CN105690391A - Service robot and control method thereof - Google Patents
Service robot and control method thereof Download PDFInfo
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- CN105690391A CN105690391A CN201610223510.4A CN201610223510A CN105690391A CN 105690391 A CN105690391 A CN 105690391A CN 201610223510 A CN201610223510 A CN 201610223510A CN 105690391 A CN105690391 A CN 105690391A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
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Abstract
The invention discloses a service robot and a control method thereof. The robot comprises a head assembly, an arm assembly, a waist assembly, a chassis and a walking assembly which are sequentially arranged from top down, wherein the head assembly comprises a head unit and a head control unit; the arm assembly comprises an arm unit and an arm control unit; the waist assembly comprises a waist unit and a waist control unit; the chassis is used for supporting the head assembly, the arm assembly and the waist assembly; and the walking assembly comprises a walking unit and a walking control unit. The method comprises the following steps: controlling the walking unit to advance to a preset position along a preset rail, and controlling the head unit to nod while meeting people or arriving at the preset position; controlling the waist unit to carry out left-right rotation; controlling the head unit to shake head; and controlling the arm unit to horizontally descend and ascend. The service robot and the control method thereof, which are disclosed by the invention, are low in cost, and high in intelligence; and moreover, the service robot is stable in walking, thus user experience is improved.
Description
Technical field
The present invention relates to service robot field, particularly toA kind of service robot and method of work thereof。
Background technology
There is a variety of form in robot, it is possible to classify from multiple angles to robot: first generation robot is primarily referred to as and can only be engaged in the industrial robot of work in " teaching-reproduction " mode。Teaching contents includes the running orbit of robot manipulation mechanism, operating condition, the sequence of operation etc.。Teaching mode be operator's " by doing and illustrating " directly do, or be operated by platform demonstration a time work process, robot can living continuous circulation science come operation。Commercialization in the world at present, practical robot commodity broadly fall into this class。Equations of The Second Kind robot belongs to intelligent robot。It has the ability of perception environment, and it is equipped with multiple sensors, understands working environment by them, by complicated thinking of logic, it is judged that decision-making, in the work environmentIndependentComplete operation。Third generation robot is future robot, and future robot set can substitute for all behaviors of the mankind, even researches and developsNew productProduct, open up new application etc.。
Service robot also should be defined as first generation robot, and it is the robot of a kind of movable type, has certain learning capacity, simultaneously by a part of sensor identification working environment, has certainIndependentAbility to work。It is mainly used in dining room orHousekeepingService, it is possible to be used for welcome, guiding guest, order, the service item such as food delivery in the Room。
As in dining room, the design of service robot faces three aspect problems and needs to solve: how guide service robot arrive specified sites, how to allow service robot walking fixed route, how to make service robot steadily take away and steadily put down。
Therefore, it is badly in need of providing that a kind of cost is low, the service robot of Intelligent Service。
Summary of the invention
The present invention is directed to above-mentioned problems of the prior art, it is proposed toA kind of service robot and method of work thereof, its cost is low, intellectuality very, and service robot walking is stable, improves Consumer's Experience。
For solving above-mentioned technical problem, the present invention is achieved through the following technical solutions:
The present invention provides a kind of service robot, comprising: the head assembly arranged successively from top to bottom, arm component, waist feature, chassis and walking assembly；Wherein,
Described head assembly includes: head unit and head control unit, and described head control unit is used for controlling described head unit and shakes the head, nods；
Described arm component includes: hand unit and arm control unit, and described arm control unit is for controlling the lifting of described hand unit level and transferring；
Described waist feature includes: lumbar unit and waist control unit, and described waist control unit carries out left rotation and right rotation for lumbar unit according to service object's direction controlling；
Described chassis is used for supporting described head assembly, arm component and waist feature；
Described walking assembly includes: walking unit and travelling control unit, and described travelling control unit advances to default position for controlling described walking unit along predetermined trajectory。
It is preferred that described head control unit specifically includes: limit switch, side-to-side movement ultimate range setup unit, rear limit switch and front limit switch；
Center when described limit switch is arranged at described head unit towards dead ahead, the position of described limit switch is origin position；
Described side-to-side movement ultimate range setup unit is for setting the ultimate range moved to the left or to the right from origin position；
Described rear limit switch is arranged at the rest position of described head unit rearward movement；
Described front limit switch is arranged at the proal rest position of described head unit；
Described limit switch and described side-to-side movement ultimate range setup unit are for realizing shaking the head of described head unit；
Described rear limit switch and described front limit switch are for realizing nodding of described head unit。
It is preferred that described arm control unit specifically includes: upper limit position switch and move downward distance setup unit；
Described upper limit position switch is arranged at the stop position that default described hand unit moves upward；
The described distance setup unit that moves downward is for setting the distance that described hand unit moves downward as the position of switch from the upper limit。
It is preferred that described waist control unit specifically includes: left limit switch, right limit switch；
Described left limit switch is arranged at the maximum position that described lumbar unit turns left from dead ahead；
Described right limit switch is arranged at the maximum position that described lumbar unit turns right from dead ahead。
It is preferred that described travelling control unit specifically includes: positioning unit and station recognition unit；
Described positioning unit includes: two magnetic navigation sensors and magnetic stripe track, two described magnetic navigation sensors are respectively arranged at the front-end and back-end of the bottom on described chassis, move along described magnetic stripe track in described chassis, the described magnetic navigation sensor being positioned at front end deviates the distance of described magnetic stripe track for the front end gathering described chassis, the described magnetic navigation sensor being positioned at rear end deviates the distance of described magnetic stripe track for the rear end gathering described chassis, makes described disk run along magnetic stripe track according to the distance that two described magnetic navigation sensors collect；
Described station recognition unit is used for identifying website card, makes described walking unit be parked in the position that default website card is corresponding。
The present invention also provides for the control method of a kind of service robot, and it comprises the following steps:
S11: control walking unit and advance to predeterminated position along predetermined trajectory, and when running into people or arriving predeterminated position, control head unit and nod；
S12: control lumbar unit and carry out left rotation and right rotation, so that service robot forwards the direction at service object place to；
S13: control head unit and shake the head, so that the service-oriented object of head unit；
S14: control hand unit level and transfer, after waiting for a period of time, controls hand unit level and promotes。Preferably, described step S11 carries out pose correction particularly as follows: the distance of the described chassis deviation magnetic stripe track collected by two magnetic navigation sensors of the front-end and back-end of the bottom being arranged on chassis jointly controls described walking unit, and then controls described service robot and advance along described magnetic stripe track；And move to, by being arranged on the station recognition unit described service robot of control of the bottom on described chassis, the position that website card is corresponding, simultaneously in traveling process, people has been detected whether by the infrared human body detection sensor being arranged on service robot, when being detected with people, control head unit to nod, to show friendship to people, promote Consumer's Experience。
It is preferred that described step S12 is particularly as follows: according to service object direction, control lumbar unit and move to left limit switch or the position of right limit switch to the left or to the right。
It is preferred that described step S13 is particularly as follows: by the ultimate range of the limit switch at centrally-disposed place and the side-to-side movement of setting, control head unit and move to the left or to the right, so that the service-oriented object of head unit。
Preferably, described step S14 is moved downwardly to move downward, particularly as follows: control hand unit, the position that the distance moved downward that distance setup unit sets is corresponding, after waiting for a period of time, lift described hand unit, make described hand unit move upward to the position that upper limit position switch is corresponding。
Compared to prior art, the invention have the advantages that
(1) service robot provided by the invention and control method thereof, by the control in each joints such as the head of service robot, arm, waist and walking, it is possible to make service robot well service, improve the experience of user；
(2) control in each joint of the present invention is parallel calling control, can expand other functions very easily on this basis and not affect overall control, have stronger versatility and expansion；
(3) present invention adopts limit switch and software set move distance, and the method combined by hardware limit and software limit well achieves the motor control of service robot, and cost is low。
Certainly, the arbitrary product implementing the present invention it is not absolutely required to reach all the above advantage simultaneously。
Accompanying drawing explanation
Below in conjunction withAccompanying drawingEmbodiments of the present invention are described further:
Fig. 1Structural representation for the service robot of the present inventionFigure；
Fig. 2The flow process of control method for the service robot of the present inventionFigure。
Label declaration: 1-head assembly, 2-arm component, 3-waist feature, 4-chassis, 5-walks assembly；
11-head unit, 12-head control unit；
21-hand unit, 22-arm control unit；
31-lumbar unit, 32-waist control unit；
51-walks unit, 52-travelling control unit。
Detailed description of the invention
Below embodiments of the invention being elaborated, the present embodiment is carried out under premised on technical solution of the present invention, gives detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment。
Embodiment 1:
In conjunction withFig. 1, the service robot of the present invention is described in detail by the present embodiment, its structural representationFigure is such as Fig. 1Shown in, comprising: the head assembly 1 arranged successively from top to bottom, arm component 2, waist feature 3, chassis 4 and walking assembly 5；Wherein, head assembly 1 includes: head unit 11 and head control unit 12, and head control unit 12 is used for controlling head unit 11 and shakes the head, nods；Arm component 2 includes: hand unit 21 and arm control unit 22, and arm control unit 22 is for controlling the lifting of hand unit 21 level and transferring；Waist feature 3 includes: lumbar unit 31 and waist control unit 32, and waist control unit 32 is for carrying out left rotation and right rotation according to service object's direction controlling lumbar unit 31；Chassis 4 is for supporting head part assembly 1, arm component 2 and waist feature 3；Walking assembly 5 includes: walking unit 51 and travelling control unit 52, and travelling control unit 52 advances to default position for controlling walking unit 51 along predetermined trajectory。
In the present embodiment, head control unit specifically includes:: the first limit switch, side-to-side movement ultimate range setup unit, the second limit switch and the 3rd limit switch；First limit switch and side-to-side movement ultimate range setup unit are for realizing shaking the head of head unit；Second limit switch and the 3rd limit switch are for realizing nodding of head unit。Center when first limit switch is arranged at head unit towards dead ahead, the position of limit switch is origin position；Side-to-side movement ultimate range setup unit is for setting the ultimate range moved to the left or to the right from origin position；Second limit switch is arranged at the rest position of head unit rearward movement；3rd limit switch is arranged at the proal rest position of head unit。
Arm control unit specifically includes: upper limit position switch and move downward distance setup unit；Upper limit position switch is arranged at the stop position that default hand unit moves upward；Move downward distance setup unit for setting the distance that hand unit moves downward as the position of switch from the upper limit。
Waist control unit specifically includes: left limit switch, right limit switch；Left limit switch is arranged at the maximum position that lumbar unit turns left from dead ahead；Right limit switch is arranged at the maximum position that lumbar unit turns right from dead ahead。
Travelling control unit specifically includes: positioning unit and station recognition unit；Positioning unit includes: two magnetic navigation sensors and magnetic stripe track, two magnetic navigation sensors are respectively arranged at the front-end and back-end of the bottom on chassis, move along magnetic stripe track in chassis, the magnetic navigation sensor being positioned at front end deviates the distance of magnetic stripe track for the front end gathering chassis, the magnetic navigation sensor being positioned at rear end deviates the distance of magnetic stripe track for the rear end gathering chassis, makes disk run along magnetic stripe track according to the distance that two magnetic navigation sensors collect；Station recognition unit is used for identifying website card, makes walking unit be parked in the position that default website card is corresponding。
Embodiment 2:
In conjunction withFig. 2, the control method of the service robot of the present invention is described in detail by the present embodiment, its flow processFigure is such as Fig. 2Shown in, it comprises the following steps:
S11: control walking unit and advance to predeterminated position along predetermined trajectory, and when running into people or arriving predeterminated position, control head unit and nod；
S12: control lumbar unit and carry out left rotation and right rotation, so that service robot forwards the direction at service object place to；
S13: control head unit and shake the head, so that the service-oriented object of head unit；
S14: control hand unit level and transfer, after waiting for a period of time, controls hand unit level and promotes。In the present embodiment, step S11 carries out pose correction particularly as follows: the distance of the chassis deviation magnetic stripe track collected by two magnetic navigation sensors of the front-end and back-end of the bottom being arranged on chassis jointly controls walking unit, and then controls service robot and advance along magnetic stripe track；And move to, by being arranged on the station recognition unit control service robot of the bottom on chassis, the position that website card is corresponding。Adopting two sensors to control the navigation of service robot automatic tracking, stability and the motility of service robot motion are higher, it is possible to be suitable for dining room etc. and compare complex environment。When running into pedestrian in the process of walking (when infrared human body detection sensor detects people) or when meal delivery location can be given a nod as a signal to people and send voice reminder, owing to front and back nodding action is used for illustrating to people, so whole action can be covered, namely nod backward, nod forward, return to initial point。Specific implementation is: limit switch after the maximum distance apart of rearward movement is installed, and installs front limit switch in proal maximum distance apart；Limit switch after the triggering of head unit rearward movement, stops rearward movement, then travels forward, and after triggering front limit switch, stops travelling forward, and then the rearward movement specific range place of recentering stops。
Step S12 is particularly as follows: owing to waist movement is without accurate especially, for cost consideration, choice accuracy is lower than the motor of servomotor, because motor can not constitute this character of feedback system, so dead-center position cannot be recorded and identify, in order to solve this problem, the present embodiment adopts the method that both sides are spacing, and arranges left limit switch and right limit switch。According to service object direction, control lumbar unit and move to left limit switch or the position of right limit switch correspondence to the left or to the right, service with user oriented。
Step S13 is particularly as follows: the head movement principle of service robot combines the feature of waist movement and arm motion。Always it is divided into two degree of freedom: nodding in front and back and shakes the head in left and right, wherein, the principle nodded in front and back is similar with waist movement, have been described above in step s 11, being shaken the head in left and right herein and be described, shakes the head and combines the feature of waist and arm in left and right, is used for the position adjustment coordinating binocular recognition unit identification image to carry out owing to shaking the head, by the position adjusting head of shaking the head so that double; two destination locations identifies image more accurately, so action often need not walk enough circulations。Therefore, setting limit switch at center position, trigger limit switch, motion stops, and moves next time and detects that service robot arrives appointed place, the feedback condition re invocation motor movement program according to food delivery according to station recognition unit；Meanwhile, side-to-side movement is soft spacing by program setting, and namely center is origin position, based on this, sets left and right largest motion distance ZmaxIf when coordinating adjustment position about binocular, such as regulating to the left, as the distance Z of recordLeftLess than ZmaxTime, sustainable regulate to the left, until arriving ideal position, by original route motion-Z after having regulatedLeft, return to starting point。Distance Z when recordLeftArrive critical localisation ZmaxTime, motion stops, from ZmaxPosition returns starting point, then finds suitable position from the right。
Step S14 is particularly as follows: only need due to hand unit to move up and down, and without resting on centre position, so installing limit switch in the hand unit position that can touch that moves upward, when hand unit lift service plate move upward triggering upper limit position switch time, hand unit stop motion, so ensure that hand unit returns to same position every time, set distance that hand unit moves downward as fixed range YUnder=a so that it is arrive applicable user and take off the position of meal, wait some time, take off behind meal until user, perform distance YOn=-YUnder=-a, returns to original position with this。
Disclosed herein is only the preferred embodiments of the present invention, and these embodiments are chosen and specifically described to this specification, is to explain principles of the invention and practical application better, is not limitation of the invention。The modifications and variations that any those skilled in the art do within the scope of description, all should drop in the scope that the present invention protects。
Claims (10)
1. a service robot, it is characterised in that including: head assembly, arm component, waist feature, chassis and the walking assembly arranged successively from top to bottom；Wherein,
Described head assembly includes: head unit and head control unit, and described head control unit is used for controlling described head unit and shakes the head, nods；
Described arm component includes: hand unit and arm control unit, and described arm control unit is for controlling the lifting of described hand unit level and transferring；
Described waist feature includes: lumbar unit and waist control unit, and described waist control unit carries out left rotation and right rotation for lumbar unit according to service object's direction controlling；
Described chassis is used for supporting described head assembly, arm component and waist feature；
Described walking assembly includes: walking unit and travelling control unit, and described travelling control unit advances to default position for controlling described walking unit along predetermined trajectory。
2. service robot according to claim 1, it is characterised in that described head control unit specifically includes: limit switch, side-to-side movement ultimate range setup unit, rear limit switch and front limit switch；
Center when described limit switch is arranged at described head unit towards dead ahead, the position of described limit switch is origin position；
Described side-to-side movement ultimate range setup unit is for setting the ultimate range moved to the left or to the right from origin position；
Described rear limit switch is arranged at the rest position of described head unit rearward movement；
Described front limit switch is arranged at the proal rest position of described head unit；
Described limit switch and described side-to-side movement ultimate range setup unit are for realizing shaking the head of described head unit；
Described rear limit switch and described front limit switch are for realizing nodding of described head unit。
3. service robot according to claim 1, it is characterised in that described arm control unit specifically includes: upper limit position switch and move downward distance setup unit；
Described upper limit position switch is arranged at the stop position that default described hand unit moves upward；
The described distance setup unit that moves downward is for setting the distance that described hand unit moves downward as the position of switch from the upper limit。
4. service robot according to claim 1, it is characterised in that described waist control unit specifically includes: left limit switch, right limit switch；
Described left limit switch is arranged at the maximum position that described lumbar unit turns left from dead ahead；
Described right limit switch is arranged at the maximum position that described lumbar unit turns right from dead ahead。
5. service robot according to claim 1, it is characterised in that described travelling control unit specifically includes: positioning unit and station recognition unit；
Described positioning unit includes: two magnetic navigation sensors and magnetic stripe track, two described magnetic navigation sensors are respectively arranged at the front-end and back-end of the bottom on described chassis, move along described magnetic stripe track in described chassis, the described magnetic navigation sensor being positioned at front end deviates the distance of described magnetic stripe track for the front end gathering described chassis, the described magnetic navigation sensor being positioned at rear end deviates the distance of described magnetic stripe track for the rear end gathering described chassis, makes described disk run along magnetic stripe track according to the distance that two described magnetic navigation sensors collect；
Described station recognition unit is used for identifying website card, makes described walking unit be parked in the position that default website card is corresponding。
6. the control method of a service robot, it is characterised in that comprise the following steps:
S11: control walking unit and advance to predeterminated position along predetermined trajectory, and when running into people or arriving predeterminated position, control head unit and nod；
S12: control lumbar unit and carry out left rotation and right rotation, so that service robot forwards the direction at service object place to；
S13: control head unit and shake the head, so that the service-oriented object of head unit；
S14: control hand unit level and transfer, after waiting for a period of time, controls hand unit level and promotes。
7. the control method of service robot according to claim 6, it is characterized in that, described step S11 carries out pose correction particularly as follows: the distance of the described chassis deviation magnetic stripe track collected by two magnetic navigation sensors of the front-end and back-end of the bottom being arranged on chassis jointly controls described walking unit, and then controls described service robot and advance along described magnetic stripe track；And move to, by being arranged on the station recognition unit described service robot of control of the bottom on described chassis, the position that website card is corresponding, simultaneously in traveling process, people has been detected whether by the infrared human body detection sensor being arranged on service robot, when being detected with people, control head unit and nod。
8. the control method of service robot according to claim 6, it is characterized in that, described step S12 moves to left limit switch or the position of right limit switch to the left or to the right particularly as follows: control lumbar unit, makes the direction at the service-oriented object place of service robot。
9. the control method of service robot according to claim 6, it is characterized in that, described step S13 is particularly as follows: by the ultimate range of the limit switch at centrally-disposed place and the side-to-side movement of setting, control head unit to move to the left or to the right, so that the service-oriented object of head unit。
10. the control method of service robot according to claim 6, it is characterized in that, described step S14 is moved downwardly to move downward, particularly as follows: control hand unit, the position that the distance moved downward that distance setup unit sets is corresponding, after waiting for a period of time, lift described hand unit, make described hand unit move upward to the position that upper limit position switch is corresponding。
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| CN201610223510.4A CN105690391A (en) | 2016-04-12 | 2016-04-12 | Service robot and control method thereof |
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| CN106335071A (en) * | 2016-11-14 | 2017-01-18 | 上海木爷机器人技术有限公司 | The robot and robot control method |
| CN106695849A (en) * | 2017-02-17 | 2017-05-24 | 宁波韦尔德斯凯勒智能科技有限公司 | Sensing, controlling and performing system for greeting security service robot |
| CN108724176A (en) * | 2018-03-21 | 2018-11-02 | 北京猎户星空科技有限公司 | Control method, device, robot and the storage medium of revolute |
| CN110587634A (en) * | 2019-09-09 | 2019-12-20 | 深圳市三宝创新智能有限公司 | Control system of service robot |
| CN111496818A (en) * | 2019-12-31 | 2020-08-07 | 重庆昱普生科技发展有限公司 | Onboard service robot with stabilizing system |
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| CN111496818A (en) * | 2019-12-31 | 2020-08-07 | 重庆昱普生科技发展有限公司 | Onboard service robot with stabilizing system |
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