CN105128012A - Open type intelligent service robot system and multiple controlling methods thereof - Google Patents
Open type intelligent service robot system and multiple controlling methods thereof Download PDFInfo
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- CN105128012A CN105128012A CN201510482346.4A CN201510482346A CN105128012A CN 105128012 A CN105128012 A CN 105128012A CN 201510482346 A CN201510482346 A CN 201510482346A CN 105128012 A CN105128012 A CN 105128012A
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Abstract
An open type intelligent service robot comprises a body (100), two mechanical arms (200) and a controlling system (300). The robot further comprises a man-machine collaborating system (400) and an interference protecting system (500) which are connected with the controlling system (300). An operator can choose a man-machine collaborating mode or an automatic operating mode. If the man-machine collaborating mode is chosen, a controlling mode of the robot is chosen, and the operator can control the robot to work. If the operator chooses the automatic operating mode, the robot automatically operates according to instructions previously stored in the controlling system, and the operator can start a human sensor (510) and a force sensor (520) in the interference protecting system (500). By means of the technical scheme, the high-intelligent robot can finish collaborating tasks with the operator. Furthermore, the robot has the beneficial effect of openness and can form a service system with other robots to carry out collaboration.
Description
Technical field
The present invention relates to robot field, particularly can carry out man-machine interaction, the collaborative intelligent robot carrying out many services operation.
Background technology
In prior art, robot is applied in industrial circle mostly, particularly be applied on the production line of continuous productive process, the function of this robot is fairly simple, adapt to the task of performing operation in enormous quantities, and for having probabilistic small displacement or single job task, this robot is difficult to competent, and, above-mentioned robot is substantially all fixed mode running, when task of needing man-computer cooperation just can complete, these robots seldom can carry out coordinated with operator, and adaptability is poor.
Summary of the invention
The invention provides a kind of service operation intelligent robot with opening, standardization and networking; man-machine coordination system and safety system are added in the basis of original robot; with operator's coordinated, solve the technical problem that existing robot can not complete man-machine coordinating operation.
The present invention solves the problems of the technologies described above this high intelligent robot designed to comprise trunk, be arranged at two mechanical arms of these trunk both sides and control the control system of above-mentioned trunk and mechanical arm action, and this robot also comprises the human computer cooperation system, interference protection system and the voice sound system that connect described control system.
Further improvement of the present invention is: described human computer cooperation system comprises the man-machine interaction unit connecting described control system, and this man-machine interaction unit comprises off-line programing module in parallel, online programming module and gesture control module.
Of the present invention improvement further is again: described man-machine interference protection system also comprises the human inductor connecting described control system respectively and the force snesor be arranged on each mechanical arm.
Of the present invention improvement further is again: described voice sound system comprises speech control module and voice playing unit.
Of the present invention further improvement is: this robot also comprises the stereo visual system connecting described control system, this stereo visual system comprises the first video camera being arranged at trunk head and the second video camera be arranged at least one mechanical arm, and this robot also comprises the network communication system connecting described control system.
Trunk of the present invention comprises trunk, lower trunk and the first rotary joint arranged between the two, described each mechanical arm is at least six axle construction, specifically comprise the swing arm connected successively by connecting the root of trunk, turning arm, wrist and crawl fixture, also comprise driving joint portion, this driving joint portion specifically comprises the second rotary joint arranged between trunk and root, the first swinging joint arranged between root and swing arm, the second swinging joint arranged between swing arm and turning arm, the 3rd swinging joint arranged between turning arm and wrist and the 4th rotary joint arranged between wrist and crawl fixture, described turning arm is two-part structure, described driving joint portion also comprises the 3rd rotary joint be arranged between two sections of first rotating arms, described second video camera is arranged on described crawl fixture.
The robot system that the present invention is made up of above-mentioned robot at least comprises Liang Ge robot, carries out communication, signals collecting and data transmission each other by described network communication system, and collaborative work.
The control method of the above-mentioned open type intelligent service robot of the present invention and system comprises the people that starts the machine, and operator selects man-machine collaboration pattern, automatically operational mode or voice sound operational mode; After selecting man-machine collaboration pattern, then select the control model of robot; Operator's control carries out operation.The mode of operator's control comprises off-line input instruction control, on-line teaching input instruction control or gesture and controls.The mode of operator's control also comprises the force snesor starting and interfere in protection system, and when robot arm touching human body or mechanical arm and other barriers are touched, control stops operation.
Operator is as selected automatic operational mode; robot runs automatically according to the instruction be pre-stored in its control system in advance; operator then opens and interferes human inductor in protection system and force snesor; when mechanical arm is close to during human body or when mechanical arm and other barriers touch, control stops continuing operation.Described automatic operational mode also comprises multiple stage robot synthetic operation pattern, by LAN, operation is carried out in the interlock of multiple stage robot.
Operator as selected voice sound operational mode, then passes through the operation of speech control module control
The present invention adopts above-mentioned technical scheme; this high intelligent robot can be made to complete the task of carrying out coordinated with operator; and this robot has open feature; service system can be formed with other robot; carry out cooperative cooperating, complete the task of more complicated, in addition; robot of the present invention has reliable safeguard measure, prevents from accidentally injuring operator, periphery object and robot oneself in robot manipulating task.The present invention be there is touch-screen man-machine interaction, stereoscopic vision is independently located, target image detects analysiss, accurate complex task SERVO CONTROL, cooperate with the multiaxis of both hands arm and waist industrial robot.Operating personnel can be operated expediently by off-line programing, on-line teaching, voice sound system, shows job content, performance process statistics (SPC) on the touch-screen human-computer interaction interface at robot back simultaneously.
Accompanying drawing explanation
Fig. 1 is the front schematic perspective view of open type intelligent service robot of the present invention.Fig. 2 is the back side schematic perspective view of open type intelligent service robot of the present invention.Fig. 3 is that open type intelligent service robot of the present invention controls cooperation schematic diagram.Fig. 4 is that open type intelligent service robot instruction of the present invention controls schematic diagram.Fig. 5 is the schematic perspective view of robot system of the present invention.Fig. 6 is robot system of the present invention composition and control principle schematic diagram.Fig. 7 is the control block diagram of robot control system of the present invention.Fig. 8 is the control flow chart of robot control system of the present invention.
Detailed description of the invention
In conjunction with above-mentioned accompanying drawing, specific embodiments of the invention are described.
From in Fig. 1 to Fig. 4, Fig. 7 and Fig. 8; open type intelligent service robot of the present invention comprises trunk 100, is arranged at two mechanical arms 200 of these trunk 100 both sides and controls the control system 300 of above-mentioned trunk and mechanical arm action, and this robot also comprises the human computer cooperation system 400, interference protection system 500 and the voice sound system 800 that connect described control system 300.Robot control method of the present invention is the people that first starts the machine, and operator selects man-machine collaboration pattern or automatic operational mode, and after selecting man-machine collaboration pattern, then select the control model of robot, operator's control carries out operation.The present invention adds human computer cooperation system and interferes protection system on the basis of conventional machines people; human computer cooperation system is used for carrying out man-machine communication's coordinated in task of needing operator to coordinate with robot; by the action of operator's control; man-machine cooperation is finished the work; protection system is interfered to be then consider for security standpoint; when mechanical arm and human body or surrounding objects interfere; then control takes safety measures, and ensures personnel and the safety of himself.Robot of the present invention has posture information " power down protection " function.Adopt absolute encoder position feedback, data register stores robot each servomotor position feedback, realizes memory function.Do system calibrating during first use, need not all will repeat to do " system back to zero " later during operation at every turn, system starts and after servo enable (SERVOON), system enters treats duty.
From in Fig. 7 and Fig. 8, described human computer cooperation system 400 comprises the man-machine interaction unit 410 connecting described control system 300, and described man-machine interaction unit 410 comprises off-line programing module 411 in parallel, online programming module 412 and gesture control module 413.Operator can carry out off-line input instruction control, on-line teaching input instruction control or gesture by above-mentioned module and control.
From in Fig. 7 and Fig. 8, described man-machine interference protection system 500 also comprises the human inductor 510 connecting described control system 300 respectively and the force snesor 520 be arranged on each mechanical arm 200.Operator is when selecting man-machine collaboration pattern; also need to start the force snesor 520 of interfering in protection system 500; when robot arm touching human body or mechanical arm and other barriers are touched; control stops operation; under this kind of operational mode; operating personnel can not enter robot job area, to avoid risk of collision.Operator is as selected automatic operational mode, robot coordinates two CCD vision systems of high-res according to the instruction be pre-stored in advance in its control system, the full autonomous intelligence operation of robot (off-line programing system that can be carried by robot control system or the robot language In-circuit programming system carried by system can be performed after compiling, link).Operator then opens and interferes human inductor 510 in protection system 500 and force snesor 520, when mechanical arm is close to during human body or when mechanical arm touch with other barriers, and control stopping continuation operation.Robot control system of the present invention is also designed with " sleep awakening " function.At robot system electric power starting and under being in " treating work " state status, if long-time (as exceed half an hour, can software set, amendment parameter) assign job instruction, robot enters sleep state automatically, with economize energy; Between robot rest period, when operating personnel (within as 1.5 meters, can software set, amendment parameter) within robot certain distance scope, robot automatically wakes up, enters " treating work " state from sleep.
From in Fig. 2, Fig. 7 and Fig. 8, described voice sound system 800 comprises speech control module 810 and voice playing unit 820, intellect service robot Control System Software provides " robot language " of independent research, such as operator can by means of the programmed environment of robot language, when system is not out of service, subsequent job is programmed, after compiling, link, automatically can generate new job run formula; The voice sound system 800 that operator also can be provided by Control System Software, according to phonetic order collection, by speech control module 810, control realizes both arms spatial movement, waist level turns round, head is upper and lower, side-to-side movement, and recording, preserve the some position information of key position in running, system generates operation programming file, repetition (can arrange number of times) playback operation according to the format program intelligence of " the BWR robot language " of independent research design automatically.When occurring that human body or object and robot are interfered, sound can be carried out by robot voice Play System 820 and warning prompting.
From in Fig. 1, Fig. 7 and Fig. 8, this robot also comprises the stereo visual system 600 connecting described control system 300, and this stereo visual system 600 comprises the first video camera 610 being arranged at trunk head and the second video camera 620 be arranged at least one mechanical arm.Robot head, mechanical arm hand are equipped with two cover CCD Vision imaging systems.Function declaration: two cover vision systems can by given angle and set of locations synthesis binocular stereo vision, obtain the pose (position and attitude) of workpiece and appearance and size (length, width and height and all directions drift angle) simultaneously, i.e. the drift angle information of acquisition workpiece position in a coordinate system, workpiece size, work piece simultaneously.Also can position with mechanical arm hand camera, guiding robot arm motion, accurate optical appearance detection is carried out to workpiece (objective body) with head camera, clamps the state-detection of object (as the liquid level in transparent vessel, luminosity, the uniformity of luminous workpiece, backlight illumination etc., screw and nut install whether rectify puts in place, whether screw from not being marked etc.), and character string OCR pattern-recognition analysis etc.
From in Fig. 1 and Fig. 2, the first rotary joint 430 that described trunk 100 comprises trunk 110, lower trunk 120 and arranges between the two, described each mechanical arm 200 is at least six axle construction, specifically comprise the swing arm 220 connected successively by connecting the root 210 of trunk 100, turning arm 240, wrist 250 and crawl fixture 260, also comprise driving joint portion 270, this driving joint portion 270 specifically comprises the second rotary joint 271 arranged between trunk 100 and root 210, the first swinging joint 272 arranged between root 210 and swing arm 220, the second swinging joint 273 arranged between swing arm 220 and turning arm 240, the 3rd swinging joint 274 arranged between turning arm 240 and wrist 250 and the 4th rotary joint 276 arranged between wrist 250 and crawl fixture 260, described turning arm 240 is two-part structure, described driving joint portion 270 also comprises the 3rd rotary joint 275 be arranged between two sections of turning arms 240, described second video camera 620 is arranged on described crawl fixture 260.
From in Fig. 1, Fig. 5 and Fig. 6, this robot also comprises the network communication system 700 connecting described control system 300, multiple stage robot synthetic operation pattern is also designed with in automatic operational mode, system of the present invention is the robot system of network control flexible manufacturing, Liang Ge robot is at least comprised in this robot system, communication, signals collecting, data transmission is carried out each other by described network-bus formula communication system 700, and collaborative work.By multiple network communication form (such as: LAN), operation is carried out in the interlock of multiple stage robot.Robot of the present invention adopts the system bus control mode design of open, standardization, networking, and data throughout is large and transmission speed is fast, and real-time control performance is good.Can robot unit operation, also can multiple stage work compound in LAN, also can carry out internet remotely controlled operation by network simultaneously.
Above content is in conjunction with concrete preferred embodiment further description made for the present invention, can not assert that specific embodiment of the invention is confined to these explanations.For general technical staff of the technical field of the invention, without departing from the inventive concept of the premise, some simple deduction or replace can also be made, all should be considered as belonging to protection scope of the present invention.
Claims (15)
1. an open type intelligent service robot; comprise trunk (100), be arranged at two mechanical arms (200) of this trunk (100) both sides and control the control system (300) of above-mentioned trunk and mechanical arm action, it is characterized in that: this robot also comprise connect described control system (300) human computer cooperation system (400), interfere protection system (500) and voice sound system (800).
2. open type intelligent service robot according to claim 1, it is characterized in that: described human computer cooperation system (400) comprises the man-machine interaction unit (410) connecting described control system (300), described man-machine interaction unit (410) comprises off-line programing module (411) in parallel, online programming module (412) and gesture control module (413).
3. open type intelligent service robot according to claim 1, is characterized in that: described man-machine interference protection system (500) also comprises the human inductor (510) connecting described control system (300) respectively and the force snesor (520) be arranged on each mechanical arm (200).
4. open type intelligent service robot according to claim 1, is characterized in that: described voice sound system (800) comprises speech control module (810) and voice playing unit (820).
5. open type intelligent service robot according to any one of Claims 1-4, it is characterized in that: this robot also comprises the stereo visual system (600) connecting described control system (300), and this stereo visual system (600) comprises the first video camera (610) being arranged at trunk head and the second video camera (620) be arranged at least one mechanical arm.
6. open type intelligent service robot according to any one of Claims 1-4, is characterized in that: the first rotary joint (430) that described trunk (100) comprises trunk (110), lower trunk (120) and arranges between the two.
7. open type intelligent service robot according to claim 5, it is characterized in that: described each mechanical arm (200) is at least six axle construction, specifically comprise the swing arm (220) connected successively by connecting the root (210) of trunk (100), turning arm (240), wrist (250) and crawl fixture (260), also comprise driving joint portion (270), this driving joint portion (270) specifically comprises the second rotary joint (271) arranged between trunk (100) and root (210), the first swinging joint (272) arranged between root (210) and swing arm (220), the second swinging joint (273) arranged between swing arm (220) and turning arm (240), the 3rd swinging joint (274) arranged between turning arm (240) and wrist (250) and the 4th rotary joint (276) arranged between wrist (250) and crawl fixture (260), described turning arm (240) is two-part structure, described driving joint portion (270) also comprises the 3rd rotary joint (275) be arranged between two sections of turning arms (240), described second video camera (620) is arranged on described crawl fixture (260).
8. open type intelligent service robot according to any one of Claims 1-4, is characterized in that: this robot also comprises the network communication system (700) connecting described control system (300).
9. the robot system be made up of open type intelligent service robot described in claim 8, it is characterized in that: in this robot system, at least comprise Liang Ge robot, communication, signals collecting and data transmission is carried out each other by described network communication system (700), and collaborative work.
10. the different control methods of open type intelligent service robot according to any one of claim 1 to 8, is characterized in that: the method comprises the people that starts the machine, and operator selects man-machine collaboration pattern, automatically operational mode or voice sound operational mode; After selecting man-machine collaboration pattern, then select the control model of robot; Operator's control carries out operation.
11. different control methods according to claim 10, is characterized in that: the mode of operator's control comprises off-line input instruction control, on-line teaching input instruction control or gesture and controls.
12. different control methods according to claim 10 or 11; it is characterized in that: the mode of operator's control also comprises the force snesor (520) starting and interfere in protection system (500); when robot arm touching human body or mechanical arm and other barriers are touched, control stops operation.
13. different control methods according to claim 10; it is characterized in that: operator is as selected automatic operational mode; robot runs automatically according to the instruction be pre-stored in its control system in advance; operator then opens and interferes human inductor (510) in protection system (500) and force snesor (520); when mechanical arm is close to during human body or when mechanical arm and other barriers touch; control stops continuing operation, and carries out sound warning prompting by robot voice broadcast unit (820).
14. different control methods according to claim 10, it is characterized in that: operator is as selected voice sound operational mode, operator is then by voice sound system (800) that Control System Software provides, according to phonetic order collection, by speech control module (810) control operation.
15. different control methods according to claim 10 or 11, is characterized in that: described automatic operational mode also comprises multiple stage robot synthetic operation pattern, by LAN, operation are carried out in the interlock of multiple stage robot.
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Cited By (9)
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| CN105364915A (en) * | 2015-12-11 | 2016-03-02 | 齐鲁工业大学 | Intelligent home service robot based on three-dimensional machine vision |
| CN105500370A (en) * | 2015-12-21 | 2016-04-20 | 华中科技大学 | Robot offline teaching programming system and method based on somatosensory technology |
| CN105955489A (en) * | 2016-05-26 | 2016-09-21 | 苏州活力旺机器人科技有限公司 | Robot gesture identification teaching apparatus and method |
| CN107363854A (en) * | 2017-08-24 | 2017-11-21 | 广东利元亨智能装备有限公司 | A kind of telescopic mechanical gripper |
| CN107891425A (en) * | 2017-11-21 | 2018-04-10 | 北方民族大学 | The control method of the intelligent man-machine co-melting humanoid robot system of both arms security cooperation |
| CN108312128A (en) * | 2018-03-20 | 2018-07-24 | 麦格瑞（北京）智能科技有限公司 | Man-machine collaboration robot |
| CN110275610A (en) * | 2019-05-27 | 2019-09-24 | 山东科技大学 | A kind of collaboration gesture control coal mining simulation control method based on LeapMotion motion sensing control device |
| CN113561176A (en) * | 2021-07-22 | 2021-10-29 | 上海鲸鱼机器人科技有限公司 | Control method, robot, upper computer and readable storage medium |
| CN114347100A (en) * | 2020-10-14 | 2022-04-15 | 达明机器人股份有限公司 | Automatic mode safety system and method for robot |
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| CN110275610A (en) * | 2019-05-27 | 2019-09-24 | 山东科技大学 | A kind of collaboration gesture control coal mining simulation control method based on LeapMotion motion sensing control device |
| CN110275610B (en) * | 2019-05-27 | 2022-09-30 | 山东科技大学 | Cooperative gesture control coal mining simulation control method based on LeapMotion somatosensory controller |
| CN114347100A (en) * | 2020-10-14 | 2022-04-15 | 达明机器人股份有限公司 | Automatic mode safety system and method for robot |
| CN114347100B (en) * | 2020-10-14 | 2024-04-16 | 达明机器人股份有限公司 | Automatic mode safety system and method for robot |
| CN113561176A (en) * | 2021-07-22 | 2021-10-29 | 上海鲸鱼机器人科技有限公司 | Control method, robot, upper computer and readable storage medium |
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