second control unit is further configured to:

controlling the motor to drive the at least two claw hooks to approach each other so as to grasp the second unit;

the third control unit is further configured to:

the motor is controlled to drive the at least two claw hooks away from each other so as to release the first unit.

Optionally, the processing device includes a vision processing module and a computing module, and the second obtaining unit is configured to:

the visual processing module is used for carrying out visual recognition on the target image so as to obtain a recognition result;

and acquiring the control strategy according to the identification result through the calculation module.

Optionally, the apparatus further comprises a detection device; the device further comprises a detection unit for:

detecting in the working process of the mechanical arm through the detection device;

and when detecting that an object enters the area of the target object, driving the mechanical arm to stop working.

A computer device, the computer device comprising: an interaction device, an input/output (I/O) interface, a processor, and a memory, the memory having program instructions stored therein; the interaction device is used for acquiring an operation instruction input by a user; the processor is configured to execute program instructions stored in the memory to perform a method as claimed in any one of the preceding claims.

A computer readable storage medium comprising instructions which, when run on a computer device, cause the computer device to perform the method of any of the preceding claims.

The manipulator operation device provided by the application comprises: the image acquisition device is connected with the first grabbing part and the second grabbing part; the image acquisition device is used for acquiring a target image; the processing device is used for acquiring a control strategy according to the target image, wherein the control strategy comprises the steps of replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object; the mechanical arm is used for driving the first grabbing part to move to a first position according to a control strategy; the first grabbing part is used for grabbing a first unit; the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to a second position according to a control strategy; the second grabbing part is used for grabbing a second unit; the first gripping portion is used for placing the first unit on the second position. Through setting up first grabbing portion and second grabbing portion, robotic arm only need carry out a action, can accomplish the replacement operation of first unit to the second unit, and it is shorter to consume time, has promoted the work efficiency of manipulator operation equipment.

The method for controlling the manipulator operation equipment provided by the embodiment of the application comprises the following steps: acquiring a target image from an image acquisition device, wherein the target image is an image of a target object acquired by the image acquisition device; according to a target image acquisition control strategy, the control strategy comprises the steps of replacing a second unit placed at a second position with a first unit placed at a first position, wherein the first position and the second position are different positions on a target object; after the mechanical arm is controlled to move to a first position, the first grabbing part grabs a first unit; after the mechanical arm is controlled to move to a second position, the second grabbing part grabs a second unit; the first grasping portion is controlled to place the first unit at the second position. Through the work of control first grabbing portion and second grabbing portion, robotic arm only need carry out action once, can accomplish the replacement operation of first unit to the second unit, and it is shorter to consume time, has promoted the work efficiency of manipulator operation equipment.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a manipulator operation device according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a gripping portion of a manipulator operation device according to an embodiment of the present disclosure;

FIG. 3 is a schematic view of a structure of a gripping portion of a manipulator handling apparatus according to an embodiment of the present disclosure;

fig. 4 is a schematic structural view of another implementation of a gripping portion of the manipulator operation device provided in the embodiment of the present application;

fig. 5 is a top view of a manipulator operation apparatus provided in an embodiment of the present application;

FIG. 6 is a flow chart of one embodiment of a method for controlling a manipulator operating device according to embodiments of the present application;

FIG. 7 is a flowchart of another embodiment of a method for controlling a manipulator operating device according to an embodiment of the present disclosure;

FIG. 8 is a side view of a robotic manipulation device provided in an embodiment of the present application;

FIG. 9 is a flowchart of another embodiment of a method for controlling a manipulator operating device according to an embodiment of the present disclosure;

FIG. 10 is a flowchart of another embodiment of a method for controlling a manipulator operating device according to an embodiment of the present disclosure;

FIG. 11 is a flowchart of another embodiment of a method for controlling a manipulator operating device according to an embodiment of the present disclosure;

FIG. 12 is a schematic diagram of a computer device provided in an embodiment of the present application;

fig. 13 is a schematic diagram of a control device of a manipulator operation apparatus according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The game process of chess games represented by chess is mainly carried out by chess eating, and currently, when chess eating actions are completed, the mechanical arm needs to act twice, namely, the eaten chess pieces are moved out of the chessboard firstly, then the main chess pieces are placed at the positions of the eaten chess pieces, the robot chess eating actions consume long time and have lower efficiency, and the game time is prolonged. The user experience is affected.

Therefore, in order to solve the above-mentioned problem, the embodiment of the application provides a manipulator operation device and a control method, which can improve the execution efficiency of chess eating operation in the chess game process by arranging two grabbing parts. For ease of understanding, the apparatus provided in the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

It should be noted that the manipulator operation device and the control method provided by the embodiment of the present application may be applied to a plurality of different application scenarios, and the embodiment of the present application is not limited thereto, for example, the manipulator operation device and the control method provided by the embodiment of the present application may be applied to fields of chess games, goods sorting or mechanical arm installation, etc. When the manipulator operation equipment provided by the embodiment of the application is used for a chess game, the target object is a chessboard, the operated units are chesses, and the manipulator operation equipment is used for replacing a first chessman originally placed at a first position on the chessboard with a second chessman placed at a second position, so that the first chessman is used for playing the second chessman. When the manipulator operation equipment provided by the embodiment of the application is used for sorting cargoes, the target object is a cargo placing area, the operated unit is cargoes, the manipulator operation equipment is used for replacing the second cargoes placed at the second position with the first cargoes placed at the first position on the cargo placing area originally, and therefore the cargoes are tidied. When the manipulator operation equipment provided by the embodiment of the application is used for installing a manipulator, the target object is a workpiece to be installed, the operated unit is a part, the manipulator operation equipment is used for replacing a first part originally installed at a first position on the workpiece to be installed with a second part installed at a second position, and therefore replacement of the part on the workpiece is achieved.

For ease of understanding, the specific embodiments of the present application take a chess game as an example to describe the manipulator operation device and the control method provided in the embodiments of the present application in detail, but do not limit the usage scenario of the present application.

Referring to fig. 1, as shown in fig. 1, a manipulator operation apparatus provided in an embodiment of the present application specifically includes:

a processing device (not shown), an image acquisition device 101, and a robot arm 102, the robot arm 102 being connected to a first gripper 103 and a second gripper 104. Wherein:

the image acquisition means 101 are for acquiring a checkerboard image.

In this embodiment, the image obtaining apparatus 101 may be a camera, as shown in fig. 1, and the camera is suspended above the chessboard 106 through the bracket 105, so as to perform nodding on the chessboard 106, thereby obtaining an image of the chessboard 106 in the whole game situation.

The processing means are arranged to obtain a control strategy based on the image of the board 106, the control strategy comprising replacing a second pawn placed at a second position with a first pawn placed at a first position, the first position and the second position being different positions on the board 106.

In this embodiment, the processing device includes a visual processing module, which may be a graphics processor (graphics processing unit, GPU), and a computing module, which may be a central processing unit (central processing unit, CPU), specifically:

The vision processing module is used for performing vision recognition on the chessboard 106 image to obtain a recognition result.

In this embodiment, the vision processing module converts the image of the board 106 into identifiable information through a vision processing technology, and the identification result includes coordinate points of positions where each piece can fall in the board 106, roles of each piece, and the like, and the identification result is used for reflecting the overall game information of the current game.

The calculation module is used for acquiring a control strategy according to the identification result.

In this embodiment, based on the recognition result, the computing module may acquire the control policy in two ways, first, through an artificial intelligence (artificial intelligence, AI) program built in the computing module, the control policy is automatically generated according to the recognition result, the AI program is trained, and has the capability of playing chess, and specific training methods of the AI program may be various methods of AI training, which is not limited in this embodiment of the present application. 2. The playing operation of the remote user is acquired, specifically, the first manipulator operation device is remotely connected with the second manipulator operation device through a network by using the first calculation module of the first manipulator operation device, after the second manipulator operation device acquires the playing operation of the second player through the second image acquisition device 101, the playing operation of the second player is sent to the first calculation module through the second processing device, and the first calculation module generates a control strategy according to the playing operation of the second player. Therefore, remote play among real players is realized through the manipulator operation equipment provided by the embodiment of the application.

Further, the control strategy acquired by the processing device needs to be executed by the mechanical arm 102, as shown in fig. 1, the mechanical arm 102 may include a first joint 1021, a fourth joint 1022, a fifth joint 1023, and a sixth joint 1024, where the first four joint is connected to the base, its rotation axis is perpendicular to the base plane direction, for controlling the mechanical arm 102 to rotate in the horizontal plane direction, the fifth joint 1023 is connected to the sixth joint 1024, its rotation axis is parallel to the base plane direction, for controlling the mechanical arm 102 to rotate in the vertical plane direction, the fourth joint 1022 is connected to the fifth joint 1023 through a first link 1025, its mobility is consistent with that of the fifth joint 1023, for controlling the extension and retraction of the mechanical arm 102, and the first joint 1021 is connected to the fourth joint 1022 through a second link 1026, for controlling the movement of the first gripper 103 and the second gripper 104.

Specifically, the first gripping portion 103 and the second gripping portion 104 are respectively connected with a first joint 1021 on the mechanical arm 102, and the first joint 1021 is used for driving the first gripping portion 103 and the second gripping portion 104 to move relative to the chessboard 106.

Alternatively, the first joint 1021 may be replaced by a second joint and a third joint, that is, the second joint and the third joint are connected to the fourth joint 1022 through a third link, where the second joint is used to drive the first gripping portion 103 to move relative to the board 106, and the third joint is used to drive the second gripping portion 104 to move relative to the board 106.

Alternatively, the above description of the number of joints of the manipulator arm 102 is merely an example, and a person skilled in the art may design any number of joints with any degree of mobility according to actual working needs to implement the movement of the manipulator arm 102, so as to achieve the purpose of controlling the first gripper 103 and the second gripper 104 to reach any position of the board 106 and perform relative movement with the board 106.

The above-mentioned relative movement refers to the movement of the first gripping portion 103 and the second gripping portion 104 toward the board 106 or away from the board 106.

The mechanical arm 102 is configured to drive the first gripping portion 103 to move to the first position according to a control strategy.

In this embodiment, the control strategy includes two types, one is to move the chess piece to a position without the chess piece, so as to realize the movement; the other is to move the chessmen to a position with chessmen to realize chess. For the first case, only the first grabbing portion 103 or the second grabbing portion 104 is needed to grab the chess pieces to the target position, and the second case is mainly described in the application.

The first gripping part 103 is for gripping the first pawn.

In this embodiment, after the first grabbing portion 103 is driven to the first position by the mechanical arm 102, the first chess piece is grabbed, so as to hold the first chess piece.

The mechanical arm 102 is configured to drive the first gripping portion 103 and the second gripping portion 104 to move to the second position according to the control strategy.

In this embodiment, the second position is the target position of the first chess piece for playing, so the mechanical arm 102 moves the first gripping portion 103 and the second gripping portion 104 to the second position, so as to execute the subsequent steps.

The second gripping part 104 is used for gripping a second pawn.

In this embodiment, after moving to the second position, the first capturing portion 103 captures the first chess piece, and at this time, the second capturing portion 104 is idle, so that the second capturing portion 104 captures the second chess piece at the second position. So that the second position is changed from a state occupied by the second pawn to a pawn-free state.

The first gripping part 103 is used for placing the first pawn in the second position.

In this embodiment, the first gripping portion 103 places the first chess piece at the second position, so that the first chess piece is replaced with the second chess piece at the second position, and from the aspect of the chess game, the first chess piece is used for playing the second chess piece.

When the chess playing operation is completed, the mechanical arm 102 drives the second grabbing portion 104 to move to the discarding slot, and the second chess piece to be played is placed in the discarding slot 107.

The manipulator operation device provided by the application comprises: the image acquisition device is connected with the first grabbing part and the second grabbing part; the image acquisition device is used for acquiring the chessboard image; the processing device is used for acquiring a control strategy according to the chessboard image, wherein the control strategy comprises the steps of replacing a second chess piece placed at a second position with a first chess piece placed at a first position, and the first position and the second position are different positions on the chessboard; the mechanical arm is used for driving the first grabbing part to move to a first position according to a control strategy; the first grabbing part is used for grabbing the first chess pieces; the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to a second position according to a control strategy; the second grabbing part is used for grabbing a second chess piece; the first gripping part is used for placing the first chessman at the second position. Through setting up first grabbing part and second grabbing part, robotic arm only need carry out a action, can accomplish and eat chess operation, and it is shorter to consume time, has promoted the work efficiency of manipulator operation equipment.

It should be noted that, the first gripping portion and the second gripping portion may have multiple implementation manners, which are not limited to this embodiment of the present application, and as an example, three specific implementations are provided in this embodiment of the present application, namely, one-hook gripping and claw-hook gripping; 2. sucking by a sucker; 3. and (5) sucking by a magnet. For ease of understanding, these three implementations are each described in detail below.

It should be further noted that the first gripping portion and the second gripping portion may be implemented in the same manner, or may be implemented in any one of the three manners, which is not limited to this embodiment of the present application, and hereinafter, the first gripping portion and the second gripping portion are collectively referred to as a gripping portion.

1. And grabbing by using a claw hook.

Referring to fig. 2, as shown in fig. 2, the capturing portion provided in the embodiment of the present application includes a housing 201, a motor (not shown) disposed inside the housing 201, and at least two hooks 202, where the motor is used to drive the at least two hooks 202 to approach each other, so as to capture the chess pieces.

The motor drives the claw hooks to approach each other in any mode in the prior art, for example, as shown in fig. 3, the motor 301 drives the first transmission gear 302 to rotate through the rotation of the output shaft, the first transmission gear 302 drives the second transmission gear 303 to rotate, the second transmission gear 303 drives the claw hooks 304 to move, and the other side adopts a symmetrical structure, so that the two claw hooks approach each other, and the grabbing is realized; alternatively, as shown in fig. 4, the output shaft of the motor 401 moves longitudinally, dragging the pull rod 402 to move, and the pull rod 402 drags the claw 403 to move, so that the claw hooks approach each other to achieve grabbing.

It should be noted that the number of the pawns is at least two, so that the two pawns can be relatively close to each other to clamp the pawns, and it can be understood that the more the number of the pawns is, the more stable the clamp is formed, but at the same time, because in the chess game, the pawns are close to each other, the space between the pawns for clamping can be reduced, therefore, the fewer pawns can flexibly cope with the placing conditions of various pawns, the number of the pawns is preferably two, and the two pawns are relatively arranged.

Optionally, the inboard of claw hook is provided with soft gasket for promote frictional force, be favorable to carrying out the centre gripping to the piece.

2. Sucking by a sucker.

In this embodiment, the grasping portion includes: the negative pressure device is used for generating negative pressure, for example, the negative pressure device can be a fan assembly, suction force is generated through reverse blowing, the generated negative pressure penetrates through the suction disc to suck chessmen, and the suction disc is made of soft rubber or silica gel. To promote friction and adsorption.

3. And (5) sucking by a magnet.

In this embodiment, in order to implement the scheme, the target chess is required to be modified, and a metal material capable of being magnetically adsorbed, such as iron blocks or iron powder, is arranged in the chess. The grabbing part is provided with an electromagnet, when the grabbing part needs to grab the chess, the electromagnet is electrified to be controlled to generate magnetic force, and the object chess is adsorbed, so that the chess is grabbed.

Among the above-mentioned three kinds of realization modes of snatch portion, the scheme that magnet absorbed needs the object chess to reform transform, and the scheme that the sucking disc absorbed, because the surface of chess is uneven, there is the recess of carving the characters and leaving, takes place gas leakage when causing the sucking disc to absorb, causes the absorption unstable, consequently, claw hook snatches and is the most preferred embodiment, neither need reform transform the chess, can not appear snatching unstable condition again.

It should be noted that in the chess game process, the chess game is divided into a own round and a opponent round, and the man-machine playing system of the application is divided into a player round and a device round, wherein the player round is played by a real player, and the device round is played by a device control mechanical arm, so that a set of man-machine interaction system is required to be set, so that the device knows when the chess game is played by the player and when the chess game is played by the device round. For easy understanding, the following describes the man-machine interaction system of the manipulator operation device provided in the embodiment of the present application in detail.

As shown in fig. 1, the man-machine interaction system of the manipulator operation device provided in the embodiment of the present application includes a button box 108, a light band 109 and a sound box 110, where the button box 108 includes a first button 1081 and a second button 1082, and when a user presses the first button 1081, a round start command is sent to a processing device, so that the processing module knows that the device round is currently started to be executed, and a mechanical arm plays chess, and at this time, the processing module sequentially drives an image acquisition device to acquire a chessboard image, generates a control strategy, and controls the mechanical arm to play chess or play chess. The light belt 109 is arranged around the chessboard placement position, in the device round, the light belt 109 displays red light for informing the player that the device round is currently used, the chessboard or the chessman are not touched, after the mechanical arm finishes playing or eating the chessman, the device round is ended, the light belt 109 displays green light for prompting the player, the player enters the player round currently, and the player is asked to play the chessman. The sound box 110 is arranged at one side of the button box 108 and is connected with the processing device and the button box 108, when the game is switched between the player round and the equipment round, the sound box 110 sends out voice prompt information to prompt the user of the current round state, further, the sound box 110 and the device can be used for sending out other voice prompt information, for example, the current step is a general step, or the current operation does not accord with the game rule, and the like.

Further, the button box 108 is further provided with a second button 1082, and when the player does not want to continue the current game, the second button 1082 is pressed to send a round-ending command to the processing device, and the processing device initializes the apparatus according to the round-ending command, and prepares to start a new game.

It should be noted that, in the course of the equipment round, the robotic arm work, if the staff stretches into the scope of chess board, probably can be bumped by the work of robotic arm, have certain danger, consequently, in order to protect player's safety, the manipulator operation equipment that this application embodiment provided still includes detection device, prevents that the user from stretching into the chess board area with the hand in the equipment round and leading to dangerous emergence.

The detection device may be specifically a laser radar or an ultrasonic radar, and the specific implementation manner of the detection device is not limited, and as shown in fig. 1, the detection device is disposed on a support. As shown in fig. 5, in the device round, the detecting device 501 is used for detecting during the operation of the mechanical arm 502, specifically, the detecting device 501 emits a detecting surface 503, such as a laser detecting surface or an ultrasonic detecting surface, the detecting surface 503 is located between the player 504 and the board 505, when the player 504 stretches his hand into the board area, the detecting device 501 can sense that an object enters the board area, at this time, the detecting device 501 sends a scram signal to the processing device, the processing device drives the mechanical arm 502 to stop working and return to an initial state, so as to prevent the mechanical arm 502 from hurting a person, at this time, the detecting device 501 can also send an alarm signal to the man-machine interaction device, and the man-machine interaction device plays a preset voice through the sound box 506, for example, the preset voice may be "danger-! The device does not extend the hand into the board area for the round. ", thereby prompting the player. When the player pulls out the hands, the detection device detects that no obstacle exists on the detection surface, a danger elimination message is sent to the processing device, and the processing device resumes normal operation.

The manipulator operation device provided in the embodiment of the present application is described above.

In order to enable the manipulator operation device provided by the embodiment of the application to work smoothly, the embodiment of the application further provides a control method of the manipulator operation device, and based on the manipulator operation device, the manipulator operation device can be controlled, so that the aim of chess eating operation in one action through two grabbing parts is achieved. The method is performed by a processing device. For ease of understanding, the methods provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

Referring to fig. 6, as shown in fig. 6, an embodiment of a method for controlling a manipulator operation device according to an embodiment of the present application includes the following steps.

601. A target image is acquired from an image acquisition device.

In this embodiment, as described above, the image capturing device may be a camera, and the image capturing device captures an image of a target object, where the target object may be a board, including a board, and a placement position of a piece on the board, optionally, according to different usage scenarios, the target object may also be a goods placement area, or a workpiece to be installed, etc., for convenience of understanding, the embodiment of the present application only uses the target object as the board to describe, but does not constitute limitation of the present application.

602. And acquiring a control strategy according to the target image.

the vision processing module is used for performing vision recognition on the chessboard image to obtain a recognition result.

In this embodiment, the vision processing module converts the target image into identifiable information through a vision processing technology, and when the target object is a board, the identification result includes coordinate points of positions in the board where each piece can fall, roles of each piece, and the like, and the identification result is used for reflecting the overall game information of the current game.

Specifically, based on the recognition result, the computing module may acquire the control policy in two ways, firstly, through an artificial intelligence (artificial intelligence, AI) program built in the computing module, the control policy is automatically generated according to the recognition result, the AI program is trained, the capability of playing chess is provided, and specific training methods of the AI program may be various methods of AI training, which is not limited in this embodiment of the present application. 2. The method comprises the steps that a first manipulator operation device is remotely connected with a second manipulator operation device through a network by using a first calculation module of the first manipulator operation device, after the second manipulator operation device obtains the chess playing operation of a second player through a second image obtaining device, the chess playing operation of the second player is sent to the first calculation module through a second processing device, and the first calculation module generates a control strategy according to the chess playing operation of the second player. Therefore, remote play among real players is realized through the manipulator operation equipment provided by the embodiment of the application.

Specifically, when the current operation includes a chess-playing operation, the control strategy includes replacing a second chess piece placed in a second location with a first chess piece placed in a first location, the first location and the second location being different locations on the board. I.e. eating the second pawn with the first pawn.

603. And after the mechanical arm is controlled to move to the first position, the first grabbing part grabs the first unit.

In this embodiment, the mechanical arm may include each joint structure as shown in fig. 1, which may be specifically referred to the above description, and is not described herein again, when the target object is a board, the mechanical arm may freely move to any position of the board, and when the second unit needs to be replaced by the first unit, that is, the first chess piece eats the second chess piece, the mechanical arm is controlled to drive the first grabbing portion to the first position where the first chess piece is located, and the first grabbing portion grabs the first chess piece.

604. And after the mechanical arm is controlled to move to the second position, the second grabbing part grabs the second unit.

In this embodiment, the second position is a chess playing position, and the mechanical arm drives the second grabbing portion to move to the second position, and then grabs the second chess piece with the second grabbing portion free.

605. The first grasping portion is controlled to place the first unit at the second position.

In this embodiment, the first gripping portion places the first chess piece at the second position, so that the first chess piece is replaced with the second chess piece at the second position, and from the aspect of the chess game, the first chess piece is used for playing the second chess piece.

After the chess eating operation is completed, the mechanical arm drives the second grabbing part to move to the chess piece discarding groove, and the eaten second chess pieces are placed into the chess piece discarding groove.

In this embodiment, a method for controlling a manipulator operation device includes: obtaining a chessboard image from an image obtaining device, wherein the chessboard image is an image of a chessboard obtained by the image obtaining device; according to the chessboard image acquisition control strategy, the control strategy comprises the steps of replacing a second chess piece placed at a second position with a first chess piece placed at a first position, wherein the first position and the second position are different positions on the chessboard; after the mechanical arm is controlled to move to a first position, the first grabbing part grabs the first chess pieces; after the mechanical arm is controlled to move to a second position, the second grabbing part grabs a second chess piece; the first gripping part is controlled to place the first pawn in the second position. Through the work of control first grabbing portion and second grabbing portion, robotic arm only need carry out action once, can accomplish and eat chess operation, and it is shorter to consume time, has promoted the work efficiency of manipulator operation equipment.

It should be noted that, the first grabbing portion and the second grabbing portion may be connected to the mechanical arm through a joint in common, and the first grabbing portion and the second grabbing portion may also be respectively connected to the mechanical arm through a joint.

Referring to fig. 7, as shown in fig. 7, an embodiment of a method for controlling a manipulator operation device according to the present application includes the following steps.

Steps 701 to 702 can be referred to above in steps 601 to 602, and will not be described here again.

703. The robotic arm is controlled to move to a first position.

704. After the first grabbing part is controlled to be close to the first chess piece through the first joint, grabbing the first chess piece.

In this embodiment, referring to fig. 8, as shown in fig. 8, the first joint 805 rotates along the direction 801, so that the first grabbing portion 802 is perpendicular to the direction of the chessboard, and then the mechanical arm drives the first grabbing portion 802 to descend, so as to approach the first chess piece, and the first grabbing portion 802 is controlled to grab the first chess piece. After the grabbing is completed, the mechanical arm drives the first grabbing portion 802 to ascend so as to perform subsequent actions.

705. The robot arm is controlled to move to the second position.

706. After the second grabbing part is controlled to be close to the second chess piece through the first joint, grabbing the second chess piece.

In this embodiment, after the mechanical arm is controlled to move to the second position, as shown in fig. 8, the first joint continues to rotate along the direction 801, so that the second grabbing portion 803 is perpendicular to the direction of the chessboard, and then the mechanical arm drives the second grabbing portion 803 to descend, so as to approach the second chess piece, and the second grabbing portion 803 is controlled to grab the second chess piece. After the grabbing is completed, the mechanical arm drives the second grabbing portion 803 to ascend so as to perform subsequent actions.

707 control the second gripping portion away from the board by means of the first joint.

In this embodiment, after the mechanical arm drives the second grabbing portion to ascend, the first joint rotates along the direction 804, so that the second grabbing portion is far away from the chessboard.

708. The first grabbing part is controlled to be close to the chessboard through the first joint, and the first chessmen are placed at the second position.

In this embodiment, as shown in fig. 8, the first joint 805 rotates along the direction 804, so that the first grabbing portion 802 where the first chess piece is grabbed is perpendicular to the board plane, and then the first grabbing portion 802 is driven by the mechanical arm to descend, so as to place the first chess piece in the second position.

In this embodiment, the robotic arm is connected with first grabbing portion and second grabbing portion through a first joint, through the rotation of control first joint, controls first grabbing portion and second grabbing portion and is close to the different pieces of different positions to realize the one-shot operation of robotic arm, replace the piece, realize eating chess operation. The time consumption is short, and the working efficiency of the manipulator operation equipment is improved.

It should be noted that, the first gripping portion and the second gripping portion may have multiple implementation manners, which are not limited to this embodiment of the present application, and as an example, three specific implementations are provided in this embodiment of the present application, namely, one-hook gripping and claw-hook gripping; 2. sucking by a sucker; 3. and (5) sucking by a magnet. The specific structure of these three embodiments can be referred to above, and will not be described here again.

It should be further noted that the first gripping portion and the second gripping portion may be implemented in the same manner, or may be implemented in any one of the three manners, which is not limited to this embodiment of the present application.

As a preferred implementation manner, in this embodiment of the present application, the first grabbing portion and the second grabbing portion are both claw hook grabbing, which is taken as an example, and a specific implementation manner of grabbing the chess piece is described in detail.

Referring to fig. 9, as shown in fig. 9, a third embodiment of a method for controlling a manipulator operation device according to the present embodiment includes the following steps.

Steps 901 to 903 can be referred to as steps 701 to 703, which are repeated herein.

904. After the first grabbing part is controlled to be close to the first chess piece through the first joint, the motor is controlled to drive at least two claw hooks to be close to each other, so that grabbing of the first chess piece is achieved.

In this embodiment, the manner of controlling the first grabbing portion to approach the first chess piece through the first joint may refer to the description of step 704, and will not be described herein. The connection mode of the motor and the claw hook can be any mode described in fig. 3 or fig. 4, and the claw hooks are driven by the motor to approach each other, so that the claw hooks can grasp chessmen.

905. The robot arm is controlled to move to the second position.

In this embodiment, the step can refer to step 705, and will not be described herein.

906. After the second grabbing part is controlled to be close to the second chess piece through the first joint, grabbing the second chess piece.

In this embodiment, the manner in which the first joint controls the second grabbing portion to approach the second chess piece may refer to the description of step 706, which is not described herein. The connection mode of the motor and the claw hook can be any mode described in fig. 3 or fig. 4, and the claw hooks are driven by the motor to approach each other, so that the claw hooks can grasp chessmen.

907. The first grabbing part is controlled to be close to the chessboard through the first joint, and the motor is controlled to drive at least two pawns to be far away from each other, so that the first chessman is released.

In this embodiment, the manner of controlling the second grabbing portion to approach the chessboard by the first joint can be referred to the description of step 708, and will not be repeated here. The connection mode of the motor and the claw hook can be any mode described in fig. 3 or fig. 4, and the claw hooks are driven by the motor to be far away from each other, so that the release of the claw hooks to the chessmen is realized. The placement of the first pawn is completed.

Further, after chess playing is completed, the mechanical arm drives the second grabbing part to move to the discard slot, and then the motor of the second grabbing part drives the claw hooks to be away from each other, so that the second chess pieces are released into the discard slot, and the discard is placed.

It should be noted that in the chess game process, the chess game is divided into a own round and a opponent round, and the man-machine playing system of the application is divided into a player round and a device round, wherein the player round is played by a real player, and the device round is played by a device control mechanical arm, so that a set of man-machine interaction system is required to be set, so that the device knows when the chess game is played by the player and when the chess game is played by the device round. For easy understanding, the following describes in detail the man-machine interaction steps of the method for controlling the manipulator operation device provided in the embodiment of the present application.

Referring to fig. 10, as shown in fig. 10, an embodiment four of a method for controlling a manipulator operation device according to the embodiment of the present application includes the following steps.

1001. The first button command sent by the button box is acquired.

In this embodiment, the first button command is a command that the player presses after the player has executed the round, so that the processing apparatus can know that the current round is the device round, and can start executing the subsequent operation.

1002. The first color is displayed by the light strip.

In this embodiment, the specific color of the first color is not specifically limited, and may alternatively be red, so as to prompt the player through red light, where the current turn is a device turn, and do not touch the chessboard.

1003. The sound box sends out a first preset voice.

In this embodiment, the first preset voice is used to prompt the player that the current round is a device round, for example, the first preset voice may be: "currently playing chess by opponents". "

1004 to 1008 can refer to the steps 601 to 605, specifically, the step of playing chess by the control device is described herein again, alternatively, playing chess can be achieved by the method of the second embodiment or the third embodiment, which is not described herein again.

1009. The second color is displayed by the light strip.

In this embodiment, after the device completes the device round, the mechanical arm is driven to return to the initial state, the second color is used to prompt the player, the current round is the player round, and the chess playing can be performed, and the second color is distinguished from the first color, but the specific color is not particularly limited, and alternatively may be green.

1010. The sound box sends out a second preset voice.

In this embodiment, the second preset voice is used to prompt the player that the current round is a round of the player, for example, the first preset voice may be: "please go chess". "

During the operation of steps 1001 to 1010, the speaker may be used to make any preset sounds associated with the chess game, for example, when the user or the device is engaged in a general game: "general".

In the above steps 1001 to 1010, the following steps are further included.

And acquiring a second button command sent by the button box.

And controlling the mechanical arm to return to the initial state according to the second button command.

In this embodiment, when the player does not want to continue the game, the second button is pressed to input a second button command for informing the processing device unit to end the game, and the processing device controls the mechanical arm to return to the initial state in preparation for starting a new game.

It should be noted that, in the process of the device round and the mechanical arm working, if a hand stretches into the range of the chessboard, the hand may be damaged by the working of the mechanical arm, and a certain danger is provided, so in order to protect the safety of a player, the mechanical arm operation device control method provided by the embodiment of the application further includes a detection step, so that the danger is prevented from being caused when the user stretches the hand into the chessboard area in the device round. In order to facilitate understanding, the following describes in detail the detection steps of the method for controlling the manipulator operation device provided in the embodiment of the present application.

Referring to fig. 11, as shown in fig. 11, a fourth embodiment of a method for controlling a manipulator operation device according to the present embodiment includes the following steps.

1101. The first button command sent by the button box is acquired.

This step can refer to step 1001, and will not be described herein.

1102. The detection surface is transmitted by the detection device.

In this embodiment, the detection device may specifically be a laser radar or an ultrasonic radar, and the specific implementation manner of the detection device is not limited, and as shown in fig. 1, the detection device is disposed on a support. As shown in fig. 5, in the device round, the detecting device is used for detecting during the operation of the mechanical arm, specifically, the detecting device emits a detecting surface, such as a laser detecting surface or an ultrasonic detecting surface, which is located between the player and the board, and when the player stretches into the board area, the detecting range of the detecting surface is entered, and at this time, the detecting device can sense that an object enters the board area. Thereby detecting during the operation of the mechanical arm.

1103. When the object is detected to enter the area of the chessboard, the mechanical arm is driven to stop working.

In this embodiment, when the detection surface detects an obstacle, it is determined that an object enters the board area, and at this time, the mechanical arm is driven to stop working, so as to prevent the player from being injured by the action of the mechanical arm.

1104. And emitting preset light through the lamp strip.

In this embodiment, the preset light is used to warn the player that the current hand-extending operation is dangerous operation, and the specific implementation manner of the preset light is not limited, and may be, for example, a continuously flashing red light.

1105. And sending out a third preset voice through the sound box.

In this embodiment, the third preset voice is used to remind the user to remove the hand from the chessboard area, for example, the third preset voice may be: "do not enter the checkerboard area during the robot arm operation". Thereby making the player aware of the cause of the current anomaly. And meanwhile, the safety of the player is ensured.

When the player withdraws his arm, the detecting device detects that there is no obstacle on the detecting surface, and at this time, normal operation is resumed, and the steps 1002 to 1010 are continued.

The method for controlling the manipulator operation equipment provided by the embodiment of the application comprises the following steps: obtaining a chessboard image from an image obtaining device, wherein the chessboard image is an image of a chessboard obtained by the image obtaining device; according to the chessboard image acquisition control strategy, the control strategy comprises the steps of replacing a second chess piece placed at a second position with a first chess piece placed at a first position, wherein the first position and the second position are different positions on the chessboard; after the mechanical arm is controlled to move to a first position, the first grabbing part grabs the first chess pieces; after the mechanical arm is controlled to move to a second position, the second grabbing part grabs a second chess piece; the first gripping part is controlled to place the first pawn in the second position. Through the work of control first grabbing portion and second grabbing portion, robotic arm only need carry out action once, can accomplish and eat chess operation, and it is shorter to consume time, has promoted the work efficiency of manipulator operation equipment.

The above description has been made on the solution provided in the embodiments of the present application. It will be appreciated that the processing means may be a computer device comprising hardware structures and/or software modules for performing the functions described above. Those of skill in the art will readily appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

The method may be implemented by one entity device, or may be implemented by a plurality of entity devices together, or may be a logic functional module in one entity device, which is not specifically limited in the embodiment of the present application.

For example, the methods described above may all be implemented by the computer device in fig. 12. Fig. 12 is a schematic hardware structure of a computer device according to an embodiment of the present application. The computer device includes at least one processor 1201, communication lines 1202, memory 1203, and at least one communication interface 1204.

The processor 1201 may be a general purpose central processing unit (central processing unit, CPU), microprocessor, application-specific integrated circuit (server IC), or one or more integrated circuits for controlling the execution of programs in accordance with aspects of the present application.

Communication line 1202 may include a pathway to transfer information between the aforementioned components.

The communication interface 1204, using any transceiver-like means for communicating with other devices or communication networks, such as ethernet, radio access network (radio access network, RAN), wireless local area network (wireless local area networks, WLAN), etc.

The memory 1203 may be, but is not limited to, a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (electricallyer able programmable read-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disc storage, a compact disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be separate and coupled to the processor via communication line 1202. The memory may also be integrated with the processor.

The memory 1203 is used for storing computer-executable instructions for executing the embodiments of the present application, and is controlled by the processor 1201. The processor 1201 is configured to execute computer-executable instructions stored in the memory 1203, thereby implementing the methods provided in the above embodiments of the present application.

Alternatively, the computer-executable instructions in the embodiments of the present application may be referred to as application program codes, which are not specifically limited in the embodiments of the present application.

In a particular implementation, the processor 1201 may include one or more CPUs, such as CPU0 and CPU1 in fig. 12, as one embodiment.

In a particular implementation, as one embodiment, a computer device may include multiple processors, such as processor 1201 and processor 1207 in FIG. 12. Each of these processors may be a single-core (single-CPU) processor or may be a multi-core (multi-CPU) processor. A processor herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).

In a particular implementation, as one embodiment, the computer devices may also include an output device 1205 and an input device 1206. The output device 1205 is in communication with the processor 1201 and may display information in a variety of ways. For example, the output device 1205 may be a liquid crystal display (liquid crystal display, LCD), a light emitting diode (light emitting diode, LED) display device, a Cathode Ray Tube (CRT) display device, or a projector (projector), or the like. The input device 1206 is in communication with the processor 1201 and may receive input from a user in a variety of ways. For example, the input device 1206 may be a mouse, keyboard, touch screen device, or sensing device, among others.

The computer device may be a general purpose device or a special purpose device. In particular implementations, the computer device may be a desktop, laptop, web server, palmtop (personal digital assistant, PDA), mobile handset, tablet, wireless terminal device, embedded device, or device having a similar structure as in fig. 12. Embodiments of the present application are not limited in the type of computer device.

The embodiment of the application may divide the functional units of the storage device according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.

For example, in the case where the respective functional units are divided in an integrated manner, fig. 13 shows a schematic diagram of a manipulator operation device control apparatus.

As shown in fig. 13, a manipulator operation device control apparatus provided in an embodiment of the present application includes:

a first acquiring unit 1301, where the first acquiring unit 1301 is configured to acquire a target image from the image acquiring apparatus, the target image being an image of a target object acquired by the image acquiring apparatus;

a second acquiring unit 1302, where the second acquiring unit 1302 is configured to acquire a control policy according to the target image acquired by the first acquiring unit 1301, where the control policy includes replacing a second unit placed at a second position with a first unit placed at a first position, where the first position and the second position are different positions on the target object;

the first control unit 1303, where the first control unit 1303 controls the mechanical arm to move to the first position and then grasp the first unit with the first grasping portion;

a second control unit 1304, where the second control unit 1304 is configured to control the robot arm to move to the second position and then grasp the second unit with the second grasping portion;

a third control unit 1305, the third control unit 1305 is used for controlling the first grabbing part to place the first unit at the second position.

Optionally, the first grabbing portion and the second grabbing portion are respectively connected with a first joint on the mechanical arm, and then the first control unit 1303 is further configured to:

the second control unit 1304 is further configured to:

the third control unit 1305 is further configured to:

Optionally, the first gripping portion is connected to a second joint on the mechanical arm, and the second gripping portion is connected to a third joint on the mechanical arm, and then the first control unit 1303 is further configured to:

the second control unit 1304 is further configured to:

the third control unit 1305 is further configured to:

Optionally, the first gripping part and/or the second gripping part comprises a motor and at least two claw hooks, and the first control unit 1303 is further configured to:

the second control unit 1304 is further configured to:

the third control unit 1305 is further configured to:

Optionally, the processing device includes a vision processing module and a computing module, and the second obtaining unit 1302 is configured to:

Optionally, the apparatus further comprises a detection device; the device further comprises a detection unit 1306, the detection unit 1306 being adapted to:

Further, embodiments of the present invention also provide a computer storage medium including instructions that, when executed on a computer device, cause the computer device to perform the above-described method.

The detailed description of the program stored in the computer storage medium according to the embodiments of the present application may refer to the above embodiments, and will not be repeated herein.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot operating device, comprising: the device comprises a processing device, a detection device, a lamp belt, an image acquisition device and a mechanical arm, wherein the mechanical arm is connected with a first grabbing part and a second grabbing part; the first grabbing part is connected with a second joint on the mechanical arm, and the second grabbing part is connected with a third joint on the mechanical arm; the first grabbing part and the second grabbing part comprise motors and at least two claw hooks; the processing device comprises a vision processing module and a calculating module; the mechanical arm also comprises a fourth joint, a fifth joint and a sixth joint; the rotating shaft of the fourth joint is perpendicular to the plane direction of the base and is used for controlling the mechanical arm to rotate in the horizontal plane direction, the fifth joint is connected with the sixth joint, the rotating shaft of the sixth joint is parallel to the plane direction of the base and is used for controlling the mechanical arm to rotate in the vertical plane direction, the fourth joint is connected with the fifth joint through a first connecting rod, the mobility of the fourth joint is consistent with that of the fifth joint and is used for controlling the mechanical arm to stretch and retract, and the second joint and the third joint are connected with the fourth joint through a third connecting rod;

The image acquisition device is hung above a target object through a bracket and is used for acquiring a target image, wherein the target image is a nodding image of the target object acquired by the image acquisition device;

the visual processing module is used for performing visual recognition on the target image through a visual processing technology to obtain a recognition result, wherein the recognition result comprises coordinate points used for placing each unit in the target object and roles of each unit;

the computing module is used for being remotely connected with another manipulator operation device through a network, acquiring unit placement operation of another player sent by the other manipulator operation device, and generating a control strategy according to the unit placement operation of the other player and the identification result, wherein the control strategy comprises the steps of replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

the mechanical arm is used for driving the first grabbing part to move to the first position through the second joint according to the control strategy so as to be close to the first unit;

The first grabbing part is used for grabbing the first unit by controlling the motor to drive at least two claw hooks to mutually approach after approaching the first unit;

the mechanical arm is used for driving the first grabbing part and the second grabbing part to move to the second position according to the control strategy, and the third joint is used for controlling the second grabbing part to be close to the second unit;

the second grabbing part is used for grabbing the second unit by controlling the motor to drive at least two claw hooks to mutually approach after approaching the second unit;

wherein, the mode that control motor drive at least two claw hooks are close to each other includes: the motor drives a first transmission gear on one side to rotate through the rotation of an output shaft, the first transmission gear drives a second transmission gear to rotate, the second transmission gear drives the claw hooks to move, and the other side adopts a structure symmetrical to the one side, so that the at least two claw hooks are mutually close; or, the output shaft of the motor longitudinally moves to drag the pull rod to move, and the pull rod drags the at least two claw hooks to move so that the at least two claw hooks are close to each other;

the mechanical arm is further used for controlling the second grabbing part to be far away from the target object through the third joint, and controlling the first grabbing part to be close to the target object through the second joint;

The first grabbing part is used for driving at least two claw hooks to be far away from each other through a control motor after approaching to the target object, and placing the first unit at the second position;

the detection device is used for emitting a detection surface in the working process of the mechanical arm, the detection surface is positioned between a user and the target object, when the user stretches hands to enter the detection range of the detection surface, the detection device senses that an object enters the area where the target object is located and sends an emergency stop signal to the processing device, the processing device drives the mechanical arm to stop working and return to an initial state, and meanwhile the detection device sends an alarm signal to the man-machine interaction device, so that the man-machine interaction device plays preset voice through a sound box to prompt danger of the user; when the detection device detects that no obstacle exists on the detection surface, a danger elimination message is sent to the processing device, so that the processing device is restored to normal operation; the processing device is also connected with a button box and a sound box;

the processing device is used for determining a device entering round after acquiring a first button command sent by the button box, displaying a first color through the lamp band and sending a first preset voice through the sound box in the working process of the mechanical arm so as to prompt a user not to touch the target object;

The processing device is further used for sending out preset light through the lamp band and sending out third preset voice through the sound box when the detection device senses that an object enters the area where the target object is located in the working process of the mechanical arm, and the preset light is used for warning a user that the current operation is dangerous operation;

the processing device is also used for determining that a player enters a round when the mechanical arm finishes working, displaying a second color through the lamp band and sending a second preset voice through the sound box so as to prompt a user to operate; the first color is different from the second color;

the processing device is further used for acquiring a second button command sent by the button box and controlling the mechanical arm to return to an initial state according to the second button command.

2. The manipulator operation equipment control method is characterized by comprising a processing device, a detection device, a lamp belt, an image acquisition device and a manipulator, wherein the manipulator is connected with a first grabbing part and a second grabbing part, the first grabbing part is connected with a second joint on the manipulator, and the second grabbing part is connected with a third joint on the manipulator; the first grabbing part and the second grabbing part comprise motors and at least two claw hooks; the lamp strip is arranged around the area where the target object is located; the method is used for the processing device, and the processing device comprises a vision processing module and a calculating module; the processing device is also connected with a button box and a sound box; the image acquisition device is suspended above the target object through a bracket; the mechanical arm also comprises a fourth joint, a fifth joint and a sixth joint; the rotating shaft of the fourth joint is perpendicular to the plane direction of the base and is used for controlling the mechanical arm to rotate in the horizontal plane direction, the fifth joint is connected with the sixth joint, the rotating shaft of the sixth joint is parallel to the plane direction of the base and is used for controlling the mechanical arm to rotate in the vertical plane direction, the fourth joint is connected with the fifth joint through a first connecting rod, the mobility of the fourth joint is consistent with that of the fifth joint and is used for controlling the mechanical arm to stretch and retract, and the second joint and the third joint are connected with the fourth joint through a third connecting rod; the method comprises the following steps:

Acquiring a target image by the image acquisition device, wherein the target image is a nodding image of the target object;

performing visual recognition on the target image by using the visual processing module through a visual processing technology to obtain a recognition result, wherein the recognition result comprises coordinate points used for placing each unit in the target object and roles of each unit;

the computing module is remotely connected with another manipulator operation device through a network, unit placement operation of another player sent by the other manipulator operation device is obtained, and a control strategy is generated according to the unit placement operation of the other player and the identification result, wherein the control strategy comprises the steps of replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

controlling the mechanical arm to move to the first position, controlling the first grabbing part to approach the first unit through the second joint, and controlling the motor to drive at least two claw hooks to approach each other so as to grab the first unit through the first grabbing part;

Controlling the mechanical arm to move to the second position, controlling the second grabbing part to approach the second unit through the third joint, and controlling the motor to drive at least two claw hooks to approach each other so as to grab the second unit through the second grabbing part;

the second grabbing part is controlled to be far away from the target object through the third joint, the first grabbing part is controlled to be close to the target object through the second joint, and the motor is controlled to drive at least two claw hooks to be far away from each other so as to place the first unit at the second position;

After the processing device acquires a first button command sent by the button box, determining a device entering round, transmitting a detection surface through the detection device and displaying a first color through the lamp band in the working process of the mechanical arm, and sending a first preset voice through the sound box to prompt a user not to touch the target object; the detection surface is positioned between a user and the target object;

when a user stretches hands into the detection range of the detection surface, the detection device senses that an object enters the area where the target object is located and sends a scram signal to the processing device, the processing device drives the mechanical arm to stop working and return to an initial state, meanwhile, the detection device sends an alarm signal to the man-machine interaction device, the man-machine interaction device plays preset voice through a sound box to prompt danger of the user, and sends preset light through the light band and sends third preset voice through the sound box, and the preset light is used for warning the user that the current operation is dangerous operation;

when the detection device detects that no obstacle exists on the detection surface, a danger elimination message is sent to the processing device, so that the processing device is restored to normal operation;

When the mechanical arm finishes working, determining to enter a player round, displaying a second color through the lamp band, and sending a second preset voice through the sound box to prompt a user to operate; the first color is different from the second color;

and acquiring a second button command sent by the button box through the processing device, and controlling the mechanical arm to return to an initial state according to the second button command.

3. The manipulator operation equipment control device is characterized by comprising a processing device, a detection device, a lamp belt, an image acquisition device and a manipulator arm, wherein the manipulator arm is connected with a first grabbing part and a second grabbing part, the first grabbing part is connected with a second joint on the manipulator arm, and the second grabbing part is connected with a third joint on the manipulator arm; the first grabbing part and the second grabbing part comprise motors and at least two claw hooks; the manipulator operation equipment control device is applied to the processing device, and the processing device comprises a vision processing module and a calculation module; the processing device is also connected with a button box and a sound box; the image acquisition device is suspended above the target object through a bracket; the mechanical arm also comprises a fourth joint, a fifth joint and a sixth joint; the rotating shaft of the fourth joint is perpendicular to the plane direction of the base and is used for controlling the mechanical arm to rotate in the horizontal plane direction, the fifth joint is connected with the sixth joint, the rotating shaft of the sixth joint is parallel to the plane direction of the base and is used for controlling the mechanical arm to rotate in the vertical plane direction, the fourth joint is connected with the fifth joint through a first connecting rod, the mobility of the fourth joint is consistent with that of the fifth joint and is used for controlling the mechanical arm to stretch and retract, and the second joint and the third joint are connected with the fourth joint through a third connecting rod; the manipulator operation device control apparatus includes:

A first acquisition unit configured to acquire a target image, which is a nodding image of the target object, through the image acquisition device;

the second acquisition unit is used for carrying out visual recognition on the target image by utilizing the visual processing module through a visual processing technology so as to obtain a recognition result, wherein the recognition result comprises coordinate points used for placing each unit in the target object and roles of each unit; the computing module is remotely connected with another manipulator operation device through a network, unit placement operation of another player sent by the other manipulator operation device is obtained, and a control strategy is generated according to the unit placement operation of the other player and the identification result, wherein the control strategy comprises the steps of replacing a second unit placed at a second position with a first unit placed at a first position, and the first position and the second position are different positions on the target object;

the first control unit controls the mechanical arm to move to the first position, controls the first grabbing part to approach the first unit through the second joint, and controls the motor to drive at least two claw hooks to approach each other so that the first grabbing part grabs the first unit;

The second control unit is used for controlling the mechanical arm to move to the second position, controlling the second grabbing part to approach the second unit through the third joint, and controlling the motor to drive at least two claw hooks to approach each other so as to grab the second unit through the second grabbing part;

the third control unit is used for controlling the second grabbing part to be far away from the target object through the third joint, controlling the first grabbing part to be close to the target object through the second joint and controlling the motor to drive at least two claw hooks to be far away from each other so as to place the first unit at the second position;

The detection device is used for emitting a detection surface in the working process of the mechanical arm, the detection surface is positioned between a user and the target object, when the user stretches hands to enter the detection range of the detection surface, the detection device senses that an object enters the area where the target object is located and sends an emergency stop signal to the processing device, the processing device drives the mechanical arm to stop working and return to an initial state, and meanwhile the detection device sends an alarm signal to the man-machine interaction device, so that the man-machine interaction device plays preset voice through a sound box to prompt danger of the user; when the detection device detects that no obstacle exists on the detection surface, a danger elimination message is sent to the processing device, so that the processing device is restored to normal operation;

the lamp strip is arranged around the area where the target object is located, after the processing device obtains a first button command sent by the button box, the device entering round is determined, in the working process of the mechanical arm, a first color is displayed through the lamp strip, and a first preset voice is sent through the sound box, so that a user is prompted not to touch the target object;

In the working process of the mechanical arm, if the detection device senses that an object enters the area where the target object is, preset lamplight is emitted through the lamp strip, and third preset voice is emitted through the sound box, wherein the preset lamplight is used for warning a user that the current operation is dangerous operation;

4. A computer device, the computer device comprising: the device comprises an interaction device, an input/output interface, a processor and a memory, wherein program instructions are stored in the memory;

the interaction device is used for acquiring an operation instruction input by a user;

the processor is configured to execute program instructions stored in the memory to perform the method of claim 2.

5. A computer readable storage medium comprising instructions which, when run on a computer device, cause the computer device to perform the method of claim 2.