CN106054829A - Domestic water carriage service robot system and motion method thereof - Google Patents
Domestic water carriage service robot system and motion method thereof Download PDFInfo
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- CN106054829A CN106054829A CN201610369602.3A CN201610369602A CN106054829A CN 106054829 A CN106054829 A CN 106054829A CN 201610369602 A CN201610369602 A CN 201610369602A CN 106054829 A CN106054829 A CN 106054829A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 164
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000035622 drinking Effects 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000000007 visual effect Effects 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 8
- 238000012384 transportation and delivery Methods 0.000 claims description 47
- 241000190070 Sarracenia purpurea Species 0.000 claims description 36
- 238000009835 boiling Methods 0.000 claims description 19
- 238000013439 planning Methods 0.000 claims description 17
- 238000010438 heat treatment Methods 0.000 claims description 10
- 238000007726 management method Methods 0.000 claims description 10
- 238000004321 preservation Methods 0.000 claims description 10
- 238000001816 cooling Methods 0.000 claims description 9
- 239000007788 liquid Substances 0.000 claims description 9
- 238000005303 weighing Methods 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 7
- 238000012790 confirmation Methods 0.000 claims description 6
- 238000003708 edge detection Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 230000026676 system process Effects 0.000 claims description 3
- 230000032683 aging Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 238000002347 injection Methods 0.000 description 3
- 239000007924 injection Substances 0.000 description 3
- 229940079593 drug Drugs 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000004350 Strabismus Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005802 health problem Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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Abstract
The present invention discloses a domestic water carriage service robot system and a motion method thereof, belonging to the field of the domestic service robot. The system comprises an instruction receiving device, a master control system, a visual system, a navigation location system, an execution mechanism and an operation device for being remote controlled. The master control system is connected with the instruction receiving device, the visual system and the navigation location system, and the execution mechanism is connected with the navigation location system, wherein the instruction receiving device is configured to receive a control instruction; the master control system is configured to process the control instruction, plan and dispatch a task and control each system; the visual system and the navigation location system are configured for indoor navigation location and the identification and positioning of the task target; and the execution mechanism is configured to grab and dispose the task target. The domestic water carriage service robot system and the motion method thereof can complete a whole water carriage task after receiving a user's water drinking control instruction so as to provide better service for users.
Description
Technical Field
The invention relates to the field of household service robots, in particular to a household water delivery service robot system and an action method thereof.
Background
The aging of the Chinese population in the 'twelve-five' period is accelerated, the aging situation of the population is more severe, and three new characteristics of aging, aging and empty nestification are gradually presented. The acceleration of population aging inevitably leads to the obvious health problems of the aged population, and the care and nursing problems of the aged, disabled and ill aged people are more generally concerned by the society.
With the continuous progress of intelligent robot technology in recent years, the home service robot industry has also been rapidly developed. At present, various household service robots have complete functions in families, but cannot provide better service for patients or old people, and cannot well autonomously complete a certain task without human interference.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a household water delivery service robot system and an action method thereof, which can complete a complete water delivery task after receiving a drinking control instruction of a user.
In order to solve the technical problems, the invention provides the following technical scheme:
a family send water service robot system, includes instruction receiving device, main control system, vision system, navigation positioning system, actuating mechanism and is used for long-range controlled operating means, main control system respectively with instruction receiving device, vision system and navigation positioning system are connected, actuating mechanism and navigation positioning system are connected, wherein:
the instruction receiving device is used for receiving a control instruction;
the main control system is used for processing the control instruction, planning and scheduling tasks and controlling each system;
the vision system and the navigation positioning system are used for indoor navigation positioning and task target identification and positioning;
the actuating mechanism is used for grabbing and placing task targets.
Furthermore, the instruction receiving device has a feedback process after receiving the control instruction, namely, the process of confirming the control instruction.
Furthermore, the main control system has a function of receiving time reservation, and the execution mechanism comprises a mechanical arm with multiple degrees of freedom and a mechanical arm arranged at the tail end of the mechanical arm.
Furthermore, a radio frequency identification device for initially positioning the task target is arranged in the navigation positioning system.
Furthermore, the household water delivery service robot system also comprises a power management system and a display device connected with the main control system, wherein the power management system provides energy for each system, motion and execution mechanism, and the power management system is in an autonomous charging mode; the display device is used for displaying the control instruction and the task.
Furthermore, the household water-delivery service robot system further comprises an automatic water boiling and quantitative water taking device, the automatic water boiling and quantitative water taking device comprises a water heating device, a cooling device, a water heat preservation device, a weighing device and a laser liquid level measuring device, the cooling device is respectively connected with the water heating device and the water heat preservation device, the weighing device is arranged below the place where the water cup is placed, and the laser liquid level measuring device is arranged at the water outlet.
The action method of the household water delivery service robot system comprises the following steps:
step 1: the instruction receiving device receives a drinking instruction sent by a user from the operating device and completes confirmation of the drinking instruction through a feedback link;
step 2: the main control system processes the drinking instruction and finishes the planning of the drinking task;
and step 3: the navigation positioning system navigates and positions a water cup and the automatic water boiling and quantitative water taking device, and then the main control system finishes path planning between the household water delivery service robot and the water cup and between the water cup and the automatic water boiling and quantitative water taking device;
and 4, step 4: after the radio frequency identification device detects the initial positioning of the water cup, the visual system further identifies and positions the water cup;
and 5: according to the planned drinking task, the path between the household water delivery service robot and the water cup, the path between the water cup and the automatic water boiling and quantitative water taking device and the further identification and positioning of the visual system on the water cup, the executing mechanism grabs the water cup under the control of the main control system and places the water cup at the water outlet of the automatic water boiling and quantitative water taking device, so that accurate and quantitative water taking is completed;
step 6: after water is taken, the navigation positioning system navigates and positions a path between the household water delivery service robot and a user, then the main control system finishes path planning between the household water delivery service robot and the user, and the household water delivery service robot delivers water to the user under the control of the main control system;
and 7: after the water drinking task is completed, the household water delivery service robot places the water cup at the original position under the control of the main control system to complete a control instruction.
Further, the path planning in step 3 and step 6 includes:
step a: the vision system collects indoor environment information in real time and carries out pretreatment;
step b: determining the edges of the obstacles and the safe area of the preprocessed indoor environment information by adopting an edge detection algorithm;
step c: determining feature points of obstacles in the visual image by adopting an edge extension principle;
step d: and determining a driving safety region of the household water delivery service robot by adopting an improved repulsion field model.
Further, step a includes:
step a 1: converting the collected indoor environment information into HSV images:
setting: max ═ Max (R, G, B); min ═ Min (R, G, B);
when Max ≠ Min:
when Max is Min, i.e. R is G is B,
step a 2: then, median filtering is adopted to remove image noise:
wherein,w (j, k) is the gray value of the image, A represents the point set of the image pixels, L represents the number of the point sets A, T is the threshold value, and w (x, y) represents the pixel value corresponding to any point set (x, y) in A.
Further, the improved repulsive force field model is as follows:
wherein: u shaperep(q) is a function of the repulsive field, krIs a repulsive force field gain coefficient, rho is the distance from the household water-delivery service robot to the characteristic point of the obstacle in the visual image, rho0Is the range of influence of the repulsive force field of the indoor obstacle.
The invention has the following beneficial effects:
compared with the prior art, the instruction receiving device of the household water delivery service robot system and the action method thereof can accurately receive the task control instruction sent by the user through the operation device, the main control system is used for processing the control instruction and planning and scheduling the task, the navigation positioning system and the visual system can realize autonomous indoor navigation and positioning and find the task target, and the execution mechanism realizes grabbing, sending back and the like of the task target under the control of the main control system, so that the requirement of the conventional household water delivery service is effectively met, and the user can be better served.
Drawings
FIG. 1 is a schematic diagram of a domestic water service robot system of the present invention;
FIG. 2 is a schematic diagram of an automatic water boiling and quantitative water taking device of the household water service robot system of the present invention;
FIG. 3 is a schematic diagram of the method of the invention for operating a domestic water service robot system;
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
In one aspect, the present invention provides a household water service robot system 1, as shown in fig. 1 to 3, including an instruction receiving device 12, a main control system 13, a vision system 14, a navigation positioning system 15, an execution mechanism 17, and an operation device 11 for remote control, where the main control system 13 is connected to the instruction receiving device 12, the vision system 14, and the navigation positioning system 15, and the execution mechanism 17 is connected to the navigation positioning system 15, where:
the instruction receiving device 12 is used for receiving a control instruction;
the main control system 13 is used for controlling the processing of instructions, the planning and scheduling of tasks and the control of each system;
the vision system 14 and the navigation positioning system 15 are used for indoor navigation positioning and task target identification and positioning;
the actuator 17 is used to grasp and place task objects.
The command receiving device of the household water delivery service robot system and the action method thereof can accurately receive the task control command sent by the user through the operation device, the main control system is used for processing the control command and planning and scheduling the task, the navigation positioning system and the visual system can realize autonomous indoor navigation and positioning and find the task target, and the executing mechanism realizes the grabbing, sending back and the like of the task target under the control of the main control system, thereby effectively meeting the requirements of the current household water delivery service and better serving the user and the like.
Further, the instruction accepting device 12 may accept various control instructions, for example, may accept control instructions issued by a brain-computer interface system, voice, gesture, or the like.
Preferably, the command receiver 12 may have a feedback process, i.e. a process of confirming the control command, after receiving the control command 19. For example, when the command receiving device 12 receives a control command sent by a brain-computer interface system, the confirmation can be performed by a method of "squinting", and after the received control command and the task are displayed on the display device 18, the user's left squinting "can indicate that the task is correctly recognized and confirmed by the home water delivery service robot; the user 'squints' to the right can represent that the household water delivery service robot recognizes that the task is wrong and cancels; when the user identifies the control command through voice, the family water delivery service robot receives the voice task and repeats the task for confirmation, if the identification task is correct, the user can confirm through the display device 18, and can also confirm through voice prompt 'correct'; if the recognition task is wrong, the user can cancel the task by means of the display device 18 or by means of a voice prompt "cancel".
As a modification of the present invention, the main control system 13 preferably has a function of receiving a time reservation, and the actuator 17 may include a robot arm having multiple degrees of freedom and a robot arm provided at a distal end of the robot arm. The time reservation function of the main control system 13 can provide or remind hot water or medicines to a user at regular time, so that the user is prevented from forgetting to drink water or take medicines on time and the like; the mechanical arm and the mechanical arm are used for grabbing and placing task objects and the like.
Further, the indoor navigation positioning system 15 may be provided with a radio frequency identification device 16 for initially positioning the task object. The indoor navigation positioning system 15 can perform indoor navigation with the help of the vision system 14, and the radio frequency identification device 16 can realize the identification and positioning of the task target by the household water delivery service robot system 1 and the accurate identification and positioning of vision.
Preferably, the domestic water service robot system 1 may further include a power management system (not shown) and a display device 18 connected to the main control system 13, the power management system may provide energy for each system, the movement and execution mechanism 17, and the power management system is an autonomous charging mode; the display device 18 is used to display control instructions and task goals. The power management system has the functions of low-voltage protection, alarming and the like, can perform low-voltage protection at low voltage, prompts that the electric quantity is too low through alarming, stops the task of the household water delivery service robot, autonomously walks to a charging room to perform autonomous charging, and ensures that the household water delivery service robot stops and cannot move indoors; the display device 18 may assist in feedback of control commands, as well as confirmation of tasks.
As another improvement of the invention, the domestic water delivery service robot system 1 can further comprise an automatic water boiling and quantitative water taking device 19, the automatic water boiling and quantitative water taking device 19 can comprise a water heating device 191, a cooling device 192, a water heat preservation device 193, a weighing device 194 and a laser liquid level measuring device 195, the cooling device 192 is respectively connected with the water heating device 191 and the water heat preservation device 193, the weighing device 194 is arranged below a place where a water cup is placed, and the laser liquid level measuring device 195 is arranged at a water outlet.
The water heating device 191 automatically starts the water boiling function when the water temperature is lower than the set temperature or the cold water is automatically injected after the hot water is taken out, and automatically closes when the water is boiled so as to ensure that the water in the water heating device 191 and the water supplied by the water supply heat preservation device 193 are always boiled water; the cooling device 192 is mainly used for cooling boiled water just after injection, when hot water is injected into the water heat preservation device 193, the cooling device 192 is automatically started to cool the hot water to a set temperature, and when the water in the water heat preservation device 193 is lower than the set temperature, the heat preservation function is automatically started to ensure that the water is always at a proper temperature when the water is taken, so that when the family water supply service robot takes water, the received water is ensured to be proper in constant temperature and can be directly drunk.
The water cups are water cups with uniform weight and same shape so as to ensure that the weight and the height of the water cups are consistent with the distance from the laser liquid level measuring device 195; the weighing device 194 is used for measuring the weight of water injected into the water cup, ensuring that the weight of the water injected each time is equal and preventing the water from overflowing; the weighing device 194 and the laser liquid level measuring device 195 prevent water from overflowing, and the priority is the same, that is, the weighing device 194 and the laser liquid level measuring device 195 close the water injection function and stop water injection as long as one of the devices reaches a set value first, so as to prevent water from overflowing.
On the other hand, there is provided an operation method for a home water service robot system 1, including:
step 1: the instruction receiving device 12 receives a drinking instruction 21 sent by a user from the operating device 11, and completes confirmation of the drinking instruction through a feedback link, so that the accuracy of the received drinking instruction is ensured;
step 2: the main control system 13 processes the drinking instruction 21 and finishes the planning of the drinking task, and after the main control system processes the drinking instruction 21, the main control system receives the drinking task and further analyzes and schedules the drinking task so as to finish the planning of the drinking task;
and step 3: the navigation positioning system 15 and the vision system 14 navigate and position the water cup and the automatic water boiling and quantitative water taking device 19, and then the main control system 13 finishes path planning between the household water delivery service robot and the water cup and between the water cup and the automatic water boiling and quantitative water taking device 19, so as to ensure that the household water delivery service robot can accurately judge the positions of the water cup and the automatic water boiling and quantitative water taking device 19;
and 4, step 4: after the radio frequency identification detection device 16 detects the initial positioning of the cup, the vision system 14 further performs the identification and positioning of the cup, and the identification and positioning of the cup in this step is to enable the execution mechanism 17 to accurately grasp the cup;
and 5: according to the planned drinking task, the path between the household water delivery service robot and the water cup, the path between the water cup and the automatic water boiling and quantitative water taking device 19 and the further identification and positioning of the vision system 14 on the water cup, the execution mechanism 17 grabs the water cup under the control of the main control system 13 and places the water cup at the water outlet of the automatic water boiling and quantitative water taking device 19, so as to finish the accurate and quantitative water taking;
step 6: after water is taken, the navigation and positioning system 15 navigates and positions a path between the household water delivery service robot and a user, and finishes path planning between the household water delivery service robot and the user, and then the household water delivery service robot delivers water to the user under the control of the main control system 13;
and 7: after the water drinking task is completed, the family water delivery service robot places the water cup at the original position under the control of the main control system 13 to complete a control instruction.
After the user uses the operating device 11 to send out the drinking task instruction, the system and the executing mechanism of the household water delivery service robot system work in coordination with each other to complete the water delivery task together. The household water delivery service robot system can also realize the functions of delivering medicine at regular time and the like.
Preferably, the path planning in step 3 and step 6 may include:
step a: the vision system 14 collects indoor environment information in real time and carries out preprocessing;
step b: determining the edges of the obstacles and the safety area by adopting an edge detection algorithm to the preprocessed indoor environment information, wherein the edge detection algorithm can detect the edge curve of the obstacles and can well distinguish the obstacles from the safety area;
step c: determining feature points of obstacles in the visual image by adopting an edge extension principle;
step d: the improved repulsion field model is adopted to determine the driving safety region of the household water delivery service robot, the improved repulsion field model can solve the problems of local minimum value and unreachable target point in an artificial potential field method, and the accuracy of the driving safety region of the household water delivery service robot is ensured.
Further, step a may further include:
step a 1: converting the collected indoor environment information into HSV images:
setting: max ═ Max (R, G, B); min ═ Min (R, G, B);
when Max ≠ Min:
when Max is Min, i.e. R is G is B,
the acquired indoor environment information is converted into the HSV image, so that the HSV image can be processed more easily, and the saturation and brightness of the HSV image can be adjusted conveniently.
Step a 2: then, median filtering is adopted to remove image noise:
wherein,w (j, k) is the gray value of the image, A represents the point set of the image pixels, L represents the number of the point sets A, T is the threshold value, and w (x, y) represents the pixel value corresponding to any point set (x, y) in A. The median filtering method is simple in operation and high in speed, and can well protect the image edge while removing image noise so as to restore the image better.
Preferably, the improved repulsive force field model is:
wherein: u shaperep(q) is a function of the repulsive field, krIs a repulsive force field gain coefficient, rho is the distance from the household water-delivery service robot to the characteristic point of the obstacle in the visual image, rho0Is the range of influence of the repulsive force field of the indoor obstacle.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides a family send water service robot system, its characterized in that includes instruction receiving device, main control system, vision system, navigation positioning system, actuating mechanism and is used for the remote controlled operating means, main control system respectively with instruction receiving device, vision system and navigation positioning system are connected, actuating mechanism and navigation positioning system are connected, wherein:
the instruction receiving device is used for receiving a control instruction;
the main control system is used for processing the control instruction, planning and scheduling tasks and controlling each system;
the vision system and the navigation positioning system are used for indoor navigation positioning and task target identification and positioning;
the actuating mechanism is used for grabbing and placing task targets.
2. The system of claim 1, wherein the command receiving means has a feedback process after receiving the control command, i.e., a process of confirming the control command.
3. The system as claimed in claim 1, wherein the main control system has a function of receiving a time reservation, and the actuator includes a robot arm having multiple degrees of freedom and a robot arm provided at a distal end of the robot arm.
4. The home water service robot system according to claim 1, wherein a radio frequency identification device is provided in the navigation positioning system for initially positioning the task target.
5. The home water service robot system according to any one of claims 1 to 4, further comprising a power management system and a display device connected to the main control system, wherein the power management system provides energy to each system, motion and execution mechanism, and the power management system is an autonomous charging mode; the display device is used for displaying the control instruction and the task.
6. The home water service robot system according to claim 5, further comprising an automatic water heating and quantitative water taking device, wherein the automatic water heating and quantitative water taking device comprises a water heating device, a cooling device, a water heat preservation device, a weighing device and a laser liquid level measuring device, the cooling device is respectively connected with the water heating device and the water heat preservation device, the weighing device is arranged below a place where a water cup is placed, and the laser liquid level measuring device is arranged at a water outlet.
7. The operation method of the home water service robot system according to claim 6, comprising:
step 1: the instruction receiving device receives a drinking instruction sent by a user from the operating device and completes confirmation of the drinking instruction through a feedback link;
step 2: the main control system processes the drinking instruction and finishes the planning of the drinking task;
and step 3: the navigation positioning system navigates and positions a water cup and the automatic water boiling and quantitative water taking device, and then the main control system finishes path planning between the household water delivery service robot and the water cup and between the water cup and the automatic water boiling and quantitative water taking device;
and 4, step 4: after the radio frequency identification device detects the initial positioning of the water cup, the visual system further identifies and positions the water cup;
and 5: according to the planned drinking task, the path between the household water delivery service robot and the water cup, the path between the water cup and the automatic water boiling and quantitative water taking device and the further identification and positioning of the visual system on the water cup, the executing mechanism grabs the water cup under the control of the main control system and places the water cup at the water outlet of the automatic water boiling and quantitative water taking device, so that accurate and quantitative water taking is completed;
step 6: after water is taken, the navigation positioning system navigates and positions a path between the household water delivery service robot and a user, then the main control system finishes path planning between the household water delivery service robot and the user, and the household water delivery service robot delivers water to the user under the control of the main control system;
and 7: after the water drinking task is completed, the household water delivery service robot places the water cup at the original position under the control of the main control system to complete a control instruction.
8. The method of claim 7, wherein the step 3 and step 6 comprises:
step a: the vision system collects indoor environment information in real time and carries out pretreatment;
step b: determining the edges of the obstacles and the safe area of the preprocessed indoor environment information by adopting an edge detection algorithm;
step c: determining feature points of obstacles in the visual image by adopting an edge extension principle;
step d: and determining a driving safety region of the household water delivery service robot by adopting an improved repulsion field model.
9. The method of claim 8, wherein step a comprises:
step a 1: converting the collected indoor environment information into HSV images:
setting: max ═ Max (R, G, B); min ═ Min (R, G, B);
when Max ≠ Min:
defining:
then:
wherein:
when Max is Min, i.e. R is G is B,
step a 2: then, median filtering is adopted to remove image noise:
wherein,w (j, k) is the gray value of the image, A represents the point set of the image pixels, L represents the number of the point sets A, T is the threshold value, and w (x, y) represents the pixel value corresponding to any point set (x, y) in A.
10. The method of action of claim 8, wherein the improved repulsive force field model is:
wherein: u shaperep(q) is a function of the repulsive field, krIs a repulsive force field gain coefficient, rho is the distance from the household water-delivery service robot to the characteristic point of the obstacle in the visual image, rho0Is the range of influence of the repulsive force field of the indoor obstacle.
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| CN108227691A (en) * | 2016-12-22 | 2018-06-29 | 深圳光启合众科技有限公司 | Control method, system and the device and robot of robot |
| CN110864763A (en) * | 2019-11-27 | 2020-03-06 | 西安维米克自控仪表技术有限公司 | Glass liquid level meter |
| CN112671894A (en) * | 2020-12-22 | 2021-04-16 | 上海有个机器人有限公司 | Robot task remote cancelling method, device, terminal and storage medium |
| CN114905529A (en) * | 2022-06-06 | 2022-08-16 | 商丘职业技术学院 | Multifunctional water delivery robot control system |
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