CN106737751A - A kind of service robot grasp system and its control method based on cloud information bank - Google Patents
A kind of service robot grasp system and its control method based on cloud information bank Download PDFInfo
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- CN106737751A CN106737751A CN201710027018.4A CN201710027018A CN106737751A CN 106737751 A CN106737751 A CN 106737751A CN 201710027018 A CN201710027018 A CN 201710027018A CN 106737751 A CN106737751 A CN 106737751A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of service robot grasp system and its control method based on cloud information bank, including being crawled article and service robot, rf signal reception device is installed on the service robot, it is described be crawled article and be provided be crawled Item Information Quick Response Code, visual identifying system, service processing control centre electronic control unit, memory cell, crawl policy download port and service robot servo motors are also equipped with the service robot.The present invention passes through visual identifying system, the identification of radio-frequency information can preferably be carried out, and devise multifunction flexible self-adapting grasping strategy according to its task polytropy, uncertainty, realize interacting for service robot and product, improving the dynamic adaptable and response stability of service robot, while adaptively completing various probabilistic crawl task, the software and hardware requirement of single service robot is reduced, reduce single cost.
Description
Technical field
The present invention relates to robot crawl control system technical field, specially a kind of service-delivery machine based on cloud information bank
People's grasping system and its control method.
Background technology
Robot arm is largely used and industrial production, substantially increases Industrial Efficiency, has saved resource.Apery server
Device people is also greatly developed in special industry, and for the utilization of service robot, its crawl identifying system is main closing
Key.General principle is to obtain object information by radiofrequency signal to go to complete with the servomotor in the control machinery arm of crawl position
Grasping movement.But autonomous mode is not only higher and very high to hardware requirement to the requirement of systems soft ware condition, it is necessary to a large amount of
Sensor and controller, not only increase the cost of single service robot, and system stabilization is new, quick response newly compared with
Difference；Pre-stored patterns are limited due to itself, can be only done a certain amount of specific crawl task, it is impossible to adapted to service robot and extensively should
Prospect, and existing grasping system is not according to visual identifying system, it is impossible to accomplish just to be moved before being captured
To the position that can recognize radiofrequency signal, regarding to the issue above, spy proposes that a kind of service robot based on cloud information bank is grabbed
Take system and its control method.
The content of the invention
It is an object of the invention to provide a kind of service robot grasp system and its control method based on cloud information bank,
To solve the problems, such as to be proposed in above-mentioned background technology.
To achieve the above object, the present invention provides following technical scheme：A kind of service robot based on cloud information bank is grabbed
System is taken, including is crawled article and service robot, rf signal reception device is installed on the service robot, it is described
It is crawled article and is provided with and be crawled Item Information Quick Response Code, visual identifying system, clothes is also equipped with the service robot
Business treatment control centre electronic control unit, memory cell, crawl policy download port and service robot servo motors, and penetrate
Frequency signal receiving device visual identifying system, memory cell, crawl policy download port and service robot servo motors are led to
Cross electric conductor to be connected with service processing control centre electronic control unit, the crawl policy download unit is connected by wireless signal
It is connected to cloud information bank center.
Preferably, the visual identifying system includes that the image unit being sequentially connected electrically, CCD sensing units, image are located in advance
Reason unit, image segmentation unit and Image Edge-Detection unit, wherein：
The image unit is high-definition camera, and article is crawled for shooting；
The image that the image unit is photographed is changed into analog signal by the CCD sensing units, and simulation is believed
Number it is delivered in described image pretreatment unit；
Described image pretreatment unit is used to the image preprocessing such as image is corrected and be filtered；
Described image cutting unit is used to divide the image into some mutually not set of overlapping areas；
Described image edge detection unit is used for the marginal position of detection image.
Preferably, described image pretreatment unit includes grey linear transformation unit, histogram equalization unit and image
Smoothing processing unit, wherein：
The grey linear transformation unit pulls open the tonal range of image so that image comparison extend, it is bright must be brighter, secretly
It is darker, image becomes apparent from, and feature becomes apparent from, thus reach enhancing contrast purpose；
The histogram distribution of given image is transformed into uniform histogram distribution by the histogram equalization unit.By information
Theory is explained, is equalization image with maximum closely related image；
Described image smoothing processing unit is with neighborhood of pixel points gray value come instead of the pixel gray value, it can be used to press down
Noise in imaged is without making edge blurry.
Preferably, the rf signal reception device is located at the lower section of the grabbing arm of the service robot.
A kind of control method of the service robot grasp system based on cloud information bank, server is entered when article is crawled
During device people's service range, the service robot can be according to different situations self-adapting grasping.
Preferably, the control method of the service robot grasp system based on cloud information bank includes situation in detail below
And step：
(1) when article is crawled into service robot service range, by visual identifying system to being crawled thing
The position of product and shape carry out judgement to be carried out, and controls institute by server process control centre electronic control unit
The grabbing arm for stating service robot stretches to and is crawled article；
(2) the rf signal reception device on the service-delivery machine person is received to come from and is crawled Item Information Quick Response Code
In radio-frequency information, calculate the signal for being crawled product information；
(3) service processing control centre electronic control unit is crawled product information by the crawl strategy according to
Download unit downloads crawl strategy from cloud information bank center；
(4) according to the crawl strategy downloaded, with reference to service robot motor internal control strategy, it is right adaptively to make
The crawl control strategy answered, produces crawl order；
(5) crawl service can be provided when service robot servomotor obtains crawl service command, self adaptation is realized
Crawl control.
Compared with prior art, the beneficial effects of the invention are as follows：For the identification cognition work(of service robot grasp system
Can, a kind of service robot grasp system based on cloud information bank being proposed, by visual identifying system, can preferably be penetrated
The identification of frequency information, and multifunction flexible self-adapting grasping strategy is devised according to its task polytropy, uncertainty, realize clothes
Business robot is interacted with product, is improving the dynamic adaptable and response stability of service robot, adaptively completes many
While sample probabilistic crawl task, the software and hardware requirement of single service robot is reduced, reduce single cost.
Brief description of the drawings
Fig. 1 is structured flowchart of the invention；
Fig. 2 is the structured flowchart of visual identifying system in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1-2 is referred to, the present invention provides a kind of technical scheme：A kind of service robot grasp system based on cloud information bank
System, including article and service robot are crawled, rf signal reception device is installed on the service robot, it is described to be grabbed
Take article and be provided with and be crawled Item Information Quick Response Code, visual identifying system, service center are also equipped with the service robot
Reason control centre electronic control unit, memory cell, crawl policy download port and service robot servo motors, and radio frequency letter
Number reception device visual identifying system, memory cell, crawl policy download port and service robot servo motors are by electricity
Conductor is connected with service processing control centre electronic control unit, and the crawl policy download unit is connected to by wireless signal
Cloud information bank center, the visual identifying system includes the image unit, CCD sensing units, the image preprocessing that are sequentially connected electrically
Unit, image segmentation unit and Image Edge-Detection unit, wherein：The image unit is high-definition camera, for shooting quilt
Crawl article；The image that the image unit is photographed is changed into analog signal by the CCD sensing units, and simulation is believed
Number it is delivered in described image pretreatment unit；Described image pretreatment unit is used to the image such as image is corrected and be filtered
Pretreatment；Described image cutting unit is used to divide the image into some mutually not set of overlapping areas；Examine at described image edge
Surveying unit is used for the marginal position of detection image, and described image pretreatment unit includes that grey linear transformation unit, histogram are equal
Weighing apparatusization unit and picture smooth treatment unit, wherein：The grey linear transformation unit pulls open the tonal range of image so that
Image comparison extends, it is bright must be brighter, dark is darker, and image becomes apparent from, feature becomes apparent from, so as to reach enhancing contrast
Purpose；The histogram distribution of given image is transformed into uniform histogram distribution by the histogram equalization unit, by informatics
Theory explain, be equalization image with maximum closely related image；Described image smoothing processing unit neighborhood of pixel points ash
Angle value replaces the pixel gray value, and it can be used to suppress noise in image without making edge blurry, the radiofrequency signal
Reception device is located at the lower section of the grabbing arm of the service robot.
A kind of control method of the service robot grasp system based on cloud information bank, server is entered when article is crawled
During device people's service range, the service robot can be according to different situations self-adapting grasping, the clothes based on cloud information bank
The control method of business robot grasping system includes situation and step in detail below：Enter service robot when article is crawled
During service range, carrying out judgement to the position and shape that are crawled article by visual identifying system is carried out, and by institute
State server process control centre electronic control unit and control the grabbing arm of the service robot to stretch to and be crawled article；Institute
The rf signal reception device on the service-delivery machine person is stated to receive from being crawled of being crawled that Item Information Quick Response Code sends
The signal of product information；Service processing control centre electronic control unit is crawled product information by the crawl according to
Policy download unit downloads crawl strategy from cloud information bank center；According to the crawl strategy downloaded, inside service robot
Motor control strategy, adaptively makes corresponding crawl control strategy, produces crawl order；When service robot servo electricity
Machine can provide crawl service when obtaining crawl service command, realize self-adapting grasping control.
Operation principle：When there is product to enter service robot service range, by visual identifying system to being crawled thing
The position of product and shape carry out judgement to be carried out, and image unit shoots and is crawled article first, then will be taken the photograph by CCD sensing units
As unit photographs to image be changed into analog signal, and analog signal is delivered in image pre-processing unit, image is pre-
Processing unit is used to the image preprocessing such as image is corrected and filter, and image segmentation unit is some for dividing the image into
The mutually not set of overlapping areas, Image Edge-Detection unit is used for the marginal position of detection image, grey linear transformation unit handle
The tonal range of image is pulled open so that image comparison extend, it is bright must be brighter, dark is darker, and image becomes apparent from, and feature is brighter
Aobvious, so as to reach the purpose of enhancing contrast, histogram equalization unit is transformed into the histogram distribution of given image uniformly
Histogram distribution, is explained by the theory of informatics, is equalization image, picture smooth treatment unit with maximum closely related image
With neighborhood of pixel points gray value come instead of the pixel gray value, it can be used to suppress noise in image without making edge mould
Paste, and control the grabbing arm of service robot to stretch to by server process control centre electronic control unit and be crawled thing
Product, the rf signal reception device on the service-delivery machine person is received from the radio frequency letter being crawled in Item Information Quick Response Code
Breath, calculates the signal for being crawled product information, and service processing control centre electronic control unit is according to being crawled product information
Crawl strategy is downloaded from cloud information bank center by capturing policy download unit, according to the crawl strategy downloaded, and will be downloaded
The settlement strategy crossed is deposited into storage element, in conjunction with service robot motor internal control strategy, is adaptively made
Corresponding crawl control strategy, produces crawl order, can be carried when service robot servomotor obtains crawl service command
Serviced for crawl, realize self-adapting grasping control.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding can carry out various changes, modification, replacement to these embodiments without departing from the principles and spirit of the present invention
And modification, the scope of the present invention be defined by the appended.
Claims (6)
1. a kind of service robot grasp system based on cloud information bank, including article and service robot are crawled, its feature
It is：Rf signal reception device is installed on the service robot, it is described be crawled article and be provided be crawled article letter
Breath Quick Response Code, is also equipped with visual identifying system, service processing control centre electronic control unit, deposits on the service robot
Storage unit, crawl policy download port and service robot servo motors, and rf signal reception device visual identifying system, deposit
Storage unit, crawl policy download port and service robot servo motors pass through electric conductor and service processing control centre electronics
Control unit is connected, and the crawl policy download unit is connected to cloud information bank center by wireless signal.
2. a kind of service robot grasp system based on cloud information bank according to claim 1, it is characterised in that：It is described
Visual identifying system includes the image unit, CCD sensing units, image pre-processing unit, the image segmentation unit that are sequentially connected electrically
With Image Edge-Detection unit, wherein：
The image unit is high-definition camera, and article is crawled for shooting；
The image that the image unit is photographed is changed into analog signal by the CCD sensing units, and analog signal is defeated
In delivering to described image pretreatment unit；
Described image pretreatment unit is used to the image preprocessing such as image is corrected and be filtered；
Described image cutting unit is used to divide the image into some mutually not set of overlapping areas；
Described image edge detection unit is used for the marginal position of detection image.
3. a kind of service robot grasp system based on cloud information bank according to claim 2, it is characterised in that：It is described
Image pre-processing unit includes grey linear transformation unit, histogram equalization unit and picture smooth treatment unit, wherein：
The grey linear transformation unit pulls open the tonal range of image so that image comparison extends, it is bright must be brighter, it is dark more
Secretly, image becomes apparent from, and feature becomes apparent from, so as to reach the purpose of enhancing contrast；
The histogram distribution of given image is transformed into uniform histogram distribution by the histogram equalization unit.By informatics
Theory is explained, is equalization image with maximum closely related image；
Described image smoothing processing unit is with neighborhood of pixel points gray value come instead of the pixel gray value, it can be used to suppress figure
Noise as in is without making edge blurry.
4. a kind of service robot grasp system based on cloud information bank according to claim 1, it is characterised in that：It is described
Rf signal reception device is located at the lower section of the grabbing arm of the service robot.
5. a kind of control method of the service robot grasp system based on cloud information bank, it is characterised in that：When being crawled article
During into service robot service range, the service robot can be according to different situations self-adapting grasping.
6. control method according to claim 5, it is characterised in that including step in detail below：
(1) when article is crawled into service robot service range, by visual identifying system to being crawled article
Position and shape carry out judgement to be carried out, and controls the clothes by server process control centre electronic control unit
The grabbing arm of business robot stretches to and is crawled article；
(2) the rf signal reception device on the service-delivery machine person received and send from being crawled Item Information Quick Response Code
The signal for being crawled product information；
(3) service processing control centre electronic control unit is crawled product information by the crawl policy download according to
Unit downloads crawl strategy from cloud information bank center；
(4) according to the crawl strategy downloaded, with reference to service robot motor internal control strategy, adaptively make corresponding
Crawl control strategy, produces crawl order；
(5) crawl service can be provided when service robot servomotor obtains crawl service command, self-adapting grasping is realized
Control.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110802591A (en) * | 2019-11-04 | 2020-02-18 | 徐州康博智能控制仪表有限公司 | Grabbing recognition system |
| CN110941997A (en) * | 2019-11-04 | 2020-03-31 | 徐州康博智能控制仪表有限公司 | Grabbing identification method |
| CN113126520A (en) * | 2019-12-31 | 2021-07-16 | 上海依图信息技术有限公司 | Control method of escalator safety robot and escalator safety robot |
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Application publication date: 20170531 |