CN104398346A - Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair - Google Patents
Intelligent wheelchair capable of opening door independently and independent door opening method of intelligent wheelchair Download PDFInfo
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- CN104398346A CN104398346A CN201410625510.8A CN201410625510A CN104398346A CN 104398346 A CN104398346 A CN 104398346A CN 201410625510 A CN201410625510 A CN 201410625510A CN 104398346 A CN104398346 A CN 104398346A
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Abstract
The invention discloses an intelligent wheelchair capable of opening a door independently. The intelligent wheelchair comprises an intelligent wheelchair body, a multi-degree of freedom mechanical arm, a multi-axial force/torque sensor, a camera, a mechanical tong and a mechanical arm controller, wherein the multi-degree of freedom mechanical arm is arranged beside the intelligent wheelchair body, and the multi-axial force/torque sensor is arranged at the tail end of the multi-degree of freedom mechanical arm; the mechanical tong is fixedly connected to the multi-axial force/torque sensor; the camera is mounted at the tail end of the mechanical arm and is located above the mechanical tong; the mechanical arm controller is respectively connected with a control system of the intelligent wheelchair body, the multi-degree of freedom mechanical arm, the multi-axial force/torque sensor, the camera and the mechanical tong; the invention also provides an independent door opening method of the intelligent wheelchair. The intelligent wheelchair disclosed by the invention is operated simply and fast, overcomes the shortage that the traditional mechanical arm with a fixed base is limited by space and cannot open doors with relatively big width, and brings great convenience for the disabled.
Description
Technical field
The present invention relates to intelligent wheel chair field and mechanical arm control field, specifically a kind of can complete enabling task the intelligent wheel chair that can independently open the door and autonomous door opening method.
Background technology
Wheelchair is important walking-replacing tool that is handicapped, limbs disability crowd, along with the quickening of aged tendency of population, this aid is more and more important, but along with people relates to the operation to article or instrument more and more, as water tumbler of taking, switch door and window, traditional wheelchair cannot satisfy the demands.And many operational objectivess restrained motion mechanism (as door, drawer, switch etc.) often, and due to the uncertainty of running fix, target recognition, the motion model of this kind of mechanism is uncertain often, or even the unknown, add the particularity of domestic environment, this has very large difficulty with regard to making a kind of wheelchair that can open the door of design.Traditional mechanism and method all can not complete the task that intelligent wheel chair successfully opens the door well.
First, operating robotic arm is opened the door and is had a lot of uncertainty, and this uncertainty can be divided into two types, and the first is uncertain relevant to the kinetics of door model, the inertia of such as door, the force characteristic etc. of door hinge; The second is uncertain relevant to the kinesiology of door model, the mode (rotating or translation) of such as opening the door, the size etc. of door.
Therefore, based on a lot of features that above-mentioned mechanical arm opens the door, the door opening method that current Application comparison is many mainly contains three kinds, and the first is the enabling strategy based on path planning, is characterized in controller mechanical arm opening the door and not needing additional sensors quickly and accurately; The second is the enabling strategy controlled based on adaptive stress/torque velocities, is characterized in the model not needing to know door in advance, can adapts to much dissimilar door model; The third utilizes special mechanical structure or hands to grab to open the door, and this door opening method is simply effective, but can not adapt to different types of door, and needs additional aids or sensor.
Owing to considering cost factor, a lot of method of opening the door all adopts special frame for movement to realize enabling substantially.Such as, Chinese invention patent, notification number CN103434772A [1], invent a kind of door-opening mechanism, the energy storage that the Conversion of energy utilizing spring, the sleeve holding spring, spring bearer plate, steel wire rope and fixed pulley to realize being overturn by enabling wallboard is spring, and, energy when needs stored by release helps to open the door.Chinese invention patent, notification number CN103883199A [2], a kind of people with disability's automatic door operator of disclosure of the invention, controls motor by infrared signal and is opened by door.Chinese invention patent, notification number CN103452418A [3], invent a kind of can the actuator of automatic door opening, comprise support, control chamber, rotating shaft and a series of connecting rod; When needs perform switch gate action, driven by motor decelerator in control chamber, decelerator again drivening rod makes a closedown or opens.U.S. patent Nos, the patent No. 5555779 [4] devises a kind of general instrument, and one end is with the parts of absorption affinity, and the other end has an instrument that can hook handle, can conveniently take advantage of wheelchair-bound people to open closedown door.
Said method is more effective in for special door, but when being in domestic environment and being not suitable for installing special actuator, or the Type-Inconsistencies of door, when needing a kind of door opening method of versatility, this method just can not well play a role.Especially, under a kind of specific condition, when the position of opposite house and size are all unknown, above several method all can not effectively be finished the work.
The shortcoming concrete analysis of said method is as follows:
1. need the model accurately knowing door, or need in advance auxiliary facilities to be installed.
2. the pedestal of mechanical arm can not move, and therefore working place is limited.
Use and be arranged on mechanical arm on wheelchair and open the door and relate to many factors such as the grasping of its location at 3 dimension spaces, enabling trajectory planning, even door handle, therefore it is often by as comprehensive study object.Traditional enabling algorithm has two kinds, and one needs prior opposite house modeling, then plans the path of enabling, is limited to the method for modeling, can be limited by the value volume and range of product of accurate modeling and the door successfully opened; If the method for employing power/torque sensor is opened the door, be then limited to fixed pedestal, the working place of mechanical arm is limited, so there is no very high enabling success rate.
Summary of the invention
For the above problem of prior art, the object of the present invention is to provide a kind of can complete enabling task the intelligent wheel chair that can independently open the door and autonomous door opening method, the motility of combined with intelligent wheelchair and the operability of mechanical arm, solve the above-mentioned problems in the prior art.
The present invention is by technical scheme realization quickly.
According to an aspect of the present invention, provide a kind of intelligent wheel chair that can independently open the door, comprise intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, multi-axial forces/torque sensor, photographic head, mechanical gripper and mechanical arm controller, wherein, described multi-degree-of-freemechanical mechanical arm is arranged on the side of intelligent wheel chair body, the end of multi-degree-of-freemechanical mechanical arm is provided with multi-axial forces/torque sensor, described mechanical gripper is fixed on multi-axial forces/torque sensor, described photographic head is arranged on the end of mechanical arm and is positioned at the top of mechanical gripper, described mechanical arm controller respectively with the control system of intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, multi-axial forces/torque sensor, photographic head is connected with mechanical gripper,
Described photographic head obtains the accurate location of door handle, and transfer to mechanical arm controller, mechanical arm controller controls multi-degree-of-freemechanical mechanical arm and mechanical gripper motion according to positional information, described power/torque sensor obtain multi-degree-of-freemechanical mechanical arm end by force information, and transfer to mechanical arm controller, feed back to multi-degree-of-freemechanical mechanical arm after the track that mechanical arm controller opens the door according to stressed information planning and perform door opening action;
Information sharing between described mechanical arm controller and control system.
Preferably, described mechanical arm controller adopts strategy of speed control, according to the power/moment information suffered by the multi-degree-of-freemechanical mechanical arm end of multi-axial forces/torque sensor feedback, calculate the movement velocity of multi-degree-of-freemechanical mechanical arm end, combined with intelligent wheelchair body moves thus the movement velocity of driving mechanical arm base motion again, obtain the movement velocity of multi-degree-of-freemechanical mechanical arm end relative to intelligent wheel chair body, by Jacobian matrix J, multi-degree-of-freemechanical mechanical arm end is converted to the joint motions speed of multi-degree-of-freemechanical mechanical arm relative to the movement velocity of intelligent wheel chair body, and then accurately control multi-degree-of-freemechanical mechanical arm motion.
Preferably, the motion of described mechanical arm controller to multi-degree-of-freemechanical mechanical arm controls, the motion of described control system to intelligent wheel chair body controls, described mechanical arm controller utilizes the position relationship of multi-degree-of-freemechanical mechanical arm and intelligent wheel chair body, the motion of multi-degree-of-freemechanical mechanical arm is compensated, and then avoids the motor control of the motion of intelligent wheel chair body to multi-degree-of-freemechanical mechanical arm end to impact.
Preferably, described multi-degree-of-freemechanical mechanical arm driving mechanical handgrip moves in three dimensions.
Preferably, described mechanical arm controller adopts veneer controller or industrial computer.
Preferably, according to another aspect of the present invention, provide a kind of autonomous door opening method of the above-mentioned intelligent wheel chair that can independently open the door, comprise the following steps:
Step 1, mechanical arm controller obtains the accurate location of door handle by the photographic head being arranged on multi-degree-of-freemechanical mechanical arm end;
Step 2, mechanical arm controller, according to the positional information of door handle, controls multi-degree-of-freemechanical mechanical arm end movement to door handle place, and controls closed mechanical gripper crawl door handle;
Step 3, mechanical arm controller is obtained multi-degree-of-freemechanical mechanical arm end stress data by the multi-axial forces/torque sensor of multi-degree-of-freemechanical mechanical arm end and then is judged enabling direction, and the track that planning is opened the door, control multi-degree-of-freemechanical mechanical arm end to the direction motion of opening door;
Step 4, when the spacing of multi-degree-of-freemechanical mechanical arm end and intelligent wheel chair body be less than set threshold value time, control system controls intelligent wheel chair and moves, and meanwhile, mechanical arm controller is according to the motion adjustment multi-degree-of-freemechanical mechanical arm end movement speed of intelligent wheel chair body and direction;
Step 5, when door is opened to set angle, mechanical arm controller controls to open mechanical gripper; Meanwhile, mechanical arm controller, according to the Obstacle Position information of cam feedback, plans a collisionless path, and controls multi-degree-of-freemechanical mechanical arm joint position is moved to original state.
Preferably, in described step 4, in the motor process of intelligent wheel chair body, mechanical arm controller utilizes photographic head to gather Obstacle Position information simultaneously, the working place constraint information obtaining multi-degree-of-freemechanical mechanical arm is calculated by articulated position, and be shared to the control system of intelligent wheel chair body, and then ensure that in whole door opening process, intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm do not collide with door.
Compared with prior art, the present invention has following beneficial effect:
1, the present invention utilizes mechanical arm controller and control system to control the motion of multi-degree-of-freemechanical mechanical arm and intelligent wheel chair body respectively, and compensated by the movement velocity of coordinate information between the two to multi-degree-of-freemechanical mechanical arm, coordinate the motion of multi-degree-of-freemechanical mechanical arm and intelligent wheel chair body, the motion of intelligent wheel chair body can not be impacted the motor control of multi-degree-of-freemechanical mechanical arm end, realize intelligent wheel chair body and to cooperate with multi-degree-of-freemechanical mechanical arm the object of carrying out opening the door.
2, utilize multi-degree-of-freemechanical mechanical arm end relative to the movement velocity of mechanical arm pedestal, by Jacobian matrix J, multi-degree-of-freemechanical mechanical arm end is converted to the joint motions speed of multi-degree-of-freemechanical mechanical arm relative to the movement velocity of mechanical arm pedestal, realizes the object accurately controlling multi-degree-of-freemechanical mechanical arm.
3, the present invention considers to utilize camera collection obstacle information and multi-degree-of-freemechanical mechanical arm working place constraint information simultaneously, and share with the control system of intelligent wheel chair body, ensure that in whole door opening process, intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm do not collide with door, improve security performance.
4, the invention solves the enabling problem of the people taking wheelchair in domestic environment; Overcome the restriction in the robotic arm manipulation space of traditional fixed pedestal, the shortcoming of the larger door of width can not be opened; Bring very large facility to handicapped person, there is the features such as action is accurate, safe and reliable, handled easily.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is overall structure schematic diagram of the present invention.
In figure: 1 is mechanical arm controller, 2 is intelligent wheel chair body, 3 multi-degree-of-freemechanical mechanical arm, 4 multi-axial forces/torque sensors, 5 mechanical grippers, and 6 is photographic head.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in 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.
Present embodiments provide a kind of intelligent wheel chair that can independently open the door, comprise intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, multi-axial forces/torque sensor, photographic head, mechanical gripper and mechanical arm controller, wherein, described multi-degree-of-freemechanical mechanical arm is arranged on the side of intelligent wheel chair body, the end of multi-degree-of-freemechanical mechanical arm is provided with multi-axial forces/torque sensor, described mechanical gripper is fixed on multi-axial forces/torque sensor, described photographic head is arranged on the end of mechanical arm and is positioned at the top of mechanical gripper, described mechanical arm controller respectively with the control system of intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, multi-axial forces/torque sensor, photographic head is connected with mechanical gripper,
Described photographic head obtains the accurate location of door handle, and transfer to mechanical arm controller, mechanical arm controller controls multi-degree-of-freemechanical mechanical arm and mechanical gripper motion according to positional information, described power/torque sensor obtain multi-degree-of-freemechanical mechanical arm end by force information, and transfer to mechanical arm controller, feed back to multi-degree-of-freemechanical mechanical arm after the track that mechanical arm controller opens the door according to stressed information planning and perform door opening action;
Information sharing between described mechanical arm controller and control system.
Further, described mechanical arm controller adopts strategy of speed control, according to the power/moment information suffered by the multi-degree-of-freemechanical mechanical arm end of multi-axial forces/torque sensor feedback, calculate the movement velocity of multi-degree-of-freemechanical mechanical arm end, combined with intelligent wheelchair body moves thus the movement velocity of driving mechanical arm base motion again, obtain the movement velocity of multi-degree-of-freemechanical mechanical arm end relative to intelligent wheel chair body, by Jacobian matrix J, multi-degree-of-freemechanical mechanical arm end is converted to the joint motions speed of multi-degree-of-freemechanical mechanical arm relative to the movement velocity of intelligent wheel chair body, and then accurately control multi-degree-of-freemechanical mechanical arm motion.
Further, the motion of described mechanical arm controller to multi-degree-of-freemechanical mechanical arm controls, the motion of described control system to intelligent wheel chair body controls, described mechanical arm controller utilizes the position relationship of multi-degree-of-freemechanical mechanical arm and intelligent wheel chair body, the motion of multi-degree-of-freemechanical mechanical arm is compensated, and then avoids the motor control of the motion of intelligent wheel chair body to multi-degree-of-freemechanical mechanical arm end to impact.
Further, described multi-degree-of-freemechanical mechanical arm driving mechanical handgrip moves in three dimensions.
Further, described mechanical arm controller adopts veneer controller or industrial computer.
The above-mentioned intelligent wheel chair that can independently open the door, its autonomous door opening method, comprises the following steps:
Step 1, mechanical arm controller obtains the accurate location of door handle by the photographic head being arranged on multi-degree-of-freemechanical mechanical arm end;
Step 2, mechanical arm controller, according to the positional information of door handle, controls multi-degree-of-freemechanical mechanical arm end movement to door handle place, and controls closed mechanical gripper crawl door handle;
Step 3, mechanical arm controller is obtained multi-degree-of-freemechanical mechanical arm end stress data by the multi-axial forces/torque sensor of multi-degree-of-freemechanical mechanical arm end and then is judged enabling direction, and the track that planning is opened the door, control multi-degree-of-freemechanical mechanical arm end to the direction motion of opening door;
Step 4, when the spacing of multi-degree-of-freemechanical mechanical arm end and intelligent wheel chair body be less than set threshold value time, control system controls intelligent wheel chair and moves, and meanwhile, mechanical arm controller is according to the motion adjustment multi-degree-of-freemechanical mechanical arm end movement speed of intelligent wheel chair body and direction;
Step 5, when door is opened to set angle, mechanical arm controller controls to open mechanical gripper; Meanwhile, mechanical arm controller, according to the Obstacle Position information of cam feedback, plans a collisionless path, and controls multi-degree-of-freemechanical mechanical arm joint position is moved to original state.
Further, in described step 4, in the motor process of intelligent wheel chair body, mechanical arm controller utilizes photographic head to gather Obstacle Position information simultaneously, the working place constraint information obtaining multi-degree-of-freemechanical mechanical arm is calculated by articulated position, and be shared to the control system of intelligent wheel chair body, and then ensure that in whole door opening process, intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm do not collide with door.
Below in conjunction with accompanying drawing, the present embodiment is further described.
As shown in Figure 1,1 is mechanical arm controller, can be veneer controller or industrial computer; 2 is intelligent wheel chair body, can provide the function such as Non-follow control and automatic control; 3 is multi-degree-of-freemechanical mechanical arm, for capturing or operation; 4 is multi-axial forces/torque sensor, for the force and moment suffered by perceptron mechanical arm end; 5 is mechanical gripper, can be controlled the opening and closing of handgrip by controller; 6 is photographic head, for obtaining the position of door handle.
The intelligent wheel chair that can independently open the door that the present embodiment provides: comprise an intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, a multi-axial forces/torque sensor, a photographic head and a mechanical gripper.Multi-degree-of-freemechanical mechanical arm is arranged on intelligent wheel chair body side, then at the end of mechanical arm, multi-axial forces/torque sensor is installed, finally mechanical gripper is fixed on power/torque sensor other end.Whole like this intelligent wheel chair body Sports band motivation mechanical arm moves, and mechanical arm can control handgrip flexibly in three-dimensional motion, and handgrip can opening and closing, thus can hold door handle; Power/torque sensor obtain mechanical arm tail end by force information, thus the track of enabling can be planned; Photographic head is arranged on the end of mechanical arm, above handgrip, can be obtained the accurate location of door handle like this by photographic head, thus controller mechanical arm goes to capture door handle.
Respectively the motion of intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm is controlled, then by considering the coordinate relation of intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm, correction-compensation is carried out to the movement velocity of multi-degree-of-freemechanical mechanical arm, the motion of intelligent wheel chair body can not be impacted the control of multi-degree-of-freemechanical mechanical arm end, thus reach intelligent wheel chair body and cooperate with multi-degree-of-freemechanical mechanical arm and carry out opening the door or the object of mechanism that operating band retrains.
The control strategy that intelligent wheel chair body adopts is speed controlling, the barrier that being constrained to of consideration is hidden in motor process or the motion of multi-degree-of-freemechanical mechanical arm is remained in working place always, and multi-degree-of-freemechanical mechanical arm action is smooth as far as possible.And the control of multi-degree-of-freemechanical mechanical arm adopts speed controlling equally, the movement velocity of multi-degree-of-freemechanical mechanical arm end can be calculated according to the feedback information of end force transducer, combined with intelligent wheelchair body moves thus the movement velocity of driving mechanical arm pedestal again, obtain the movement velocity of multi-degree-of-freemechanical mechanical arm end relative to mechanical arm pedestal (intelligent wheel chair body), by Jacobian matrix J, mechanical arm tail end is converted to the joint motions speed of mechanical arm relative to the movement velocity of pedestal (intelligent wheel chair body), thus accurately can control multi-degree-of-freemechanical mechanical arm enabling.
The above-mentioned intelligent wheel chair that can independently open the door, its autonomous door opening method, comprises the steps:
Step 1, obtains the position of door handle by the photographic head being arranged on mechanical arm tail end;
Step 2, controller mechanical arm end movement to door handle place, closing machine mechanical arm handgrip; Mechanical arm controller controls intelligent wheel chair and moves to a side, makes the working place of mechanical arm cover doorframe, thus mechanical arm handgrip can be enable to hold door handle; The movement locus of planning intelligent wheel chair body, thus ensure in intelligent wheel chair body moving process can avoiding barrier or make the operation of mechanical arm smooth and easy as far as possible, and door handle is in the working place of mechanical arm all the time;
Step 3, judges enabling direction by the data of end force transducer, controls mechanical arm tail end to the direction motion of opening door; Mechanical arm controller carries out speed controlling to intelligent wheel chair body, estimates according to mechanical arm tail end power/torque sensor feedback to the direction of motion of mechanical arm tail end simultaneously, then controls multi-degree-of-freemechanical mechanical arm end according to the direction motion of opening door;
Step 4, when mechanical arm tail end and wheelchair distance are less than certain threshold value, control intelligent wheel chair and moves, and mechanical arm tail end is according to the motion adjustment movement velocity direction of intelligent wheel chair simultaneously; When intelligent wheel chair motion, consideration keeps away the constraints such as the working place of barrier and mechanical arm, and ensures that in whole door opening process, door can not collide with wheelchair; Mechanical arm tail end desired speed and intelligent wheel chair translational speed are processed, thus draws the speed of mechanical arm tail end relative to the wheelchair base of movement, then obtain the corresponding joint velocity of mechanical arm according to mechanical arm Jacobian matrix;
Step 5, when door is opened to proper angle, opens mechanical arm handgrip, and joint position is moved to original state by a collisionless path by mechanical arm; Manipulator motion is controlled according to the joint velocity calculated.
Repeat step 3-5, until enabling task completes.
The intelligent wheel chair that can independently open the door that the present embodiment provides and autonomous door opening method thereof, for solving the enabling problem taking advantage of wheelchair-bound people in domestic environment.Respectively the speed of intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm end is controlled, thus enable whole intelligent wheel chair this limitation of movement mechanism of actuating doors glibly.Intelligent wheel chair body can consider additional constraint when control, such as, consider to keep away barrier, thus make intelligent wheel chair can not encounter barrier in moving process.The controlled quentity controlled variable of multi-degree-of-freemechanical mechanical arm then can be obtained by the power of end/torque sensor feedback, then carries out correction-compensation according to the space rate of intelligent wheel chair and velocity of rotation, and then controls, thus reaches and coordinate intelligent wheel chair to carry out smooth object of opening the door.The intelligent wheel chair that can independently open the door that the present embodiment provides and autonomous door opening method thereof, simple and quick, have many good qualities compared with the mechanical arm door opening method of fixed pedestal, overcome the restriction in the robotic arm manipulation space of traditional fixed pedestal, the shortcoming of the larger door of width can not be opened, bring very large facility can to handicapped person.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1. the intelligent wheel chair that can independently open the door, it is characterized in that, comprise intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, multi-axial forces/torque sensor, photographic head, mechanical gripper and mechanical arm controller, wherein, described multi-degree-of-freemechanical mechanical arm is arranged on the side of intelligent wheel chair body, the end of multi-degree-of-freemechanical mechanical arm is provided with multi-axial forces/torque sensor, described mechanical gripper is fixed on multi-axial forces/torque sensor, described photographic head is arranged on the end of mechanical arm and is positioned at the top of mechanical gripper, described mechanical arm controller respectively with the control system of intelligent wheel chair body, multi-degree-of-freemechanical mechanical arm, multi-axial forces/torque sensor, photographic head is connected with mechanical gripper,
Described photographic head obtains the accurate location of door handle, and transfers to mechanical arm controller, and mechanical arm controller controls multi-degree-of-freemechanical mechanical arm and mechanical gripper motion according to positional information; Described power/torque sensor obtain multi-degree-of-freemechanical mechanical arm end by force information, and transfer to mechanical arm controller, feed back to multi-degree-of-freemechanical mechanical arm after the track that mechanical arm controller opens the door according to stressed information planning and perform door opening action;
Information sharing between described mechanical arm controller and the control system of intelligent wheel chair body.
2. the intelligent wheel chair that can independently open the door according to claim 1, it is characterized in that, power/the moment information of described mechanical arm controller suffered by the multi-degree-of-freemechanical mechanical arm end of multi-axial forces/torque sensor feedback, calculate the movement velocity of multi-degree-of-freemechanical mechanical arm end, the movement velocity of combined with intelligent wheelchair body again, obtain the movement velocity of multi-degree-of-freemechanical mechanical arm end relative to intelligent wheel chair body, by Jacobian matrix J, multi-degree-of-freemechanical mechanical arm end is converted to the joint motions speed of multi-degree-of-freemechanical mechanical arm relative to the movement velocity of intelligent wheel chair body, and then accurately control multi-degree-of-freemechanical mechanical arm motion.
3. the intelligent wheel chair that can independently open the door according to claim 1 and 2, it is characterized in that, the motion of described mechanical arm controller to multi-degree-of-freemechanical mechanical arm controls, the motion of described control system to intelligent wheel chair body controls, described mechanical arm controller utilizes the position relationship of multi-degree-of-freemechanical mechanical arm and intelligent wheel chair body, the motion of multi-degree-of-freemechanical mechanical arm is compensated, and then avoids the motor control of the motion of intelligent wheel chair body to multi-degree-of-freemechanical mechanical arm end to impact.
4. the intelligent wheel chair that can independently open the door according to claim 1, is characterized in that, described multi-degree-of-freemechanical mechanical arm driving mechanical handgrip moves in three dimensions.
5. the intelligent wheel chair that can independently open the door according to claim 1, is characterized in that, described mechanical arm controller adopts veneer controller or industrial computer.
6. an autonomous door opening method for the intelligent wheel chair that can independently open the door according to any one of claim 1 to 5, is characterized in that, comprise the following steps:
Step 1, mechanical arm controller obtains the accurate location of door handle by the photographic head being arranged on multi-degree-of-freemechanical mechanical arm end;
Step 2, mechanical arm controller, according to the positional information of door handle, controls multi-degree-of-freemechanical mechanical arm end movement to door handle place, and controls closed mechanical gripper crawl door handle;
Step 3, mechanical arm controller is obtained multi-degree-of-freemechanical mechanical arm end stress data by the multi-axial forces/torque sensor of multi-degree-of-freemechanical mechanical arm end and then is judged enabling direction, and the track that planning is opened the door, control multi-degree-of-freemechanical mechanical arm end to the direction motion of opening door;
Step 4, when the spacing of multi-degree-of-freemechanical mechanical arm end and intelligent wheel chair body be less than set threshold value time, control system controls intelligent wheel chair and moves, and meanwhile, mechanical arm controller is according to the motion adjustment multi-degree-of-freemechanical mechanical arm end movement speed of intelligent wheel chair body and direction;
Step 5, when door is opened to set angle, mechanical arm controller controls to open mechanical gripper; Meanwhile, mechanical arm controller, according to the Obstacle Position information of cam feedback, plans a collisionless path, and controls multi-degree-of-freemechanical mechanical arm joint position is moved to original state.
7. the autonomous door opening method of the intelligent wheel chair that can independently open the door according to claim 6, it is characterized in that, in described step 4, in the motor process of intelligent wheel chair body, mechanical arm controller utilizes photographic head to gather Obstacle Position information simultaneously, and the working place constraint information obtaining multi-degree-of-freemechanical mechanical arm is calculated by articulated position, then be shared to the control system of intelligent wheel chair body, and then ensure that in whole door opening process, intelligent wheel chair body and multi-degree-of-freemechanical mechanical arm do not collide with door.
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| WO2022262250A1 (en) * | 2021-06-17 | 2022-12-22 | 达闼机器人股份有限公司 | Method and apparatus for opening door by robot, storage medium, and electronic device |
| CN113876501A (en) * | 2021-09-30 | 2022-01-04 | 华中科技大学 | Wheelchair type mobile double-arm cooperative robot |
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