CN107685327A - A kind of robot movement control method and system - Google Patents
A kind of robot movement control method and system Download PDFInfo
- Publication number
- CN107685327A CN107685327A CN201710805705.4A CN201710805705A CN107685327A CN 107685327 A CN107685327 A CN 107685327A CN 201710805705 A CN201710805705 A CN 201710805705A CN 107685327 A CN107685327 A CN 107685327A
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- Prior art keywords
- photosensitive material
- robot
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- shape
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
Abstract
The invention provides a kind of robot movement control method and system, set to form a set of robot movement control rule by software programming and hardware language, robot moves control language, set different photosensitive material shape or size, and represent the different traveling principle of robot by programming definition different shape and/or size in robot control system, formulate a whole set of robot traveling control language, when robot optical sensor recognizes different photosensitive material shapes, processor issues different traveling commands direct robots and completes movement, to reach the purpose of unified standard, each robot can be according to the control rule design of the present invention, make the mobile control of different machines people consistent, to meet the needs of curstomer's site hardware construction can use different merchant Bots simultaneously, improve the efficiency of curstomer's site implementation.
Description
Technical field
The present invention relates to the technical field of robot, and in particular to a kind of transportation robot control method for movement and is
System.
Background technology
Transportation robot transfer robot are the industrial robots that can carry out automatic transportation operation, earliest fortune
Defeated robot appears in the U.S. of nineteen sixty.Hauling operation refers to grip workpiece with a kind of equipment, referred to from a Working position
Move on to another Working position.Transportation robot can install different end effectors to complete various different shapes and state
Workpiece transport works, and significantly reduces the heavy manual labor of the mankind.The transportation robot used in the world exceedes 100,000, wide
It is general to be applied to the automatic of lathe loading and unloading, stamping machine automatic production line, automatic assembly line, stacking transport, container etc.
Transport.
Transportation robot is the new and high technology that modern automation field occurs, and has been related to mechanics, mechanics, electricity
Device hydraulic-pneumatic technology, automatic control technology, sensor technology, the ambit such as singlechip technology and computer technology, into
For an important component in modern mechanical manufacturing production system.Its advantages of is can to complete various expections by programming
Task, have the respective advantage of people and machine in self structure and performance, especially embodied artificial intelligence and adaptability.
The mobile control of robot typically uses two ways, and one kind is to specify course by programming, and another kind is
Use sensor sensing course of action.The photosensitive material in ground is sensed by sensor sensing course of action generally use infrared sensor
The mode of material sets robotic movement route, and this method is simple, is suitable for fixed-site and fixes course, fixed work times
The scene of business.But this method does not form unified standard in actual applications, different manufacturers need to actually use field according to client
Scape planning arrangement place laying photosensitive material and setting program, cause different machines people manufacturer to coexist, and live cloth
Office and implementation time cycle factory, labor intensive resource, cause cost to increase, efficiency of the practice is extremely low.
The content of the invention
Based on above mentioned problem, the present invention provides a kind of robot movement control method and system, by software programming and firmly
Part language sets to form a set of robot movement control rule, robot movement control language, to reach the purpose of unified standard,
Each robot can make the mobile control of different machines people consistent, to meet curstomer's site according to the unified control rule design
Hardware construction can use the demand of different merchant Bots simultaneously, in addition, unified standard improves the efficiency of curstomer's site implementation.
The present invention provides following technical scheme：
On the one hand, the invention provides a kind of robot movement control method, including：
Step 101, the shape and/or the corresponding relation of size and operating instruction of photosensitive material are established；
Step 102, the shape and/or size of the photosensitive material are obtained；
Step 103, by the corresponding relation, it is determined that the operation corresponding to the shape and/or size of the photosensitive material got
Instruction, and perform.
Wherein, by the corresponding relation, it is determined that the operation corresponding to the shape and/or size of the photosensitive material got
Instruction, and perform and specifically include：200x20mm rectangle and corresponding startup move are shaped as when getting photosensitive material
When, start movement；When the photosensitive material got is shaped as 200x30mm rectangle and corresponding first straight trip instruction, straight trip
And speed is 2km/h；When the photosensitive material sensed is shaped as 200x40mm rectangle, processor control machine people straight trip and
Speed is 4km/h；When the photosensitive material sensed is shaped as 150x20mm rectangle, processor control machine people turns left
90°；When the photosensitive material sensed is shaped as 150x30mm rectangle, processor control machine people turns right 90 °；Work as sensing
To ground photosensitive material be shaped as 100x20mm rectangle when, processor control machine people is out of service.
Wherein, the photosensitive material for sensor sensing is located at ground or wall.
Wherein, one of the artificial transportation robot of the machine, sweeping robot and patrol robot.
In addition, present invention also offers a kind of robot mobile control system, the system includes：
Predefined module, for establishing the shape and/or the corresponding relation of size and operating instruction of photosensitive material；
Induction module, for obtaining the shape and/or size of the photosensitive material；
Execution module, for by the corresponding relation, it is determined that corresponding to the shape and/or size of the photosensitive material got
Operating instruction, and perform.
Wherein, by the corresponding relation, it is determined that the operation corresponding to the shape and/or size of the photosensitive material got
Instruction, and perform and specifically include：200x20mm rectangle and corresponding startup move are shaped as when getting photosensitive material
When, start movement；When the photosensitive material got is shaped as 200x30mm rectangle and corresponding first straight trip instruction, straight trip
And speed is 2km/h；When the photosensitive material sensed is shaped as 200x40mm rectangle, processor control machine people straight trip and
Speed is 4km/h；When the photosensitive material sensed is shaped as 150x20mm rectangle, processor control machine people turns left
90°；When the photosensitive material sensed is shaped as 150x30mm rectangle, processor control machine people turns right 90 °；Work as sensing
To ground photosensitive material be shaped as 100x20mm rectangle when, processor control machine people is out of service.
Wherein, the photosensitive material for sensor sensing is located at ground or wall.
Wherein, one of the artificial transportation robot of the machine, sweeping robot and patrol robot.
The invention provides a kind of robot movement control method and system, and shape is set by software programming and hardware language
Control rule, robot movement control language are moved into a set of robot, sets different photosensitive material shape or size, and
The different traveling principle of robot is represented by programming definition different shape and/or size in robot control system, is formulated
A whole set of robot traveling control language, when robot optical sensor recognizes different photosensitive material shapes, under processor
The traveling commands direct robot for sending out different completes movement, and to reach the purpose of unified standard, each robot can be according to the present invention
Control rule design, make the mobile control of different machines people consistent, to meet that curstomer's site hardware construction can be simultaneously using not
With the demand of merchant Bot, the efficiency that curstomer's site is implemented is improved.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is the system architecture diagram of the present invention.
Embodiment
Technical scheme in order to illustrate the embodiments of the present invention more clearly, it will use below required in embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
In the prior art, current transportation robot, sweeping robot, patrol robot control what is advanced by infrared induction
The method of route does not form the rule of system, needs to rearrange traveling according to curstomer's site scene in actual application
Position photosensitive material and write formula, causing the robot of different manufacturers can not coexist, and field layout and implementation cycle factory, throwing
Enter big.
In consideration of it, first, embodiments of the present invention provide a kind of robot movement control method, accompanying drawing 1 is this hair
Bright method flow diagram, including：
Step 101, the shape and/or the corresponding relation of size and operating instruction of photosensitive material are established；
The shape and/or size of photosensitive material are defined as follows：
Step 102, the shape and/or size of the photosensitive material are obtained；
Wherein, when get photosensitive material be shaped as 200x20mm rectangle and it is corresponding start move when, start and move
It is dynamic；When the photosensitive material got is shaped as 200x30mm rectangle and corresponding first straight trip instruction, keeps straight on and speed is
2km/h；When the photosensitive material sensed is shaped as 200x40mm rectangle, processor control machine people keeps straight on and speed is
4km/h；When the photosensitive material sensed is shaped as 150x20mm rectangle, processor control machine people turns left 90 °；Work as sense
When the photosensitive material that should be arrived is shaped as 150x30mm rectangle, processor control machine people turns right 90 °；When the ground sensed
When photosensitive material is shaped as 100x20mm rectangle, processor control machine people is out of service.
Step 103, by the corresponding relation, it is determined that corresponding to the shape and/or size of the photosensitive material got
Operating instruction, and perform.
Wherein, the photosensitive material for sensor sensing is located at ground or wall.The method of the invention
Sweeping robot or patrol robot can also be applied to, sweeping robot or patrol robot also can be according to the sides of the present invention
Method control operation.
The invention provides a kind of robot movement control method, set by software programming and hardware language to be formed it is a set of
Robot movement control rule, robot movement control language, set different photosensitive material shape or size, and in machine
The different traveling principle of robot is represented by programming definition different shape and/or size in people's control system, formulates a whole set of
Robot traveling control language, when robot optical sensor recognizes different photosensitive material shapes, processor issues difference
Traveling commands direct robot complete movement, to reach the purpose of unified standard, each robot can be according to the control of the present invention
Rule design, makes the mobile control of different machines people consistent, to meet that curstomer's site hardware construction can use different businessmans simultaneously
Machine Man's Demands, improve the efficiency of curstomer's site implementation.
Secondly, embodiments of the present invention provide a kind of robot mobile control system, and accompanying drawing 2 is system of the invention
Structured flowchart, the system include：
Predefined module 201, for establishing the shape and/or the corresponding relation of size and operating instruction of photosensitive material；
The shape and/or size of photosensitive material are defined as follows：
Induction module 202, for obtaining the shape and/or size of the photosensitive material；
Wherein, when get photosensitive material be shaped as 200x20mm rectangle and it is corresponding start move when, start and move
It is dynamic；When the photosensitive material got is shaped as 200x30mm rectangle and corresponding first straight trip instruction, keeps straight on and speed is
2km/h；When the photosensitive material sensed is shaped as 200x40mm rectangle, processor control machine people keeps straight on and speed is
4km/h；When the photosensitive material sensed is shaped as 150x20mm rectangle, processor control machine people turns left 90 °；Work as sense
When the photosensitive material that should be arrived is shaped as 150x30mm rectangle, processor control machine people turns right 90 °；When the ground sensed
When photosensitive material is shaped as 100x20mm rectangle, processor control machine people is out of service.
Execution module 203, for by the corresponding relation, it is determined that the shape and/or size of the photosensitive material got
Corresponding operating instruction, and perform.
Wherein, the photosensitive material for sensor sensing is located at ground or wall.The system of the invention
Sweeping robot or patrol robot can also be applied to, sweeping robot or patrol robot also can be according to the present invention
System control operation.
The invention provides a kind of robot mobile control system, set by software programming and hardware language to be formed it is a set of
Robot movement control rule, robot movement control language, set different photosensitive material shape or size, and in machine
The different traveling principle of robot is represented by programming definition different shape and/or size in people's control system, formulates a whole set of
Robot traveling control language, when robot optical sensor recognizes different photosensitive material shapes, processor issues difference
Traveling commands direct robot complete movement, to reach the purpose of unified standard, each robot can be according to the control of the present invention
Rule design, makes the mobile control of different machines people consistent, to meet that curstomer's site hardware construction can use different businessmans simultaneously
Machine Man's Demands, improve the efficiency of curstomer's site implementation.
The foregoing description of the disclosed embodiments, those skilled in the art are enable to realize or using the present invention.To this
A variety of modifications of a little embodiments will be apparent for a person skilled in the art, and generic principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
The embodiments shown herein is formed on, but meets the most wide model consistent with principles disclosed herein and features of novelty
Enclose.
Claims (8)
- A kind of 1. robot movement control method, it is characterised in that：Step 101, the shape and/or the corresponding relation of size and operating instruction of photosensitive material are established；Step 102, the shape and/or size of the photosensitive material are obtained；Step 103, by the corresponding relation, it is determined that the operation corresponding to the shape and/or size of the photosensitive material got Instruction, and perform.
- 2. according to the method for claim 1, it is characterised in that by the corresponding relation, it is determined that the photosensitive material got Operating instruction corresponding to the shape and/or size of material, and perform and specifically include：When get photosensitive material be shaped as 200x20mm rectangle and it is corresponding start move when, start movement；Work as acquisition To photosensitive material be shaped as 200x30mm rectangle and corresponding first straight trip instruction when, straight trip and speed is 2km/h；Work as sense When the photosensitive material that should be arrived is shaped as 200x40mm rectangle, processor control machine people keeps straight on and speed is 4km/h；Work as sensing To photosensitive material be shaped as 150x20mm rectangle when, processor control machine people turn left 90 °；When the photosensitive material sensed When material is shaped as 150x30mm rectangle, processor control machine people turns right 90 °；When the ground photosensitive material shape sensed For 100x20mm rectangle when, processor control machine people is out of service.
- 3. according to the method for claim 1, it is characterised in that：The photosensitive material for sensor sensing is located at ground Or on wall.
- 4. according to any described methods of claim 1-3, it is characterised in that：The artificial transportation robot of the machine, sweeper One of device people and patrol robot.
- A kind of 5. robot mobile control system, it is characterised in that：The system includes：Predefined module, for establishing the shape and/or the corresponding relation of size and operating instruction of photosensitive material；Induction module, for obtaining the shape and/or size of the photosensitive material；Execution module, for by the corresponding relation, it is determined that corresponding to the shape and/or size of the photosensitive material got Operating instruction, and perform.
- 6. system according to claim 5, it is characterised in that：By the corresponding relation, it is determined that the photosensitive material got Operating instruction corresponding to the shape and/or size of material, and perform and specifically include：It is shaped as when getting photosensitive material When 200x20mm rectangle and corresponding startup move, start movement；When the photosensitive material got is shaped as 200x30mm Rectangle and during corresponding first straight trip instruction, straight trip and speed is 2km/h；When the photosensitive material sensed is shaped as During 200x40mm rectangle, processor control machine people keeps straight on and speed is 4km/h；When the photosensitive material sensed is shaped as During 150x20mm rectangle, processor control machine people turns left 90 °；When the photosensitive material sensed is shaped as 150x30mm's During rectangle, processor control machine people turns right 90 °；When the ground photosensitive material sensed is shaped as 100x20mm rectangle When, processor control machine people is out of service.
- 7. system according to claim 5, it is characterised in that：The photosensitive material for sensor sensing is located at ground Or on wall.
- 8. according to any described systems of claim 5-7, it is characterised in that：The artificial transportation robot of the machine, sweeper One of device people and patrol robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710805705.4A CN107685327A (en) | 2017-09-08 | 2017-09-08 | A kind of robot movement control method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710805705.4A CN107685327A (en) | 2017-09-08 | 2017-09-08 | A kind of robot movement control method and system |
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| CN107685327A true CN107685327A (en) | 2018-02-13 |
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| CN201710805705.4A Pending CN107685327A (en) | 2017-09-08 | 2017-09-08 | A kind of robot movement control method and system |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1438138A (en) * | 2003-03-12 | 2003-08-27 | 吉林大学 | Vision guiding method of automatic guiding vehicle and automatic guiding electric vehicle |
| CN104932507A (en) * | 2015-06-09 | 2015-09-23 | 北京联合大学 | Night patrol robot automatic tracking method |
| US20170206418A1 (en) * | 2014-12-16 | 2017-07-20 | Irobot Corporation | Systems and Methods for Capturing Images and Annotating the Captured Images with Information |
-
2017
- 2017-09-08 CN CN201710805705.4A patent/CN107685327A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1438138A (en) * | 2003-03-12 | 2003-08-27 | 吉林大学 | Vision guiding method of automatic guiding vehicle and automatic guiding electric vehicle |
| US20170206418A1 (en) * | 2014-12-16 | 2017-07-20 | Irobot Corporation | Systems and Methods for Capturing Images and Annotating the Captured Images with Information |
| CN104932507A (en) * | 2015-06-09 | 2015-09-23 | 北京联合大学 | Night patrol robot automatic tracking method |
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Application publication date: 20180213 |