CN106737860A - A kind of robot, robot head motion and its control method - Google Patents
A kind of robot, robot head motion and its control method Download PDFInfo
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- CN106737860A CN106737860A CN201611081955.XA CN201611081955A CN106737860A CN 106737860 A CN106737860 A CN 106737860A CN 201611081955 A CN201611081955 A CN 201611081955A CN 106737860 A CN106737860 A CN 106737860A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004886 head movement Effects 0.000 claims description 61
- 230000007246 mechanism Effects 0.000 claims description 46
- 238000013016 damping Methods 0.000 claims description 22
- 238000003825 pressing Methods 0.000 claims description 22
- 238000012546 transfer Methods 0.000 claims description 7
- 238000009826 distribution Methods 0.000 claims description 5
- 238000010030 laminating Methods 0.000 claims description 3
- 230000005622 photoelectricity Effects 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001960 triggered effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000012163 sequencing technique Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The invention discloses a kind of robot, robot head motion and its control method, robot head motion includes rotatable parts, drives the motor that rotatable parts are moved, the sensor catch group for being fixed on the photoelectric sensor group of robot interior and being fixed on rotatable parts；The thickness of sensor catch is spaced less than or equal to groove profile, groove profile at intervals of any photoelectric sensor transmitter and receiver between interval；Photoelectric sensor group is set with sensor catch group corresponding matching, when sensor catch group changes with the matched position of photoelectric sensor group, at least one of sensor catch group sensor catch is located in groove profile interval, so as to demarcate the turned position of robot head.By being equipped with for photoelectric sensor group and sensor catch group, the flexibility of control robot head motion is improve, while simplifying robot head motion, reduce cost.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of robot, robot head motion and its controlling party
Method.
Background technology
With the development of science and technology, people's living standard is gradually stepped up, and smart machine is also in the production and life of people
Obtain increasingly being widely applied in work.With the increasingly maturation of robot technology, robot can also come into huge numbers of families,
Bring the upper and convenience in life that greatly works.
It is to weigh machine human nature that whether robot is able to carry out some specific actions and the quantity and quality of execution action
One important indicator of energy.Wherein, the degree of flexibility of robot head can react the degree that personalizes of robot.However, existing
Some robot head sports limiting sensors are contact, have the shortcomings that noise and life-span are small；And generally use three
Most left, most right, centre position that biosensor cartridge portion rotates, complex structure and relatively costly.
In sum, existing robot head motion complex structure and relatively costly.
Application content
The embodiment of the present invention provides a kind of robot, robot head motion and its control method, is used to solve now
There are robot head motion complex structure and relatively costly problem in technology.
The embodiment of the present invention provides a kind of robot head motion, including：Rotatable parts, the drive rotatable parts
The motor of motion, the photoelectric sensor group for being fixed on robot interior and the sensor catch being fixed on the rotatable parts
Group；
The sensor catch group includes at least four sensor catch；The photoelectric sensor group includes at least two light
Electric transducer, the photoelectric sensor has transmitter and receiver；The thickness of the sensor catch is less than or equal to groove profile
Interval, the groove profile at intervals of any photoelectric sensor transmitter and receiver between interval；
The photoelectric sensor group is set with the sensor catch group corresponding matching, the sensor catch group with it is described
When the matched position of photoelectric sensor group changes, at least one of described sensor catch group sensor catch is located at institute
State in groove profile interval, so as to demarcate the turned position of robot head.
Optionally, the photoelectric sensor group includes the first photoelectric sensor and the second photoelectric sensor；The sensor
Catch group includes first sensor catch, second sensor catch, 3rd sensor catch and the 4th sensor catch；
The 3rd sensor catch is arranged on the first circumference of the rotatable parts with the first sensor catch；
The 4th sensor catch is arranged on the second circumference of the rotatable parts with the second sensor catch；
Wherein, the first sensor catch has matching relationship with the position of the second sensor catch；
First photoelectric sensor matches setting with first circumference, so that when the rotatable parts are rotated, institute
3rd sensor catch and/or the first sensor catch is stated to be spaced by the groove profile of first photoelectric sensor；
Second photoelectric sensor matches setting with second circumference, so that when the rotatable parts are rotated, institute
The 4th sensor catch and/or the second sensor catch is stated to be spaced by the groove profile of second photoelectric sensor.
Optionally, when the first sensor catch is located in the groove profile of first photoelectric sensor interval；And/or,
When the second sensor catch is located in the groove profile of second photoelectric sensor interval, then the rotatable parts are located at centre
Position；
When the 3rd sensor catch is located in the groove profile of first photoelectric sensor interval, then rotatable parts
Positioned at the first extreme position；
When the 4th sensor catch is located in the groove profile of second photoelectric sensor interval, then rotatable parts
Positioned at the second extreme position.
Optionally, the rotatable parts are axle, and the mechanism also includes the bearing block of the fixation axle；
The bearing block has the first cavity and the second cavity, and first cavity is used to fix the axle, described second
Cavity is around the axle；
The photoelectric sensor group is located in second cavity, and is distributed in the bearing block inner side；The sensor
Catch group is located in the second cavity, and distribution is on the shaft.
Optionally, the robot head motion also includes damping pressing plate；
The damping pressing plate is the first arcuate structure, and the two ends of the damping pressing plate are fixed on the bearing block, described
Arcuate structure is fitted with the axle；
Spacing hole is set on the bearing block, bulge-structure is set on the damping pressing plate, the bulge-structure with it is described
Spacing hole coordinates.
Optionally, the two ends of the damping pressing plate are fixed on the bearing block, including：
The two ends of the damping pressing plate are fixed on the bearing block by fixation kit, are adjusted by the fixation kit
The laminating degree of the arcuate structure and the axle.
Optionally, the sensor catch group is arranged in the first fixing device, and first fixing device is the second arc
Shape structure, first fixing device is fixed on the axle.
Optionally, the photoelectric sensor group is arranged in the second fixing device, and second fixing device is fixed on institute
State bearing block inner side.
The embodiment of the present invention also provides a kind of robot, including robot head, robot trunk, the first head movement machine
Structure, the first head movement mechanism connects the robot head and the robot trunk, the robot head respectively
Rotatable parts in the first head movement mechanism horizontally rotate.
Optionally, the robot also includes the second head movement mechanism, the first head movement mechanism and described the
Two head movement mechanism vertical distributions；
The second head movement mechanism is arranged in the robot head, and the robot head is around described second
Rotatable parts in portion's motion are rotated vertically.
The embodiment of the present invention also provides a kind of robot head control method and is applied to the robot head motion,
Including：
Receive robot head movement instruction；
According to sensor catch group and the variation relation of the matched position of photoelectric sensor group, photoelectric sensor group is determined
Real-Time Switch state, the photoelectric sensor group is set with the sensor catch group corresponding matching；
The preset position information of real-time status and demarcation according to the photoelectric sensor group determines the reality of robot head
When position；
The head movement path of the robot is determined according to the real time position and head movement instruction.
Optionally, the photoelectric sensor group includes the first photoelectric sensor and the second photoelectric sensor；The sensor
Catch group includes first sensor catch, second sensor catch, 3rd sensor catch and the 4th sensor catch；
The variation relation according to sensor catch group and the matched position of photoelectric sensor group, determines photoelectric sensor
The Real-Time Switch state of group, including：
When the first sensor catch is located in the groove profile of first photoelectric sensor interval；And/or, when described
Two sensor catch are located in the groove profile of second photoelectric sensor interval, determine the Real-Time Switch of the photoelectric sensor group
State is intermediateness；The groove profile at intervals of any photoelectric sensor transmitter and receiver between interval；
When the 3rd sensor catch is located in the groove profile of first photoelectric sensor interval, the photoelectric transfer is determined
The Real-Time Switch state of sensor group is the first limiting condition；
When the 4th sensor catch is located in the groove profile of second photoelectric sensor interval, the photoelectric transfer is determined
The Real-Time Switch state of sensor group is the second limiting condition.
Optionally, the preset position information includes centre position and extreme position, the reception robot head motion
Before instruction, also include：
According to the on off state of the first photoelectric sensor, the first extreme position is demarcated；According to opening for the first photoelectric sensor
The on off state of off status and/or the second photoelectric sensor, demarcates centre position；Switch shape according to the second photoelectric sensor
State, demarcates the second extreme position；
Optionally, it is described that machine is determined according to the real-time status of the photoelectric sensor group and the preset position information of demarcation
After the real time position of head part, also include：
When the real time position is extreme position, judge whether the head movement instruction indicates the robot head
Deviate the extreme position, if, it is determined that the head movement instruction ignore.
Optionally, the sensor catch group includes first sensor catch group and second sensor catch group, the light
Electric transducer group includes that the first photoelectric sensor combines the second photoelectric sensor group；
The head movement instruction includes vertical movement instruction and/or horizontal movement instruction；
The variation relation according to sensor catch group and the matched position of photoelectric sensor group, determines photoelectric sensor
The Real-Time Switch state of group, including：
According to first sensor catch group and the variation relation of the matched position of the first photoelectric sensor group, the first light is determined
The Real-Time Switch state of electric transducer group；And/or,
According to second sensor catch group and the variation relation of the matched position of the second photoelectric sensor group, the second light is determined
The Real-Time Switch state of electric transducer group；
It is described that robot head is determined according to the real-time status of the photoelectric sensor group and the preset position information of demarcation
Real time position, including：
The level-preset positional information of real-time status and demarcation according to the first photoelectric sensor group determines robot
The horizontal real time position of head；And/or,
The vertical preset position information of real-time status and demarcation according to the second photoelectric sensor group determines robot
The vertical real time position of head；
The head movement path of the robot is determined according to the real time position and head movement instruction, including：
The horizontal movement path of the robot is determined according to the horizontal real time position and horizontal movement instruction；
And/or,
The vertical motion path of the robot is determined according to the vertical real time position and vertical movement instruction.
The above embodiment of the present invention, robot head motion includes rotatable parts, drives rotatable parts motion
Motor, the photoelectric sensor group for being fixed on robot interior and the sensor catch group being fixed on rotatable parts；Sensor keeps off
The thickness of piece is spaced less than or equal to groove profile, groove profile at intervals of any photoelectric sensor transmitter and receiver between
Every；Photoelectric sensor group is set with sensor catch group corresponding matching, the match bit of sensor catch group and photoelectric sensor group
Put when changing, at least one of sensor catch group sensor catch is located in groove profile interval, so as to demarcate robot
The turned position of head.By being equipped with for photoelectric sensor group and sensor catch group, control robot head is improve
The flexibility of motion, while simplifying robot head motion, reduces cost.
Brief description of the drawings
Fig. 1 a are a kind of robot head motion structure chart provided in an embodiment of the present invention；
Fig. 1 b are a kind of robot architecture's figure provided in an embodiment of the present invention；
Fig. 2 is a kind of structure chart of photoelectric sensor group provided in an embodiment of the present invention；
Fig. 3 is a kind of structure chart of sensor catch group provided in an embodiment of the present invention；
Fig. 4 a are the relative position relation figure of a kind of photoelectric sensor provided in an embodiment of the present invention and sensor catch group；
Fig. 4 b are the structure chart that a kind of robot head motion provided in an embodiment of the present invention turns to centre position；
Fig. 5 a are the relative position relation of another photoelectric sensor provided in an embodiment of the present invention and sensor catch group
Figure；
Fig. 5 b are the structure that a kind of robot head motion provided in an embodiment of the present invention turns to limit on the right-right-hand limit position
Figure；
Fig. 6 a are the relative position relation of another photoelectric sensor provided in an embodiment of the present invention and sensor catch group
Figure；
Fig. 6 b are the structure that a kind of robot head motion provided in an embodiment of the present invention turns to limit on the left position
Figure；
Fig. 7 a are another robot head motion structure chart provided in an embodiment of the present invention；
Fig. 7 b are a kind of mechanism map for damping pressing plate provided in an embodiment of the present invention；
Fig. 8 is another robot head motion structure chart provided in an embodiment of the present invention；
Fig. 9 is a kind of robot head control method schematic flow sheet provided in an embodiment of the present invention.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step ground is described in detail, it is clear that described embodiment is only some embodiments of the invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
The embodiment of the present invention provides a kind of robot head motion, as shown in Figure 1a, for the embodiment of the present invention is provided
A kind of robot head motion structure chart, including：Rotatable parts 101, drive rotatable parts 101 motion motor 102,
The photoelectric sensor group 103 for being fixed on robot interior and the sensor catch group 104 being fixed on rotatable parts 101.
Specifically, rotatable parts 101 are axle, the robot head motion also bearing block 105 including fixing axle；Bearing
Seat tool has the first cavity and the second cavity, and the first cavity is used for fixing axle, and the second cavity is around axle；Photoelectric sensor group 103
In in the second cavity, and it is fixed on the inner side of bearing block 105；Sensor catch group 104 is located in the second cavity, and is fixed on axle
On.
It should be noted that the embodiment of the present invention also provides a kind of robot, as shown in Figure 1 b, including the embodiment of the present invention
Offer robot head motion, and the robot head 107 and robot trunk 108 of head movement mechanism are connected to,
Rotatable parts 101 of the robot head 107 in head movement mechanism horizontally rotate, so as to realize the head shaking movement of robot.
It should be noted that photoelectric sensor group 103 can be fixed on the inner side of bearing block 105 with integral type, it is also possible to pass through
Fixing device is fixed on the inner side of bearing block 105；Sensor catch group 104 can be fixed on axle with integral type, it is also possible to by solid
Determine device to be fixed on axle, be not limited herein.Additionally, photoelectric sensor group 103 can be vertically installed in bearing base inner surface,
Can also predetermined angle be fixed on bearing base inner surface；Sensor catch group 104 can be vertically installed on axle, it is also possible to default
Angle is fixed on axle, when need to only meet axle drive sensor catch 104 rotation of group, groove of the sensor catch in photoelectric sensor
Type is passed through in interval, is not limited herein.
Further, sensor catch group 104 includes at least four sensor catch, and photoelectric sensor group 103 is included extremely
Few two photoelectric sensors.Photoelectric sensor has transmitter and receiver, between transmitter and receiver at intervals of groove profile
Interval, the thickness of sensor catch is spaced less than or equal to groove profile.By photoelectric sensor group 103 and sensor catch group 104
Corresponding matching is set, when sensor catch group 104 changes with the matched position of photoelectric sensor group 103, sensor catch
At least one of 104 sensor catch of group are located in groove profile interval, so that the on off state mark for passing through photoelectric sensor group 103
Determine the turned position of robot head.
Optionally, in each embodiment that the present invention is provided, the quantity of the photoelectric sensor in photoelectric sensor group 103 is
Two, it is clear that if photoelectric sensor group 103 includes more photoelectric sensors, its implementation and two photoelectric sensors
Be achieved in that it is similar.As shown in Fig. 2 be a kind of structure chart of photoelectric sensor group provided in an embodiment of the present invention, bag
Include the first photoelectric sensor 201, the second photoelectric sensor, fixing device 203.First photoelectric sensor 201 and the second photoelectric transfer
Sensor 202 is arranged in fixing device 203, by least one fixing hole 204 and the cooperation of bolt, fixing device 203 is consolidated
Due to the inner side of bearing block 105.
Alternatively, in each embodiment that the present invention is provided, the quantity of the sensor catch in sensor catch group 104 is
Four, it is clear that during in order to obtain robot head or the finer rotation data of miscellaneous part, can be by increasing sensor
Catch quantity is obtained, and its implementation is similar with being achieved in that for four sensor catch.As shown in figure 3, being this hair
A kind of structure chart of sensor catch group that bright embodiment is provided, including first sensor catch 301, second sensor catch
302nd, 3rd sensor catch 303, the 4th sensor catch 304, fixing device 305.First sensor catch 301, second is passed
Sensor catch 302, the sensor catch 304 of 3rd sensor catch 303 and the 4th are arranged in fixing device 305, fixing device
305 is arcuate structure, and fixation is fitted on axle.
Further, 3rd sensor catch 303 is arranged at the first of rotatable parts 101 with first sensor catch 301
On circumference；4th sensor catch 304 is arranged on the second circumference of the rotatable parts 101 with second sensor catch 302.
First sensor catch 301 has matching relationship with the position of second sensor catch 302.First photoelectric sensor 201 and
The matching of one circumference is set, so that when rotatable parts 101 are rotated, 3rd sensor catch 103 and/or first sensor catch
101 are spaced by the groove profile of the first photoelectric sensor 201.Second photoelectric sensor 202 matches setting with second circumference,
So that when rotatable parts 101 are rotated, the 4th sensor catch 304 and/or the catch of second sensor 302 pass through the second photoelectric transfer
The groove profile interval of sensor 202.
Specifically, the matching relationship having for the position of first sensor catch 301 and second sensor catch 302,
Structure shown in Fig. 3 gives a kind of possible mode：The projection in vertical direction of first sensor catch 301 is passed with second
Sensor catch 302 is completely superposed；And matching relationship defined in the present embodiment not merely only has a kind of this implementation, example
Such as, the projection in vertical direction of first sensor catch 301 partially overlaps with second sensor catch 302；First sensor
The projection in vertical direction of catch 301 is completely misaligned etc. with second sensor catch 302, its purpose of above-mentioned matching relationship
It is the unique position relationship for constituting a kind of first sensor catch 301 and second sensor catch 302, so as to rotation section
The turned position of part 101 carries out unique correspondence identification.
Fig. 4 a are the relative position relation figure of a kind of photoelectric sensor provided in an embodiment of the present invention and sensor catch group.
As shown in fig. 4 a, first sensor catch 301 is located in the groove profile of the first photoelectric sensor 201 interval, second sensor catch
302 are located in the groove profile of the second photoelectric sensor 202 interval.Now, while triggering the first photoelectric sensor 201 and the second photoelectricity
Sensor 202, is centre position by the current location position of robot head motion, is robot as shown in Figure 4 b
Head movement mechanism turns to the structure chart in centre position.
Fig. 5 a are the relative position relation of another photoelectric sensor provided in an embodiment of the present invention and sensor catch group.
As shown in Figure 5 a, 3rd sensor catch 303 is located in the groove profile of the first photoelectric sensor 201 interval.Now, the first light is triggered
Electric transducer 201, the first extreme position is demarcated as by the current location of robot head motion, if first extreme position
It is limit on the right-right-hand limit position, then is structure chart that robot head motion turns to limit on the right-right-hand limit position as shown in Figure 5 b.
Fig. 6 a are the relative position relation of another photoelectric sensor provided in an embodiment of the present invention and sensor catch group.
As shown in Figure 6 a, the 4th sensor catch 304 is located in the groove profile of the second photoelectric sensor 202 interval.Now, the second light is triggered
Electric transducer 202, the second extreme position is demarcated as by the current location of robot head motion, if second extreme position
It is limit on the left position, then is structure chart that robot head motion turns to limit on the left position as shown in Figure 6 b.
It should be noted that in the embodiment of the present invention, the quantity of the sensor catch in sensor catch group 104 is not limited to
Four, the quantity of the photoelectric sensor in photoelectric sensor group 103 is not limited to two.For example, sensor catch group 103 includes 5
Individual sensor catch, by the cooperation with two photoelectric sensors, calibrates limit on the left position, the limit on the right-right-hand limit of head rotating mechanism
Position, the first centre position and the second centre position, you can with by the position for increasing the number of sensor catch to improve demarcation
The precision put, is not limited herein.
Further, as shown in Figure 1a, robot head motion also includes damping pressing plate 106.Damping pressing plate 106 is
First arcuate structure, as shown in Figure 7a, the two ends for damping pressing plate 106 are provided with fixing hole 705, and Spring screwses 701 pass through fixing hole
705 are fixed on the location hole 702 of the bearing block 105, so that damping pressing plate 106 is fitted with axle.Additionally, such as Fig. 7 b institutes
Show, be the mechanism map of damping pressing plate provided in an embodiment of the present invention, bulge-structure 704, bulge-structure are set on damping pressing plate 106
704 coordinate with the spacing hole 703 on bearing block 105, and the 106 of damping pressing plate 106 and axle are adjusted by adjusting Spring screwses 701
Laminating degree.
For example, when robot head motion does not work, it is desirable to which robot head can not be rocked, if by motor 102
Control robot head is not rocked, and motor 102 can work always causes the life-span of motor 102 to reduce, and the embodiment of the present invention is by adjusting
The elasticity of the Spring screwses 701 on section damping pressing plate 106, so that control to damp the elasticity of pressing plate 106 and robot head,
The damping regulation of robot head portion mechanism is realized, the load of motor is reduced.
Based on same inventive concept, the embodiment of the present invention also provides a kind of robot head motion, is arranged at institute
State in robot head, as shown in figure 8, including：Rotatable parts 801, drive rotatable parts 801 motion motor 802, be fixed on
The photoelectric sensor group 803 of robot interior, the sensor catch group 804 being fixed on rotatable parts 101, bearing block 805, resistance
Buddhist nun's pressure 806.Rotatable parts 801 of the robot head 807 in the second head movement mechanism are rotated vertically, so as to realize machine
The nodding action of device people.Wherein, the annexation of all parts is similar to the above embodiments in head movement mechanism, herein no longer
Repeat.
Based on same inventive concept, the embodiment of the present invention also provides a kind of robot, including the first head movement mechanism
With the second head movement mechanism, the first head movement mechanism and the second head movement mechanism vertical distribution.First head movement machine
Structure connects the robot head and the robot trunk, rotation of the robot head in the first head movement mechanism respectively
Component level is rotated, and realizes robot head horizontal movement；Second head movement mechanism is arranged in robot head, robot
Rotatable parts of the head in the second head movement mechanism are rotated vertically, realize that robot head moves vertically.When the first head
Motion and the second head movement mechanism operate simultaneously when, achievable robot head is moved at any angle.It is of the invention real
Example being equipped with by photoelectric sensor group in head movement mechanism and sensor catch group is applied, is improved and is controlled robot head
The flexibility of motion, while simplifying robot head motion, reduces cost.
Based on same inventive concept, the embodiment of the present invention also provides a kind of robot head control method, using above-mentioned
The robot of embodiment, as shown in figure 9, for a kind of robot head control method flow provided in an embodiment of the present invention is illustrated
Figure, including：
Step 901：Receive robot head movement instruction.
Step 902：According to sensor catch group and the variation relation of the matched position of photoelectric sensor group, photoelectric transfer is determined
The Real-Time Switch state of sensor group, photoelectric sensor group is set with sensor catch group corresponding matching.
Step 903：The preset position information of real-time status and demarcation according to photoelectric sensor group determines robot head
Real time position.
Step 904：The head movement path of the robot is determined according to real time position and head movement instruction.
The embodiment of the present invention is equipped with by photoelectric sensor group and sensor catch group, demarcation robot head
Real time position, so that it is determined that the head movement path of robot, improve control robot head motion flexibility and
Simplicity.
Optionally, above-mentioned head movement instruction can be the processor generation of robot interior；Or, the head movement refers to
Order can be generated by external equipment, through wireless network or cable-network transmission to robot processor.
Optionally, head movement instruction can include vertical movement instruction and horizontal movement instruction.For example, receiving user
Robot motion's instruction of input is 30 degree to the left, vertically upward 45 degree of level.It should be noted that robot head fitness machine
Structure includes horicontal motion mechanism and vertical movement mechanism, and sensor catch group includes first sensor catch group and second sensor
Catch group, photoelectric sensor group includes that the first photoelectric sensor combines the second photoelectric sensor group.
Optionally, according to first sensor catch group and the variation relation of the matched position of the first photoelectric sensor group, really
The Real-Time Switch state of fixed first photoelectric sensor group.For horicontal motion mechanism, it is assumed that the photoelectric sensing of horicontal motion mechanism
Device is the first photoelectric sensor group, and sensor catch group is first sensor catch group.First photoelectric sensor group includes first
Photoelectric sensor and the second photoelectric sensor；First sensor catch group sensor catch group includes first sensor catch, the
Two sensor catch, 3rd sensor catch and the 4th sensor catch.Wherein, the transmitter of any photoelectric sensor and reception
Being spaced at intervals of groove profile between device.
For example, when the projection in vertical direction of first sensor catch and second sensor catch are completely superposed, then
One sensor catch is located in the groove profile of the first photoelectric sensor interval, while second sensor catch is located at the second photoelectric sensing
In the groove profile interval of device, it is determined that the Real-Time Switch state of photoelectric sensor group is intermediateness.Now, while triggering the first light
The Real-Time Switch state of electric transducer and the second photoelectric sensor, i.e. the first photoelectric sensor is " 1 ", the second photoelectric sensor
Real-Time Switch state is also " 1 ".Now, the Real-Time Switch state of the first photoelectric sensor group is intermediateness.
For another example, when 3rd sensor catch is located in the groove profile of the first photoelectric sensor interval, it is determined that photoelectric sensor
The Real-Time Switch state of group is the first limiting condition.Now, the first photoelectric sensor is triggered, i.e., the first photoelectric sensor is real-time
On off state is " 1 ", and the Real-Time Switch state of the second photoelectric sensor is " 0 ".Now, the real-time of the first photoelectric sensor group is opened
Off status is the first limiting condition.
For another example, when the 4th sensor catch is located in the groove profile of the second photoelectric sensor interval, it is determined that photoelectric sensor
The Real-Time Switch state of group is the second limiting condition.Now, the second photoelectric sensor is triggered, i.e., the first photoelectric sensor is real-time
On off state is " 0 ", and the Real-Time Switch state of the second photoelectric sensor is " 1 ".Now, the real-time of the first photoelectric sensor group is opened
Off status is the second limiting condition.
Optionally, according to second sensor catch group and the variation relation of the matched position of the second photoelectric sensor group, really
The Real-Time Switch state of fixed second photoelectric sensor group.For vertical movement mechanism, it is assumed that the photoelectric sensing of vertical movement mechanism
Device is the second photoelectric sensor group, and sensor catch group is second sensor catch group.Specific second sensor catch group and the
The change of the matched position of two photoelectric sensor groups, and the second photoelectric sensor group Real-Time Switch state and above-described embodiment
It is similar, will not be repeated here.
Optionally, according to the first photoelectric sensor group real-time status and the level-preset positional information of demarcation determines machine
The horizontal real time position of head part；The vertical preset position information of real-time status and demarcation according to the second photoelectric sensor group is true
Determine the vertical real time position of robot head.
Wherein, for arbitrary motion mechanism such as horicontal motion mechanism, preset position information includes centre position and limit position
Put, specifically, according to the on off state of the first photoelectric sensor, demarcate the first extreme position；According to the first photoelectric sensor
The on off state of on off state and the second photoelectric sensor, demarcates centre position；According to the on off state of the second photoelectric sensor,
Demarcate the second extreme position.Optionally, the horizontal movement road of robot is determined according to horizontal real time position and horizontal movement instruction
Footpath；The vertical motion path of robot is determined according to vertical real time position and vertical movement instruction.By perform horizontal movement and
Vertical movement is capable of achieving robot head and moves at any angle, for example, the motion path for performing is 30 degree to the left of level, vertically
Upward 45 degree；For another example, it is repeated 5 times head shaking movement；For another example, it is repeated 10 times nodding action.Additionally, the machine in various embodiments of the present invention
Device people is horizontally movable and moves vertically sequencing and carries out, it is also possible to while carrying out, be not limited herein.For arbitrary motion
Mechanism's such as horicontal motion mechanism, when real time position is extreme position, judges whether head movement instruction indicates robot head
Deviate extreme position, if, it is determined that the head movement instruction ignore.For example, when robot real time position is limit on the left position
When putting, the instruction of 30 degree of level to the left is received, it is determined that the instruction ignore.
A kind of machine head control method provided in an embodiment of the present invention, receives robot head movement instruction, according to biography
Sensor catch group and the variation relation of the matched position of photoelectric sensor group, determine the Real-Time Switch state of photoelectric sensor group,
The photoelectric sensor group is set with the sensor catch group corresponding matching；According to the real-time status of the photoelectric sensor group
And the preset position information demarcated determines the real time position of robot head；Referred to according to the real time position and the head movement
Order determines the head movement path of the robot.The embodiment of the present invention is matched somebody with somebody by photoelectric sensor group and sensor catch group
Close and set, so as to demarcate the turned position of robot head, improve the flexibility of control robot head motion, while
Robot head motion is simplified, cost is reduced.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product
Figure and/or block diagram are described.It should be understood that every first-class during flow chart and/or block diagram can be realized by computer program instructions
The combination of flow and/or square frame in journey and/or square frame and flow chart and/or block diagram.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The system of the function of being specified in present one flow of flow chart or multiple one square frame of flow and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that instruction of the storage in the computer-readable memory is produced and include finger
Make the manufacture of system, the instruction system realize in one flow of flow chart or multiple one square frame of flow and/or block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented treatment, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
It should be noted that in the embodiment of the present invention, " on " above and below D score correspondence picture, " left side " " right side " correspondingly
The left side and right side of device in picture, " inner side " refers to the face inside device in picture, and " outside " refers in picture outside device
The face in portion, the embodiment of the present invention is only example effect.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, appended claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from essence of the invention to the present invention
God and scope.So, if these modifications of the invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising these changes and modification.
Claims (15)
1. a kind of robot head motion, it is characterised in that including：Rotatable parts, the drive rotatable parts are moved
Motor, the photoelectric sensor group for being fixed on robot interior and the sensor catch group being fixed on the rotatable parts；
The sensor catch group includes at least four sensor catch；The photoelectric sensor group includes at least two photoelectric transfers
Sensor, the photoelectric sensor has transmitter and receiver；The thickness of the sensor catch is spaced less than or equal to groove profile,
The groove profile at intervals of any photoelectric sensor transmitter and receiver between interval；
The photoelectric sensor group is set with the sensor catch group corresponding matching, the sensor catch group and the photoelectricity
When the matched position of sensor group changes, at least one of described sensor catch group sensor catch is located at the groove
In type interval, so as to demarcate the turned position of robot head.
2. robot head motion as claimed in claim 1, it is characterised in that the photoelectric sensor group includes first
Photoelectric sensor and the second photoelectric sensor；The sensor catch group include first sensor catch, second sensor catch,
3rd sensor catch and the 4th sensor catch；
The 3rd sensor catch is arranged on the first circumference of the rotatable parts with the first sensor catch；It is described
4th sensor catch is arranged on the second circumference of the rotatable parts with the second sensor catch；
Wherein, the first sensor catch has matching relationship with the position of the second sensor catch；
First photoelectric sensor matches setting with first circumference, so that when the rotatable parts are rotated, described
Three sensor catch and/or the first sensor catch are spaced by the groove profile of first photoelectric sensor；
Second photoelectric sensor matches setting with second circumference, so that when the rotatable parts are rotated, described
Four sensor catch and/or the second sensor catch are spaced by the groove profile of second photoelectric sensor.
3. robot head motion as claimed in claim 2, it is characterised in that
When the first sensor catch is located in the groove profile of first photoelectric sensor interval；And/or, when the described second biography
Sensor catch is located in the groove profile of second photoelectric sensor interval, then the rotatable parts are centrally located；
When the 3rd sensor catch is located in the groove profile of first photoelectric sensor interval, then the rotatable parts are located at
First extreme position；
When the 4th sensor catch is located in the groove profile of second photoelectric sensor interval, then the rotatable parts are located at
Second extreme position.
4. the robot head motion as described in any one of claims 1 to 3, it is characterised in that the rotatable parts are
Axle, the mechanism also includes the bearing block of the fixation axle；
The bearing block has the first cavity and the second cavity, and first cavity is used to fix the axle, second cavity
Around the axle；
The photoelectric sensor group is located in second cavity, and is distributed in the bearing block inner side；The sensor catch
Group is located in the second cavity, and distribution is on the shaft.
5. robot head motion as claimed in claim 4, it is characterised in that also including damping pressing plate；
The damping pressing plate is the first arcuate structure, and the two ends of the damping pressing plate are fixed on the bearing block, the arc
Structure is fitted with the axle；
Spacing hole is set on the bearing block, bulge-structure is set on the damping pressing plate, the bulge-structure is spacing with described
Hole coordinates.
6. head movement mechanism as claimed in claim 5, it is characterised in that the axle is fixed at the two ends of the damping pressing plate
In bearing, including：
The two ends of the damping pressing plate are fixed on the bearing block by fixation kit, adjust described by the fixation kit
The laminating degree of arcuate structure and the axle.
7. robot head motion as claimed in claim 4, it is characterised in that the sensor catch group is arranged at
In one fixing device, first fixing device is the second arcuate structure, and first fixing device is fixed on the axle.
8. robot head motion as claimed in claim 4, it is characterised in that the photoelectric sensor group is arranged at
In two fixing devices, second fixing device is fixed on the bearing block inner side.
9. a kind of robot, it is characterised in that including robot head, robot trunk, the first head movement mechanism, by right
It is required that the robot head motion described in 1~8 any one is used as the first head movement mechanism；
The first head movement mechanism connects the robot head and the robot trunk, the robot head respectively
Rotatable parts in the first head movement mechanism horizontally rotate.
10. robot as claimed in claim 9, it is characterised in that also including the second head movement mechanism, by claim 1
Robot head motion described in~8 any one is used as the second head movement mechanism；
The first head movement mechanism and the second head movement mechanism vertical distribution；
The second head movement mechanism is arranged in the robot head, and the robot head is transported around second head
Rotatable parts in motivation structure are rotated vertically.
11. a kind of robot head control methods, it is characterised in that be applied to the machine as described in any one of claim 1~8
Head part's motion, including：
Receive robot head movement instruction；
According to sensor catch group and the variation relation of the matched position of photoelectric sensor group, the real-time of photoelectric sensor group is determined
On off state, the photoelectric sensor group is set with the sensor catch group corresponding matching；
The preset position information of real-time status and demarcation according to the photoelectric sensor group determines the real-time position of robot head
Put；
The head movement path of the robot is determined according to the real time position and head movement instruction.
12. methods as claimed in claim 11, it is characterised in that the photoelectric sensor group include the first photoelectric sensor and
Second photoelectric sensor；The sensor catch group includes first sensor catch, second sensor catch, 3rd sensor gear
Piece and the 4th sensor catch；
The variation relation according to sensor catch group and the matched position of photoelectric sensor group, determines photoelectric sensor group
Real-Time Switch state, including：
When the first sensor catch is located in the groove profile of first photoelectric sensor interval；And/or, when the described second biography
Sensor catch is located in the groove profile of second photoelectric sensor interval, determines the Real-Time Switch state of the photoelectric sensor group
It is intermediateness；The groove profile at intervals of any photoelectric sensor transmitter and receiver between interval；
When the 3rd sensor catch is located in the groove profile of first photoelectric sensor interval, the photoelectric sensor is determined
The Real-Time Switch state of group is the first limiting condition；
When the 4th sensor catch is located in the groove profile of second photoelectric sensor interval, the photoelectric sensor is determined
The Real-Time Switch state of group is the second limiting condition.
13. methods as claimed in claim 12, it is characterised in that the preset position information includes centre position and limit position
Put, before the reception robot head movement instruction, also include：
According to the on off state of the first photoelectric sensor, the first extreme position is demarcated；Switch shape according to the first photoelectric sensor
The on off state of state and/or the second photoelectric sensor, demarcates centre position；According to the on off state of the second photoelectric sensor, mark
Fixed second extreme position.
14. methods as claimed in claim 13, it is characterised in that the real-time status according to the photoelectric sensor group and
The preset position information of demarcation determines after the real time position of robot head, also includes：
When the real time position is extreme position, judge whether the head movement instruction indicates the robot head to deviate
The extreme position, if, it is determined that the head movement instruction ignore.
15. methods as claimed in claim 11, it is characterised in that the sensor catch group includes first sensor catch group
With second sensor catch group, the photoelectric sensor group include the first photoelectric sensor group and the second photoelectric sensor group；
The head movement instruction includes vertical movement instruction and/or horizontal movement instruction；
The variation relation according to sensor catch group and the matched position of photoelectric sensor group, determines photoelectric sensor group
Real-Time Switch state, including：
According to first sensor catch group and the variation relation of the matched position of the first photoelectric sensor group, the first photoelectric transfer is determined
The Real-Time Switch state of sensor group；And/or, according to second sensor catch group and the matched position of the second photoelectric sensor group
Variation relation, determines the Real-Time Switch state of the second photoelectric sensor group；
The reality that robot head is determined according to the real-time status of the photoelectric sensor group and the preset position information of demarcation
When position, including：
The level-preset positional information of real-time status and demarcation according to the first photoelectric sensor group determines robot head
Horizontal real time position；And/or, the vertical predeterminated position letter of real-time status and demarcation according to the second photoelectric sensor group
Breath determines the vertical real time position of robot head；
The head movement path of the robot is determined according to the real time position and head movement instruction, including：
The horizontal movement path of the robot is determined according to the horizontal real time position and horizontal movement instruction；And/or,
The vertical motion path of the robot is determined according to the vertical real time position and vertical movement instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611081955.XA CN106737860A (en) | 2016-11-30 | 2016-11-30 | A kind of robot, robot head motion and its control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081955.XA CN106737860A (en) | 2016-11-30 | 2016-11-30 | A kind of robot, robot head motion and its control method |
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| CN106737860A true CN106737860A (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611081955.XA Pending CN106737860A (en) | 2016-11-30 | 2016-11-30 | A kind of robot, robot head motion and its control method |
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Cited By (1)
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Application publication date: 20170531 |