CN103273497A - Man-machine interactive control system and method for manipulator - Google Patents
Man-machine interactive control system and method for manipulator Download PDFInfo
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- CN103273497A CN103273497A CN2013102241559A CN201310224155A CN103273497A CN 103273497 A CN103273497 A CN 103273497A CN 2013102241559 A CN2013102241559 A CN 2013102241559A CN 201310224155 A CN201310224155 A CN 201310224155A CN 103273497 A CN103273497 A CN 103273497A
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Abstract
The invention discloses a man-machine interactive control system and method for a manipulator. The control system comprises a target space coordinate information acquisition device, a programmable controller and a drive device. The target space coordinate information acquisition device transmits acquired sensor data to a controller, and a target coordinate positioning module performs coordinate transformation and calculates three-dimensional space coordinate values; and the coordinate values and some compensation attitude description serve as input of a network model to obtain some kind of feasible solving values of joints of the manipulator, and angles of the joints are rotated according to the solving values to control a drive module to complete corresponding operations. By means of the man-machine interactive control system and method, defects of operating modes of robots in unstructured environments can be offset, control tension of operators is greatly reduced, and intensions of the operators can be described and achieved easily.
Description
Technical field
The present invention relates to the control technology of various manipulators, relate in particular to the control technology that manipulator adopts the man-machine interactive tracking target.
Background technology
At present, along with the development of science and technology, the application of manipulator constantly enlarges. at present, manipulator not only is applied to traditional manufacturing industry as mining, metallurgy, oil, chemistry, fields such as boats and ships have also begun to expand to simultaneously nuclear energy, aviation, space flight, medicine, high-tech area and household cleanings such as biochemistry are in the service trade fields such as medical rehabilitation.As artificial limb, explosive-removal robot, the manipulator etc. of helping the disabled of helping the elderly on the intelligence.
So-called control mode to manipulator generally just refers to the ROBOT CONTROL mode.
At present, according to the difference of robot target state, be divided into two kinds of patterns of structuring working environment and destructuring working environment.
Be operated in the robot in the structuring working environment, because position and the attitude of its target are changeless, its action also is changeless, so all be according to the program that weaves in advance robot to be controlled generally, finish the operation element of some sequencing, as be operated in robot on the welding production line etc.The technology relevant with the present invention is the robot that is operated in the destructuring environment.
Be operated in the robot of destructuring environment, the position of its target and attitude change often at any time, and at present, the common operative scenario of this robot has following 3 kinds:
1, the operating position of robot is changeless, at this moment can come the position of real-time testing target and the relative robot coordinate system's of attitude variation by certain robotic vision system (as binocular vision system), different according to the position of target and attitude then, adjust movement position and the attitude of robot hand, and come object is operated according to planning good operating path or final goal position, personnel do not participate in its course of work that has configured, as are operated in robot on the packaging for foodstuff production line etc.
Though 2, the robot operating position changes, but can position and the attitude of target be detected in advance, in its course of work, the position of robot and target concerns relatively stable constant, at this moment, only needing that some parameter of robot control is made corresponding adjustment gets final product, after having determined relevant parameter, robot just can control robot according to the program that weaves in advance, finish the operation element of those sequencing, personnel do not participate in its course of work that has configured, as concrete jetting robot or rock drilling robot etc.
3, the robot operating position changes, and can't position and the attitude of its target accurately be detected again, the master-slave mode modes of operation that adopt are controlled robot more at present, namely, by the operation to " main hand " handle or button, adjust the movement position of " from hand " (being the manipulator of practical operation work) hand at any time, make robot operate realization of goal, personnel participate in its operating process closely, as the anti-riot robot of master-slave mode operation etc.
In the 3rd kind of above-mentioned mode of operation, how to adjust " main hand " state, so that " from hand " accurately arrives the target location, to control with operator's range estimation and experience entirely, such control mode has following deficiency:
1, action is gone in operator all joints that must control " main hand ", so that " from hand " makes corresponding action, whole control process is complicated and tediously long.
2, because the error of operator's range estimation reaches " main hand " operation amplitude is difficult for accurately control, so in " main hand " process of adjustment, tending to make needs " from hand " movement " not in place " or " moving past the position " repeatedly to adjust to make " from hand " to reach the requirement position, very inconvenient.
3, this mode of operation is difficult for making hand to walk or finish the class activity of playing chess along a certain random walk.
In order to solve the difficult problem that manipulator exists in the 3rd kind of mode of operation, can make personnel at any time in the Attended Operation process again, content of the present invention has been proposed.
That applicant of the present invention had once applied for was a kind of " realizing that multi-freedom artificial limb carries out sterically defined method (publication number CN101947150A; application number 2010102805083) to target at random ", and this space-location method is for the robot that is operated in the destructuring environment target at random to be carried out real-time sterically defined method.Can be the position, operating space that artificial limb on the multiple degrees of freedom indicates the target place in real time behind the location, so that it finishes the operation task of appointment.
The present patent application people had once also applied for a kind of " method for solving of joint of artificial limb spatial parameter on the multiple degrees of freedom " (publication number CN101953727A, application number 201010280499.8), this method can be in the position, operating space of only knowing target, and do not know that institute requires under the hand attitude situation, joint space parameter to artificial limb on the multiple degrees of freedom or robot obtains certain feasible solution, can finish the operation task of appointment.
Summary of the invention
The objective of the invention is the existing deficiency of operation at existing " master-slave mode " manipulator, in conjunction with the existing multi-freedom artificial limb of realizing target is at random carried out the method for solving of joint of artificial limb spatial parameter on sterically defined method and the multiple degrees of freedom, propose that a kind of personnel's property of participation is strong, man-machine interaction is effective, can move down in the guiding of laser instrument and start a kind of new mechanical arm control system and the control method of portion position.
For achieving the above object, the manipulator control system of man-machine interactive tracking target of the present invention comprises three parts: object space coordinate information harvester, programmable controller and drive unit, wherein:
Described object space coordinate information harvester comprises that one has left-right rotation and The Cloud Terrace, two 3 d pose sensors and a laser range sensor of the pitching both direction free degree up and down; One in two 3 d pose sensors is installed on the The Cloud Terrace, can move with The Cloud Terrace, detection as The Cloud Terrace moving coordinate system attitude, another 3 d pose sensor is fixedly mounted on the The Cloud Terrace base, as static base coordinate system, just can obtain the variation of the relative base coordinate of the moving coordinate system system of The Cloud Terrace by the differential seat angle that compares different directions between two 3 d pose sensors; Laser range sensor is installed on the The Cloud Terrace, can move with The Cloud Terrace, by adjusting the attitude of The Cloud Terrace, the hot spot of laser range sensor is projected on the target that will operate, and measure the distance of target;
Described Programmable Logic Controller comprises coordinates of targets locating module, anti-module and the control module of separating in joint, wherein:
The effect of described coordinates of targets locating module is, behind the range information of the change information of the relative base coordinate of the moving coordinate system that obtains The Cloud Terrace system and target, by coordinates of targets transformation calculations program, the conversion of carrying out between different coordinates is deduced, and calculates the laser intended target with respect to the three dimensional space coordinate value of manipulator base coordinate system;
The anti-module of separating in described joint is actually an artificial nerve network model that has trained, its effect is, when manipulator control system obtains target at random after the three dimensional space coordinate value of base coordinate system, with the input of the compensatory attitude description of these 3 coordinate figures and certain as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of manipulator with this, rotate the angle in each joint according to these values of finding the solution, just the hand center of manipulator can be placed near certain height of top, position of laser point indication;
The effect of described control module is, is used for sending trace command, grasps target instruction target word, unclamps target instruction target word, hand lifting instruction, hand descend instruction, teaching target instruction target word and halt instruction;
Described drive unit comprises the motor of driver and driving device hand; When driver receives the action command that controller sends, just control motor rotation or stop, finishing the corresponding operational motion of manipulator.
The control method of control system of the present invention is as follows:
The first step: adjusted by operating personnel The Cloud Terrace that sensor is installed towards, the light beam of the laser range sensor on it is pointed on the target that needs operation;
Second step: send trace command by controller, object space coordinate information harvester begins the pick-up transducers data;
The 3rd step: the sensing data that collects is transferred to controller, controller is behind the range information of the change information of the relative base coordinate of the moving coordinate system that obtains The Cloud Terrace system and target, deduced by the conversion that the coordinates of targets locating module carries out between different coordinates, calculate the laser intended target with respect to the three dimensional space coordinate value of manipulator base coordinate system;
The 4th step: separate after module obtains the three dimensional space coordinate value in second step when the joint is counter, with the input of the compensatory attitude description of these three coordinate figures and certain as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of manipulator with this, rotate the angle in each joint according to these values of finding the solution, just the hand center of manipulator can be placed near certain height of top, position of laser point indication;
The 5th step: operating personnel send action command by controller, and control module control driver module is finished corresponding operating.
Advantage of the present invention is:
(1) main feature of manipulator control system of the present invention and method is its man-machine interactive mode of operation, and the hot spot that manipulator can throw with the laser range sensor of artificial control is guiding, controls manipulator and moves; When sending trace command, the hand of manipulator moves with regard to beginning to follow the movement of laser facula, and when sending the extracting target instruction target word, manipulator grasps target; When sending when unclamping target instruction target word, manipulator unclamps target; When sending hand lifting instruction, the height of a setting of the vertical lifting of manipulator hand; When sending hand decline instruction, the height of the vertical setting that descends of manipulator hand; When sending the teaching target instruction target word, the manipulator hand is automatically moved to the good target location of certain teaching; When sending halt instruction, the various motions of manipulator stop to carry out.
(2) control method of the present invention can remedy the aforesaid deficiency that is operated in the 3rd kind of mode of operation of robot in the destructuring environment, make personnel's control tensity reduce greatly, the easier description of operator's wish and realization, hot spot with the laser range sensor projection is guiding, manipulator can be realized moving along path arbitrarily easily, in conjunction with other control instruction of manipulator, control manipulator easily and finish actions such as playing chess, drink water, have a meal.
(3) control method of the present invention obviously is different from the 1st kind and the 2nd kind of mode of operation in the background technology again, and it has strengthened operating personnel's property of participation at any time, and is not only an onlooker.
Control system of the present invention and method can be on intelligence artificial limb, explosive-removal robot, the multiple places such as manipulator of helping the disabled of helping the elderly be applied.
Description of drawings
Fig. 1 is the theory diagram of control system of the present invention;
Fig. 2 is the structural representation of object space coordinate information harvester embodiment of the present invention, and the structure of The Cloud Terrace is example with the number of people among the figure.
The theory diagram of control module in Fig. 3 control system of the present invention.
Fig. 4 is the flow chart of control system embodiment of the present invention.
Among the figure: 1-The Cloud Terrace, 2-head 3 d pose sensor, 3-shoulder 3 d pose sensor, 4-laser range sensor.
The specific embodiment
With reference to the accompanying drawings enforcement of the present invention is described further below.
Manipulator control system of the present invention, as shown in Figure 1: comprise three parts, be respectively: object space coordinate information harvester, programmable controller and drive unit, wherein:
Described object space coordinate information harvester structure is as shown in Figure 2: with people's head as The Cloud Terrace 1, a 3 d pose sensor is installed in head, be called head 3 d pose sensor 2, can move with head, as the detection of The Cloud Terrace 1 moving coordinate system attitude; The shoulder (base that is equivalent to The Cloud Terrace 1) that another 3 d pose sensor is installed in the people is called shoulder 3 d pose sensor 3, as static base coordinate system, just can obtain the variation of the relative base coordinate of the moving coordinate system system of The Cloud Terrace by the differential seat angle that compares different directions between two 3 d pose sensors; Laser range sensor 4 is installed in the head of The Cloud Terrace 1, can move with head, by adjusting the attitude of head, the hot spot of laser range sensor 4 is projected on the target that will operate, and measure the distance of target;
As can be seen from Figure 1, it also comprises three parts described programmable controller theory diagram, is respectively anti-module and the control module of separating in coordinates of targets locating module, joint; Wherein:
The effect of described coordinates of targets locating module is, behind the range information of the change information of the relative base coordinate of the moving coordinate system that obtains The Cloud Terrace 1 system and target, transformation calculations program by the coordinates of targets locating module, the conversion of carrying out between different coordinates is deduced, and calculates the laser intended target with respect to the three dimensional space coordinate value of manipulator base coordinate system.Its operation principle " realizes that multi-freedom artificial limb carries out as described in the sterically defined method (application number 2010102805083) target at random as existing patent of invention.In the time will realizing the manipulator hand to the tracking of certain target, at first by the artificial direction attitude of adjusting The Cloud Terrace, the laser point that laser range sensor the is sent position that aims at the mark, detect the 3 d pose sensor that is installed on the The Cloud Terrace simultaneously, relative fixed is installed in the rotation attitude angle of the 3 d pose sensor on the The Cloud Terrace base, calculates through coordinates of targets transformation calculations program and just obtains the spatial value of target in manipulator base coordinate system.
Described joint is counter separates module and mainly acts on and be, when manipulator control system obtains target at random after the three dimensional space coordinate value of base coordinate system, with the input of the compensatory attitude description of these three coordinate figures and certain as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of manipulator with this, rotate the angle in each joint according to these values of finding the solution, just the hand center of manipulator can be placed near certain height of top, position of laser point indication.Its operation principle is as described in the patent of invention " method for solving of joint of artificial limb spatial parameter on the multiple degrees of freedom " (application number 201010280499.8) of having declared.
Described control module principle mainly comprises as shown in Figure 3: send trace command, grasp target instruction target word, unclamp target instruction target word, hand lifting instruction, hand descend instruction, teaching target instruction target word, seven control modules of halt instruction.Be used for finishing the identification to control instruction, and send recognition result to driver module, finish corresponding operating by driver module.Wherein:
1) trace command is used for determining whether target is followed the tracks of, if control module is sent trace command, then driver module is separated the numerical value that module is returned according to the joint is counter, remove to adjust continuously the angle value in each joint, so that the position is constantly adjusted at the hand center of manipulator, realization is followed the tracks of the target at random of laser appointment, and when moved along certain paths the position of the indication of laser point, the hand of manipulator will be followed the movement of laser point and be moved.
2) grasp target instruction target word and be used for determining whether target is grasped, if control module is sent the extracting target instruction target word, then come the folding joint of driving device hand hand by driver module, target is grasped.
3) unclamp target instruction target word and be used for determining whether target is unclamped, if control module is sent and unclamped target instruction target word, then come the folding joint of driving device hand hand to open by driver module, target is loosened.
4) whether hand lifting instruction is used for determining to the vertical lifting of hand, if control module is sent hand lifting instruction, then comes the height of a setting of driving device hand hand lifting by driver module.
5) hand decline instruction is used for determining whether hand is vertically descended, if control module is sent hand decline instruction, then comes the height of the vertical setting that descends of driving device hand hand by driver module.
6) teaching target instruction target word (several different teaching target instruction target words can be arranged) is used for determining which teaching target location the manipulator hand moves on to, if control module is sent the teaching target instruction target word, then come driving device hand hand to move to the good target location of certain teaching by driver module.
7) halt instruction is used for stopping the motion of various instructions.
Described driver module comprises the motor of driver and driving device hand; When driver receives the action command that control module sends, just control motor rotation or stop, finishing the corresponding operational motion of manipulator.
Fig. 4 is the flow chart of the man-machine interactive tracking target manipulator control system embodiment of the present invention, comprises following step:
Step 2, after control module is sent trace command, the numerical value that laser range sensor, 23 d pose sensors collect is passed to laser point object space coordinate setting module, and return laser light point assigned address is with respect to the spatial value of manipulator base coordinate system.
Step 3 is described the laser point object space coordinate figure that returns in the step 2 and certain compensatory attitude as the anti-input of separating module in joint, tries to achieve the angle value that each joint of manipulator should be rotated fast by the anti-module of separating in joint.
Step 5, after trace command is sent, system then in real time the Monitoring and Controlling module whether send other instruction, if confiscate other the instruction, then manipulator can be followed the mobile route of laser point always and be moved
Step 6, after receiving other instruction, system then driving device hand carries out other command adapted thereto.
Step 7 halt instruction then stops current action command immediately if the execution corresponding actions is received when instructing, and judges then whether manipulator works on.If confiscate halt instruction, then can continue to carry out current action command, arrive up to new control instruction.
Step 8 after target disposes at random, returns then whether tracking target is instructed if work on; If circulation is then withdrawed from power cut-off, quit work.
The above embodiment has only expressed the specific embodiment of the present invention, and it describes comparatively in detail concrete, but can not be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with appended claims.
Claims (2)
1. man-machine interactive manipulator control system is characterized in that it comprises three parts: object space coordinate information harvester, programmable controller and drive unit, wherein:
Described object space coordinate information harvester comprises that one has left-right rotation and The Cloud Terrace, two 3 d pose sensors and a laser range sensor of the pitching both direction free degree up and down; One in two 3 d pose sensors is installed on the The Cloud Terrace, can move with The Cloud Terrace, detection as The Cloud Terrace moving coordinate system attitude, another 3 d pose sensor is fixedly mounted on the The Cloud Terrace base, as static base coordinate system, obtain the variation of the relative base coordinate of the moving coordinate system system of The Cloud Terrace by the differential seat angle that compares different directions between two 3 d pose sensors; Laser range sensor is installed on the The Cloud Terrace, moves with The Cloud Terrace, by adjusting the attitude of The Cloud Terrace, the hot spot of laser range sensor is projected on the target that will operate, and measure the distance of target;
Described Programmable Logic Controller comprises coordinates of targets locating module, anti-module and the control module of separating in joint, wherein:
The effect of described coordinates of targets locating module is, behind the range information of the change information of the relative base coordinate of the moving coordinate system that obtains The Cloud Terrace system and target, by coordinates of targets transformation calculations program, the conversion of carrying out between different coordinates is deduced, and calculates the laser intended target with respect to the three dimensional space coordinate value of manipulator base coordinate system;
The anti-module of separating in described joint is an artificial nerve network model that has trained, its effect is, when manipulator control system obtains target at random after the three dimensional space coordinate value of base coordinate system, with the input of the compensatory attitude description of these 3 coordinate figures and certain as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of manipulator with this, rotate the angle in each joint according to these values of finding the solution, the hand center of manipulator is placed near certain height of top, position of laser point indication;
The effect of described control module is, is used for sending trace command, grasps target instruction target word, unclamps target instruction target word, hand lifting instruction, hand descend instruction, teaching target instruction target word and halt instruction;
Described drive unit comprises the motor of driver and driving device hand; When driver receives the action command that controller sends, just control motor rotation or stop, finishing the corresponding operational motion of manipulator.
2. the control method of a man-machine interactive manipulator control system as claimed in claim 1 is characterized in that, step is as follows:
The first step: adjusted by operating personnel The Cloud Terrace that sensor is installed towards, the light beam of the laser range sensor on it is pointed on the target that needs operation;
Second step: send trace command by controller, object space coordinate information harvester begins the pick-up transducers data;
The 3rd step: the sensing data that collects is transferred to controller, controller is behind the range information of the change information of the relative base coordinate of the moving coordinate system that obtains The Cloud Terrace system and target, deduced by the conversion that the coordinates of targets locating module carries out between different coordinates, calculate the laser intended target with respect to the three dimensional space coordinate value of manipulator base coordinate system;
The 4th step: separate after module obtains the three dimensional space coordinate value in second step when the joint is counter, with the input of the compensatory attitude description of these three coordinate figures and certain as network model, come to obtain fast, concurrently certain feasible value of finding the solution in each joint of manipulator with this, rotate the angle in each joint according to these values of finding the solution, the hand center of manipulator is placed near certain height of top, position of laser point indication;
The 5th step: operating personnel send action command by controller, and control module control driver module is finished corresponding operating.
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| CN103522291A (en) * | 2013-10-29 | 2014-01-22 | 中国人民解放军总装备部军械技术研究所 | Target capturing system and method of explosive ordnance disposal robot |
| CN104758096A (en) * | 2015-03-30 | 2015-07-08 | 山东科技大学 | Method of correcting positional accuracy of target space for artificial limb |
| CN105058388A (en) * | 2015-08-17 | 2015-11-18 | 哈尔滨工业大学 | Sensor data fusion method used for acquiring robot joint position feedback information |
| CN105215972A (en) * | 2015-09-18 | 2016-01-06 | 中国科学院合肥物质科学研究院 | A kind of orcible entry robot eye coordinate positioner and method |
| CN108215203A (en) * | 2018-03-05 | 2018-06-29 | 郑州智高电子科技有限公司 | A kind of control system of 3D printing device |
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| CN111590583A (en) * | 2020-05-27 | 2020-08-28 | 太原理工大学 | Intelligent chess playing method based on big data |
| CN112584990A (en) * | 2018-11-30 | 2021-03-30 | 欧姆龙株式会社 | Control device, control method, and control program |
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| CN103522291A (en) * | 2013-10-29 | 2014-01-22 | 中国人民解放军总装备部军械技术研究所 | Target capturing system and method of explosive ordnance disposal robot |
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| CN105058388A (en) * | 2015-08-17 | 2015-11-18 | 哈尔滨工业大学 | Sensor data fusion method used for acquiring robot joint position feedback information |
| CN105215972A (en) * | 2015-09-18 | 2016-01-06 | 中国科学院合肥物质科学研究院 | A kind of orcible entry robot eye coordinate positioner and method |
| CN108931965A (en) * | 2017-05-23 | 2018-12-04 | Juki株式会社 | control system and mounting device |
| CN111213098A (en) * | 2017-08-17 | 2020-05-29 | 快砖知识产权私人有限公司 | Communication system for interactive system |
| CN111213098B (en) * | 2017-08-17 | 2024-03-15 | 快砖知识产权私人有限公司 | Communication system for interactive system |
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| CN112584990A (en) * | 2018-11-30 | 2021-03-30 | 欧姆龙株式会社 | Control device, control method, and control program |
| CN109696126A (en) * | 2019-02-27 | 2019-04-30 | 中国矿业大学(北京) | The system for measuring heading machine pose |
| CN109696126B (en) * | 2019-02-27 | 2020-12-15 | 中国矿业大学(北京) | System for measuring pose of heading machine |
| CN111590583A (en) * | 2020-05-27 | 2020-08-28 | 太原理工大学 | Intelligent chess playing method based on big data |
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