CN103273497B - Man-machine interactive manipulator control system and control method thereof - Google Patents
Man-machine interactive manipulator control system and control method thereof Download PDFInfo
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- CN103273497B CN103273497B CN201310224155.9A CN201310224155A CN103273497B CN 103273497 B CN103273497 B CN 103273497B CN 201310224155 A CN201310224155 A CN 201310224155A CN 103273497 B CN103273497 B CN 103273497B
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Abstract
The invention discloses a kind of man-machine interactive manipulator control system and control method thereof, it comprises object space coordinate information, programmable controller and drive unit three parts, the sensing data collected is transferred to controller by harvester, carry out coordinate transform by coordinates of targets locating module, calculate three dimensional space coordinate value; Using the input as network model of coordinate value and certain compensatory attitude description, obtain certain of each joint of manipulator feasible solve value, according to these values of solving to rotate the angle in each joint, control driver module completes corresponding operating.The present invention can make up the deficiency of the robot mode of operation in unstructured moving grids, and the control tensity of personnel is reduced greatly, and the wish of operator more easily describes and realizes.
Description
Technical field
The present invention relates to the control technology of various manipulator, particularly relate to the control technology that manipulator adopts man-machine interactive tracking target.
Background technology
At present, along with the development of science and technology, the application of manipulator constantly expands. at present, manipulator is not only applied to traditional manufacture as mining, metallurgical, oil, chemistry, the fields such as boats and ships, have also started to expand nuclear energy to, aviation simultaneously, space flight, medicine, high-tech area and the household cleanings such as biochemistry, in the service trade fields such as medical rehabilitation.As artificial limb, explosive-removal robot, handicapped-resisting mechanical arm etc. of helping the elderly in intelligence.
What is called generally just refers to the control mode to robot to the control mode of manipulator.
At present, according to the difference of robot target state, be divided into structured work environment and destructuring working environment two kinds of patterns.
Be operated in the robot in structured work environment, because the position of its target and attitude are changeless, its action is also changeless, so be generally all control robot according to the program woven in advance, complete the operation element of some sequencing, as being operated in the robot etc. on welding production line.The technology relevant with the present invention is the robot being operated in unstructured moving grids.
Be operated in the robot of unstructured moving grids, 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 the position of real-time testing target and the change of attitude opposed robots coordinate system can be come by certain robotic vision system (as binocular vision system), then according to the position of target and the different of attitude, adjust movement position and the attitude of robot hand, and according to the operating path planned or final goal position, object is operated, personnel do not participate in its course of work set, as being operated in the robot etc. on Food Packaging Production Line.
Though 2, robot operating position is change, but can detect in advance the position of target and attitude, in its course of work, the position relationship of robot and target is relatively stable constant, at this moment, only need make some parameter of robot controlling and adjusting accordingly, after determining relevant parameter, robot just can control robot according to the program woven in advance, complete the operation element of those sequencing, personnel do not participate in its course of work set, as concrete jetting robot or problem of rock-drilling robot etc.
3, robot operating position is change, and accurately cannot detect the position of its target and attitude again, the master-slave mode mode of operation that adopts controls robot more at present, namely, by the operation to " main hand " handle or button, adjust the movement position of " from hand " (i.e. manipulator of practical operation work) hand at any time, robot is operated realization of goal, personnel participate in its operating process closely, as the anti-riot robot etc. of master-slave mode operation.
In the above-mentioned the 3rd kind of mode of operation, how to adjust " main hand " state, to make " from hand " accurately arrive target location, entirely control with the range estimation of operator and experience, such control mode has following deficiency:
1, action is gone in all joints that operator must manipulate " main hand ", and to make " from hand " make corresponding action, whole control procedure is complicated and tediously long.
2, due to operator range estimation error and " main hand " operation amplitude is not easily accurately controlled, so in adjustment " main hand " process, often make " from hand " movement " not in place " or " moving past position ", need repeatedly to adjust " from hand " just can be made to reach requirement position, very inconvenient.
3, this mode of operation not easily makes hand walk along a certain random walk or complete a class activity of playing chess.
In order to solve the difficult problem that manipulator exists in the 3rd kind of mode of operation, personnel can be made again at any time in Attended Operation process, content of the present invention can be proposed.
Applicant of the present invention had once applied for a kind of " realize multi-freedom artificial limb and carry out sterically defined method (publication number CN101947150A; application number 2010102805083) to random targets ", and this space-location method carries out real-time sterically defined method for the robot be operated in unstructured moving grids to random targets.Can be the position, operating space that artificial limb on multiple degrees of freedom indicates target place in real time behind location, complete the operation task of specifying to make it.
Present invention applicant once also to have applied for a kind of the method for solving of joint of artificial limb spatial parameter " on the multiple degrees of freedom " (publication number CN101953727A, application number 201010280499.8), the method can in the position, operating space only knowing target, and under not knowing required hand gestures situation, to certain feasible solution of joint space gain of parameter of artificial limb on multiple degrees of freedom or robot, so that the operation task of specifying can be completed.
Summary of the invention
The object of the invention is for the deficiency existing for the operation of existing " master-slave mode " manipulator, realize in conjunction with existing multi-freedom artificial limb to carry out joint of artificial limb spatial parameter on sterically defined method and multiple degrees of freedom method for solving to random targets, propose that a kind of personnel's property of participation is strong, man-machine interaction effect good, can move down in the guiding of laser instrument and start a kind of new mechanical arm control system of position and control method.
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 one and has the The Cloud Terrace of left-right rotation and the upper and lower pitching both direction free degree, two three-dimensional attitude sensors and a laser range sensor; One in two three-dimensional attitude sensors is arranged on The Cloud Terrace, can move with The Cloud Terrace, as the detection of The Cloud Terrace moving coordinate system attitude, another three-dimensional attitude sensor is fixedly mounted on The Cloud Terrace base, as static base coordinate system, the change of the moving coordinate system comparative basis coordinate system of The Cloud Terrace just can be obtained by the differential seat angle comparing different directions between two three-dimensional attitude sensors; Laser range sensor is arranged on The Cloud Terrace, can move with The Cloud Terrace, by adjusting the attitude of The Cloud Terrace, by the dot projection of laser range sensor in the target that will operate, and measures the distance of target;
Described Programmable Logic Controller comprises coordinates of targets locating module, joint is counter separates module and control module, wherein:
The effect of described coordinates of targets locating module is, after the change information of moving coordinate system comparative basis coordinate system obtaining The Cloud Terrace and the range information of target, by coordinates of targets transformation calculations program, the conversion carried out between different coordinates is deduced, and calculates the three dimensional space coordinate value of laser intended target relative to manipulator base coordinate system;
The anti-module of separating in described joint is actually an artificial nerve network model trained, its effect is, after manipulator control system obtains the three dimensional space coordinate value of random work target in base coordinate system, using these 3 coordinate values and the input of certain compensatory attitude description as network model, come fast with this, obtain concurrently certain of each joint of manipulator feasible solve value, according to these values of solving to rotate the angle in each joint, just the hand center of manipulator can be placed into laser spots instruction position above certain height near;
The effect of described control module is, for sending trace command, capture target instruction target word, unclamp target instruction target word, hand lifting instruction, hand decline 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 stopping, completing the corresponding operational motion of manipulator.
The control method of control system of the present invention is as follows:
The first step: by operating personnel adjust be provided with the The Cloud Terrace of sensor towards, the light beam of the laser range sensor on it is pointed to needs operation target on;
Second step: send trace command by controller, object space coordinate information harvester starts pick-up transducers data;
3rd step: the sensing data collected is transferred to controller, controller is after the change information of moving coordinate system comparative basis coordinate system obtaining The Cloud Terrace and the range information of target, the conversion undertaken between different coordinates by coordinates of targets locating module is deduced, and calculates the three dimensional space coordinate value of laser intended target relative to manipulator base coordinate system;
4th step: when joint is counter separate module obtain second step three dimensional space coordinate value after, using these three coordinate values and the input of certain compensatory attitude description as network model, come fast with this, obtain concurrently certain of each joint of manipulator feasible solve value, according to these values of solving to rotate the angle in each joint, just the hand center of manipulator can be placed into laser spots instruction position above certain height near;
5th step: operating personnel send action command by controller, control module controls driver module and completes 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 project with the laser range sensor of manual control, for guiding, controls manipulator and moves; When sending trace command, the hand of manipulator just starts to follow the movement of laser facula and moves, when send capture target instruction target word time, manipulator captures target; When send unclamp target instruction target word time, manipulator unclamps target; When sending hand lifting instruction, the height of the vertical lifting of Manipulator Hand one setting; When sending hand decline instruction, Manipulator Hand vertically declines a height set; When sending teaching target instruction target word, Manipulator Hand is automatically moved to the good target location of certain teaching; When sending halt instruction, the various motion stoppings of manipulator are carried out.
(2) control method of the present invention can make up the deficiency of aforesaid robot the 3rd kind of mode of operation be operated in unstructured moving grids, the control tensity of personnel is reduced greatly, the wish of operator more easily describes and realizes, with the hot spot of laser range sensor projection for guiding, manipulator can realize moving along arbitrary path easily, in conjunction with other control instruction of manipulator, easily control manipulator complete play chess, drink water, the action such as to have a meal.
(3) control method of the present invention is obviously different from again the 1st kind and the 2nd kind of mode of operation in background technology, it enhances 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 applied in artificial limb, explosive-removal robot, the multiple places such as handicapped-resisting mechanical arm of helping the elderly in intelligence.
Accompanying drawing explanation
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 in figure, the structure of The Cloud Terrace is for the number of people.
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.
In figure: 1-The Cloud Terrace, 2-shoulder three-dimensional attitude sensor, 3-head three-dimensional attitude sensor, 4-laser range sensor.
Detailed description of the invention
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, 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: the head of people is used as The Cloud Terrace 1, a three-dimensional attitude sensor is arranged on head, be called head three-dimensional attitude sensor 3, can move with head, as the detection of The Cloud Terrace 1 moving coordinate system attitude; The shoulder (being equivalent to the base of The Cloud Terrace 1) that another three-dimensional attitude sensor is arranged on people is called shoulder three-dimensional attitude sensor 2, as static base coordinate system, the change of the moving coordinate system comparative basis coordinate system of The Cloud Terrace just can be obtained by the differential seat angle comparing different directions between two three-dimensional attitude sensors; Laser range sensor 4 is arranged on the head of The Cloud Terrace 1, can move with head, by adjusting the attitude of head, by the dot projection of laser range sensor 4 in the target that will operate, and measures the distance of target;
As can be seen from Figure 1, described programmable controller theory diagram it also comprise three parts, be coordinates of targets locating module respectively, joint be counter separates module and control module; Wherein:
The effect of described coordinates of targets locating module is, after the change information of moving coordinate system comparative basis coordinate system obtaining The Cloud Terrace 1 and the range information of target, by the transformation calculations program of coordinates of targets locating module, the conversion carried out between different coordinates is deduced, and calculates the three dimensional space coordinate value of laser intended target relative to manipulator base coordinate system.Its operation principle such as existing patent of invention " realizes multi-freedom artificial limb to carry out as described in sterically defined method (application number 2010102805083) random targets.Whenever will realizing the tracking of Manipulator Hand to certain target, first by the direction attitude of artificial adjustment The Cloud Terrace, the laser spots sent by laser range sensor aims at the mark position, detect the three-dimensional attitude sensor be arranged on The Cloud Terrace simultaneously, rotate attitude angle relative to the three-dimensional attitude sensor be fixedly mounted on The Cloud Terrace base, just obtain the spatial value of target in manipulator base coordinate system through coordinates of targets transformation calculations program computation.
The anti-module Main Function of separating in described joint is, after manipulator control system obtains the three dimensional space coordinate value of random work target in base coordinate system, using these three coordinate values and the input of certain compensatory attitude description as network model, come fast with this, obtain concurrently certain of each joint of manipulator feasible solve value, according to these values of solving to rotate the angle in each joint, just the hand center of manipulator can be placed into laser spots instruction position above certain height near.Its operation principle is as described in patent of invention the method for solving of joint of artificial limb spatial parameter " on the multiple degrees of freedom " (application number 201010280499.8) declared.
Described control module principle as shown in Figure 3, mainly comprises: send trace command, capture target instruction target word, unclamp target instruction target word, hand lifting instruction, hand decline instruction, teaching target instruction target word, halt instruction seven control units.The identification be used for control instruction, and send recognition result to driver module, complete corresponding operating by driver module.Wherein:
1) trace command is used for determining whether follow the tracks of target, if control module sends trace command, then driver module is according to the anti-numerical value separated module and return in joint, remove the angle value in each joint of continuous setup, constantly position is adjusted to make the hand center of manipulator, realize following the tracks of the random targets that laser is specified, when the position of the instruction of laser spots is moved along certain paths, the hand of manipulator will be followed the movement of laser spots and move.
2) capture target instruction target word to be used for determining whether capture target, if control module sends crawl target instruction target word, then come the folding joint of driving device hand hand by driver module, capture target.
3) whether unclamp target instruction target word to unclamp target for determining, if control module sends unclamp target instruction target word, then the folding joint carrying out driving device hand hand by driver module is opened, and loosens target.
4) whether hand lifting instruction is used for determining to the vertical lifting of hand, if control module sends hand lifting instruction, is then carried out the height of driving device hand hand lifting one setting by driver module.
5) hand decline instruction is used for determining whether vertically decline to hand, if control module sends hand decline instruction, then carrys out driving device hand hand by driver module and vertically to decline a height set.
6) teaching target instruction target word (can have the teaching target instruction target word that several are different) is for determining which teaching target location Manipulator Hand moves on to, if control module sends teaching target instruction target word, then carry out driving device hand hand by driver module and move to the good target location of certain teaching.
7) halt instruction is for stopping the motion of various instruction.
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 stopping, completing the corresponding operational motion of manipulator.
Fig. 4 is the flow chart of man-machine interactive tracking target manipulator control system embodiment of the present invention, comprises following step:
Step 1, whether real-time measure and control module sends trace command.If do not send and follow instruction, then manipulator keeps original state, continues to wait for.If the trace command of receiving, then enter step 2.
Step 2, after control module sends trace command, the numerical value that laser range sensor, 2 three-dimensional attitude sensors collect is passed to laser spots object space coordinate setting module, and return laser light point assigned address is relative to the spatial value of manipulator base coordinate system.
Step 3, using the laser spots object space coordinate value returned in step 2 and the anti-input of separating module as joint of certain compensatory attitude description, tries to achieve the angle value that should rotate in each joint of manipulator fast by the anti-module of separating in joint.
Step 4, the rotation in each joint calculated according to step 3 solves value, corresponding rotation is carried out by each joint of driver module driving device hand, the hand of manipulator is made accurately to arrive the top of laser spots intended target, when the movement of laser spots be carry out continuously time, step 2-4 will continuous circulation, and the hand of manipulator will be followed the mobile route of laser spots and move.
Step 5, after trace command sends, whether system then real-time inspection and control module can send other instruction, if confiscate other instruction, then manipulator can be followed the mobile route of laser spots always and move
Step 6, after receiving other instruction, system then driving device hand performs other command adapted thereto.
Step 7, if receive halt instruction while performing corresponding actions instruction, then stops current action command immediately, then judges whether manipulator works on.If confiscate halt instruction, then can continue to perform current action instruction, until new control instruction arrives.
Step 8, after being disposed, if work on, returns whether tracking target instruction to random targets; If power cut-off, then exit circulation, quit work.
The above embodiment only have expressed the specific embodiment of the present invention, and it describes comparatively in detail concrete, but can not be interpreted as the restriction to the scope of the claims of the present invention.It 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 (1)
1. a 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 one and has the The Cloud Terrace of left-right rotation and the upper and lower pitching both direction free degree, two three-dimensional attitude sensors and a laser range sensor; One in two three-dimensional attitude sensors is arranged on The Cloud Terrace, can move with The Cloud Terrace, as the detection of The Cloud Terrace moving coordinate system attitude, another three-dimensional attitude sensor is fixedly mounted on The Cloud Terrace base, as static base coordinate system, obtained the change of the moving coordinate system comparative basis coordinate system of The Cloud Terrace by the differential seat angle comparing different directions between two three-dimensional attitude sensors; Laser range sensor is arranged on The Cloud Terrace, moves with The Cloud Terrace, by adjusting the attitude of The Cloud Terrace, by the dot projection of laser range sensor in the target that will operate, and measures the distance of target;
Described Programmable Logic Controller comprises coordinates of targets locating module, joint is counter separates module and control module, wherein:
The effect of described coordinates of targets locating module is, after the change information of moving coordinate system comparative basis coordinate system obtaining The Cloud Terrace and the range information of target, by coordinates of targets transformation calculations program, the conversion carried out between different coordinates is deduced, and calculates the three dimensional space coordinate value of laser intended target relative to manipulator base coordinate system;
The anti-module of separating in described joint is an artificial nerve network model trained, its effect is, after manipulator control system obtains the three dimensional space coordinate value of random work target in base coordinate system, using these three coordinate values and the input of certain compensatory attitude description as network model, come fast with this, obtain concurrently certain of each joint of manipulator feasible solve value, according to these values of solving to rotate the angle in each joint, the hand center of manipulator is placed into laser spots instruction position above certain height near;
The effect of described control module is, for sending trace command, capture target instruction target word, unclamp target instruction target word, hand lifting instruction, hand decline 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 stopping, completing the corresponding operational motion of manipulator;
The control mode of this man-machine interactive manipulator control system realizes by the following method:
The first step: by operating personnel adjust be provided with the The Cloud Terrace of sensor towards, the light beam of the laser range sensor on it is pointed to needs operation target on;
Second step: send trace command by controller, object space coordinate information harvester starts pick-up transducers data;
3rd step: the sensing data collected is transferred to controller, controller is after the change information of moving coordinate system comparative basis coordinate system obtaining The Cloud Terrace and the range information of target, the conversion undertaken between different coordinates by coordinates of targets locating module is deduced, and calculates the three dimensional space coordinate value of laser intended target relative to manipulator base coordinate system;
4th step: when joint is counter separate module obtain the 3rd step three dimensional space coordinate value after, using these three coordinate values and the input of certain compensatory attitude description as network model, come fast with this, obtain concurrently certain of each joint of manipulator feasible solve value, according to these values of solving to rotate the angle in each joint, the hand center of manipulator is placed into laser spots instruction position above certain height near;
5th step: operating personnel send action command by controller, control module controls driver module and completes corresponding operating.
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| CN103522291B (en) * | 2013-10-29 | 2016-08-17 | 中国人民解放军总装备部军械技术研究所 | The target grasping system of a kind of explosive-removal robot and method |
| CN104758096B (en) * | 2015-03-30 | 2016-11-30 | 山东科技大学 | A kind of method that artificial limb object space positioning precision is corrected |
| CN105058388B (en) * | 2015-08-17 | 2017-01-11 | 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 |
| JP6894292B2 (en) * | 2017-05-23 | 2021-06-30 | Juki株式会社 | Control system and mounting equipment |
| US20210016438A1 (en) * | 2017-08-17 | 2021-01-21 | Fastbrick Ip Pty Ltd | Interaction system configuration |
| 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 |
| JP6904327B2 (en) * | 2018-11-30 | 2021-07-14 | オムロン株式会社 | Control device, control method, and control program |
| CN109696126B (en) * | 2019-02-27 | 2020-12-15 | 中国矿业大学(北京) | System for measuring pose of heading machine |
| CN111590583B (en) * | 2020-05-27 | 2022-10-28 | 太原理工大学 | Intelligent chess playing method based on big data |
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