CN107953335B - Behavior control system of robot - Google Patents
Behavior control system of robot Download PDFInfo
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- CN107953335B CN107953335B CN201711430160.XA CN201711430160A CN107953335B CN 107953335 B CN107953335 B CN 107953335B CN 201711430160 A CN201711430160 A CN 201711430160A CN 107953335 B CN107953335 B CN 107953335B
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- 235000014101 wine Nutrition 0.000 claims abstract description 116
- 230000009471 action Effects 0.000 claims abstract description 45
- 230000003993 interaction Effects 0.000 claims abstract description 17
- 239000011521 glass Substances 0.000 claims description 26
- 230000006399 behavior Effects 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 14
- 238000004458 analytical method Methods 0.000 claims description 9
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 238000005520 cutting process Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000013075 data extraction Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 210000000078 claw Anatomy 0.000 description 10
- 241001411320 Eriogonum inflatum Species 0.000 description 7
- 244000269722 Thea sinensis Species 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 240000006350 Callirhoe involucrata Species 0.000 description 3
- 235000002259 Callirhoe involucrata Nutrition 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001556 precipitation Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000007799 cork Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000020095 red wine Nutrition 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000011514 vinification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a behavior control system of a robot, which comprises: contact means for receiving an instruction from the signal transmitting end; the positioning device is used for navigating and moving to a target position according to the prestored local map and the position data in the instruction; the man-machine interaction device is used for receiving the instant operation instruction through the man-machine interaction device and adjusting the operation data according to the instant operation instruction; execution means for controlling each driving means of the robot to execute an operation action according to the operation data; the contact device is electrically connected with the positioning device, and the execution device is electrically connected with the positioning device and the man-machine interaction device respectively. The invention can solve the problems that the existing feast robot needs a tug tube or an automatic wine machine is attached, the volume of a wine bottle opener is overlarge, the manufacturing cost is high, and the like, and can realize a series of continuous actions and man-machine interaction of the robot for opening, pouring and ending wine.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a behavior control system of a robot.
Background
Robots are machine devices that automatically perform work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology. Its task is to assist or replace the work of human work.
At present, robots applied to catering service industry are already in market, including robots with functions of ordering food, serving dishes and the like, and can assist or replace a part of service personnel, so that labor cost of catering enterprises is reduced. However, when a relatively delicate manual operation is involved, the existing robot cannot achieve a sufficient degree of accuracy, so that a service person is still required to complete the operation, such as the operation of opening a wine bottle. The general wine bottle opening operation needs the service personnel to use the bottle opener to cut the wine bottle sealing cap, pulls out the cork and just can accomplish, and a series of actions such as pouring wine all need rely on the manual work to accomplish in addition, especially when large-scale feast, need open a large batch of red wine, have the shortcoming that wastes time and energy, with high costs.
Some existing performance robots with tea pouring function are provided with a plurality of joints, driving motors are respectively arranged in all movable joints, the driving motors are connected with a control unit, a performance container for containing drinks or tea is connected to hands of the performance robots, a drink or tea runner pipe is connected to the performance container, the runner pipe is hidden inside the performance robots, the other end of the runner pipe extends out of the bottoms of the performance robots and is connected with a water outlet of an automatic tea making machine or an automatic drink making machine, an electromagnetic valve connected with the control unit is arranged on the runner pipe, and when the driving motors drive all movable joints to enable the performance robots to be in a pouring posture, the control unit controls the electromagnetic valve to be opened, so that tea or drink is poured out of the performance container to form a tea pouring or drink pouring performance. However, the performance robot cannot be separated from an automatic tea making machine or an automatic wine making machine, has a large number of joints on the whole body, increases the research and development cost on a control algorithm, and has slow running and extremely low efficiency.
At present, an automatic wine bottle opener is also available, but the volume of the automatic wine bottle opener is overlarge, and parts are numerous, so that the cost of a process, materials, standard parts and the like is increased, the whole wine bottle opener is expensive, the automatic wine bottle opener does not have a function of flexible and independent movement, and the service experience provided by an intelligent robot is not provided.
Disclosure of Invention
The invention aims to provide a behavior control system of a robot, which can solve the problems that the existing feast robot needs a tug or is additionally provided with an automatic wine machine, and the bottle opener of a wine bottle has overlarge volume and high manufacturing cost, and realize a series of continuous actions and man-machine interaction of automatic bottle opening, pouring and wine ending of the robot.
In order to achieve the above object, the present invention provides a behavior control system for a robot, comprising:
the contact device is used for receiving an instruction from the signal sending end, and the instruction comprises time data, position data and operation data;
the positioning device comprises a storage module for pre-storing a local map and a navigation module for navigating and moving to a target position according to the local map and position data in the instruction;
the human-computer interaction device comprises an input module for receiving an instant operation instruction input by a user and a data processing module for adjusting the operation data according to the instant operation instruction;
the execution device comprises a driving module for executing each operation action and a control module for controlling each driving module according to the operation data, wherein the operation actions comprise a walking action, a bottle opening action, a wine pouring action and a wine ending action;
the contact device is electrically connected with the positioning device, and the execution device is electrically connected with the positioning device and the man-machine interaction device respectively.
Preferably, the instruction received by the contact device includes an instruction from a plurality of signal sending ends, and the instruction includes a signal source identifier.
Preferably, the behavior control system of the robot further comprises an instruction analysis device, the instruction analysis device comprises a data precipitation module for analyzing an instruction from a signal sending end and a data sorting module for setting the priority execution sequence of the instruction according to time data and a signal source identifier in the instruction, and the instruction analysis device is respectively connected with the contact device, the positioning device and the execution device.
Preferably, the local map pre-stored in the storage module comprises a coordinate system within a set area, a plurality of position coordinates on the coordinate system, and a predetermined path reaching the position coordinates.
Preferably, the robot is provided with a mechanical claw, an arm joint, a bottle opening component and a walking component, and the driving module comprises a mechanical claw driving module for driving the mechanical claw to open and close, a joint driving module for driving the arm joint to rotate, a bottle opening driving module for driving the bottle opening component to operate, and a walking driving module for driving the walking component to operate.
Preferably, the robot is provided with a wine tray, and the driving module comprises a wine tray driving module for driving the wine tray to rotate at a fixed point.
Preferably, the executing device further comprises a memory module for memorizing the position of the wine glass poured with wine, and the memory module is electrically connected with the control module.
Preferably, the executing device further comprises a wine glass detection module for detecting wine glass on the wine tray in the wine pouring action, and the wine glass detection module is electrically connected with the control module.
Preferably, the executing device further comprises a weight detecting device for detecting the weight of the wine bottle after the wine pouring action, and the weight detecting device is electrically connected with the control module.
Preferably, the executing device further comprises a portrait identification module for portrait detection in wine-ending actions, and the portrait identification module is electrically connected with the control module.
Compared with the prior art, the behavior control system of the robot has the advantages of high efficiency and automation, integrates the functions of bottle opening, wine pouring and wine holding, solves the problem that the existing feast robot needs a tug or an automatic wine machine, and also avoids the problems of overlarge volume, high manufacturing cost and the like of a bottle opener of a wine bottle; the behavior control system realizes a series of actions of taking wine bottles, opening the bottles, pouring wine, ending the wine and the like by the robot, and the complete process can also be used as a performance form, so that eyeballs of customers can be attracted greatly; the human-computer interaction is realized, the user communicates with the system through the human-computer interaction interface and operates the system, humanized service experience can be provided, the user can input related instructions to the robot according to actual requirements, the robot can make corresponding actions according to the instructions, and personalized user experience is obtained.
Drawings
Fig. 1 is a schematic configuration diagram of a behavior control system of a robot according to the present invention;
fig. 2 is a schematic diagram of the configuration of an actuator of the behavior control system of the robot according to the present invention.
The device comprises a 1-contact device, a 2-positioning device, a 3-man-machine interaction device, a 4-execution device, a 41-driving module, a 411-mechanical claw driving module, a 412-joint driving module, a 413-bottle opening driving module, a 414-wine tray driving module, a 415-walking driving module, a 42-control module, a 43-memory module, a 44-wine glass detection module, a 45-weight detection device, a 46-portrait identification module and a 5-instruction analysis device.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Referring to fig. 1 and 2, the present invention provides a behavior control system of a robot, which includes:
the contact device 1 is used for receiving an instruction from a signal sending end, wherein the instruction comprises time data, position data and operation data;
a positioning device 2, wherein the positioning device 2 comprises a storage module for pre-storing a local map and a navigation module for navigating and moving to a target position according to the local map and position data in the instruction;
the man-machine interaction device 3, wherein the man-machine interaction device 2 comprises an input module for receiving an instant operation instruction input by a user and a data processing module for adjusting the operation data according to the instant operation instruction;
the execution device 4, wherein the execution device 4 comprises a driving module 41 for executing each operation action and a control module 42 for controlling each driving module 41 according to the operation data, and the operation actions comprise a walking action, a bottle opening action, a wine pouring action and a wine ending action;
the contact device is electrically connected with the positioning device, and the execution device is electrically connected with the positioning device and the man-machine interaction device respectively.
The behavior control system of the robot based on the technical characteristics ensures that the robot has the advantages of high efficiency and automation, integrates the functions of bottle opening, wine pouring and wine ending, solves the problem that the existing feast robot needs a drag pipe or an automatic wine machine, and also avoids the problems of overlarge volume, high manufacturing cost and the like of a bottle opener of a wine bottle; the behavior control system realizes a series of actions of taking wine bottles, opening the bottles, pouring wine, ending the wine and the like by the robot, and the complete process can also be used as a performance form, so that eyeballs of customers can be attracted greatly; the human-computer interaction is realized, and the user communicates with the system through the human-computer interaction interface and operates the system, so that humanized service experience can be provided, related instructions can be input to the robot according to actual requirements, the robot can make corresponding actions according to the instructions, and personalized user experience is obtained.
The instruction received by the contact device 1 comprises instructions from a plurality of signal sending ends, and the instructions comprise signal source identification. In practical application, the signal transmitting end may include a service desk end and a plurality of clients, and the robot receives signals from the plurality of signal transmitting ends, and needs to identify a transmitting source of the signals according to a signal source identifier, so as to make different reactions.
The robot behavior control system further comprises an instruction analysis device 5, wherein the instruction analysis device comprises a data precipitation module for analyzing an instruction from a signal sending end and a data arrangement module for setting the priority execution sequence of the instruction according to time data and a signal source identifier in the instruction, and the instruction analysis device 5 is respectively connected with the contact device 1, the positioning device 2 and the execution device 4. The instruction analyzing device 5 analyzes the instruction from the signal transmitting end and sets the priority execution order of the instruction according to the time data and the signal source identification in the instruction. Typically, the order of execution of the instructions is determined in accordance with the chronological order of the time data. Additionally, since the robot can receive instructions of the server side and the plurality of clients, the order of priority execution of instructions from different types of signal transmission sides can be set for more flexible management.
The local map pre-stored in the storage module of the positioning device 2 comprises a coordinate system in a set area, a plurality of position coordinates on the coordinate system and a preset path reaching the position coordinates. And acquiring a point-to-point preset path between the position coordinates in the set area through the local map.
The robot is provided with a mechanical claw, an arm joint, a bottle opening component and a walking component, and the driving module 41 comprises a mechanical claw driving module 411 for driving the mechanical claw to open and close, a joint driving module 412 for driving the arm joint to rotate, a bottle opening driving module 413 for driving the bottle opening component to operate, and a walking driving module 415 for driving the walking component to operate. In the walking motion, the walking component is driven to run by the walking driving module 415 to realize the displacement of the robot, and specifically, the walking component can adopt an AGV chassis. In the bottle opening operation, the opening and closing of the gripper, the rotation of the arm joint, and the operation of the bottle opening part are performed by the driving module 41. Specifically, the gripper driving module 411 is used for opening and closing the gripper to enable the gripper to grasp or release the object; providing a bottle opening component similar to a bottle opener, wherein the bottle opening component comprises a tinfoil cutting device with a rotary cutter and a drill bit capable of rotating around the axial direction and sliding along the axial direction, and the cutter of the tinfoil cutting device is driven by a bottle opening driving module 413 to rotationally cut the tinfoil of the bottle stopper, so that the drill bit drills into the bottle stopper and moves in the opposite direction to pull out the bottle stopper to finish the opening of the bottle stopper; the rotation of the arm joints is realized through the joint driving module 412, so that the forward and backward, left and right, up and down movement of the mechanical claw is realized to complete a series of actions, and the robot is enabled to flexibly and efficiently operate through accurately controlling the operation of each driving module.
The robot is provided with a wine tray, and the driving module 41 comprises a wine tray driving module 414 for driving the wine tray to rotate at a fixed point. In the pouring action, the fixed point of the wine tray is driven to rotate by the wine tray driving module 414, and the rotation of the arm joint is driven by the joint driving module 412 to execute the pouring action.
The executing device 4 further comprises a memory module 43 for memorizing the position of the wine glass to be poured, and the memory module 43 is electrically connected with the control module 42. The number of the wine pouring cups is determined according to the operation data, and the positions of the wine pouring cups are memorized by the memory module 43, wherein the positions of the wine pouring cups can comprise a starting point position and an ending point position for executing the wine pouring action, so that the wine cup to be lifted is accurately positioned in the wine pouring action, and meanwhile, the wine overflow accidents caused by repeated wine pouring on the same wine cup can be avoided. And after pouring one cup of wine, the wine tray driving module 414 only needs to drive the wine tray and stop the empty wine cup to one fixed point right below the mechanical claw to pour another cup of wine, so that fixed point wine pouring is realized, the position of the mechanical claw is only required to be adjusted once, and then the wine tray is rotated to finish the wine pouring work of a plurality of wine cups on the wine tray.
In the wine-pouring action, the robot can take up and place wine glasses according to the wine glass position of the poured wine, which is memorized by the memory module 43, so that the robot can not be confused in the wine-pouring action caused by the rotation action of the wine tray, and the robot can freely cope with the wine-pouring action and the wine-pouring action with different cup numbers, and can efficiently and flexibly execute the operation.
The executing device 4 further comprises a wine glass detection module 44 for detecting wine glass on the wine tray during the pouring action, wherein the wine glass detection module 44 is electrically connected with the control module. The wine glass detecting module 44 detects wine glass on the wine tray, and when the wine glass is detected, the wine glass is poured according to the operation data, and when the wine glass is not detected, the wine glass is rotated to the next position according to the set rotation angle, so that accidents of pouring wine on a vacancy where the wine glass is not placed can be avoided.
The executing device 4 further comprises a weight detecting device 45 for detecting the weight of the wine bottle after the wine pouring action, and the weight detecting device 45 is electrically connected with the control module. When the weight of the wine bottle exceeds the preset weight detected by the weight detecting device 45, the bottle opening driving module 413 is controlled to plug the bottle stopper back into the wine bottle. Specifically, when the weight of the wine bottle exceeds the quality of the empty wine bottle, that is, when the residual wine remains in the wine bottle after the wine is poured, detected by the weight detecting device 45, the bottle opening driving module 413 drives the drill bit drilled into the bottle stopper to plug the bottle stopper back into the wine bottle, so that the waste caused by influencing the quality of the residual wine is avoided.
The executing device 4 further comprises a portrait identification module 46 for portrait detection in the wine-ending action, and the portrait identification module is electrically connected with the control module. The robot performs portrait detection by using the portrait identification module 46, and performs wine glass placement according to the position data of the detected portrait. By introducing the portrait identification technology, the robot can provide more intelligent and humanized services.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (7)
1. A behavior control system of a robot, characterized in that it comprises:
the contact device is used for receiving an instruction from the signal sending end, and the instruction comprises time data, position data and operation data;
the positioning device comprises a storage module for pre-storing a local map and a navigation module for navigating and moving to a target position according to the local map and position data in the instruction;
the human-computer interaction device comprises an input module for receiving an instant operation instruction input by a user and a data processing module for adjusting the operation data according to the instant operation instruction;
the execution device comprises a driving module for executing each operation action and a control module for controlling each driving module according to the operation data, wherein the operation actions comprise a walking action, a bottle opening action, a wine pouring action and a wine ending action;
the contact device is electrically connected with the positioning device, and the execution device is electrically connected with the positioning device and the man-machine interaction device respectively;
the bottle opening device comprises a tinfoil cutting device with a rotary cutter, a drill bit rotating around the axial direction and sliding along the axial direction, and the bottle opening driving module drives the cutter of the tinfoil cutting device to rotate to cut the tinfoil of the bottle plug, so that the drill bit drills into the bottle plug and moves in the opposite direction to pull out the bottle plug to finish opening the bottle plug;
the robot is also provided with a wine tray, the driving module comprises a wine tray driving module for driving the wine tray to rotate at a fixed point, and the wine tray driving module drives the wine tray to rotate at the fixed point and drives the arm joint to rotate through the joint driving module so as to execute the wine pouring action;
the execution device further comprises a memory module for memorizing the position of the wine glass poured by wine, the memory module is electrically connected with the control module, the number of the wine glass poured by wine is determined according to the operation data, the position of the wine glass poured by wine is memorized through the memory module, and the position of the wine glass comprises a starting position and an ending position for executing the action of pouring wine.
2. The robot behavior control system of claim 1, wherein the instructions received by the contact means comprise instructions from a number of signal transmitters, the instructions comprising a signal source identification.
3. The behavior control system of a robot according to claim 2, further comprising an instruction analysis device including a data extraction module for analyzing an instruction from a signal transmission end and a data sorting module for setting a priority execution order of the instruction according to time data and a signal source identification in the instruction, the instruction analysis device being connected to the contact device, the positioning device, and the execution device, respectively.
4. The behavior control system of a robot according to claim 1, wherein the local map pre-stored in the storage module includes a coordinate system within a set area, a number of position coordinates on the coordinate system, and a predetermined path to reach the position coordinates.
5. The behavior control system of a robot of claim 1 wherein the execution means further comprises a wine glass detection module for detecting wine glasses on a wine tray during a pouring action, the wine glass detection module being electrically connected to the control module.
6. The behavior control system of a robot of claim 1 wherein the execution means further comprises weight detection means for detecting a weight of a wine bottle after a pouring action, the weight detection means being electrically connected to the control module.
7. The behavior control system of a robot of claim 1, wherein the execution means further comprises a figure recognition module for figure detection in a alcohol-ending action, the figure recognition module being electrically connected to the control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711430160.XA CN107953335B (en) | 2017-12-24 | 2017-12-24 | Behavior control system of robot |
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| CN201711430160.XA CN107953335B (en) | 2017-12-24 | 2017-12-24 | Behavior control system of robot |
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| CN108214489B (en) * | 2017-12-25 | 2020-11-10 | 华南理工大学广州学院 | Robot behavior control method |
| CN108648348B (en) * | 2018-05-16 | 2020-12-25 | 邹属民 | Beverage selling robot |
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| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN107421544A (en) * | 2017-08-10 | 2017-12-01 | 上海大学 | A kind of modular hotel's handling robot system |
| CN206780422U (en) * | 2017-06-09 | 2017-12-22 | 重庆师范大学 | Drinks service robot |
| CN208289897U (en) * | 2017-12-24 | 2018-12-28 | 华南理工大学广州学院 | A kind of behaviour control system of robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8165718B2 (en) * | 2010-07-30 | 2012-04-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | Robotic transportation devices and systems |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103271784A (en) * | 2013-06-06 | 2013-09-04 | 山东科技大学 | Man-machine interactive manipulator control system and method based on binocular vision |
| CN206780422U (en) * | 2017-06-09 | 2017-12-22 | 重庆师范大学 | Drinks service robot |
| CN107421544A (en) * | 2017-08-10 | 2017-12-01 | 上海大学 | A kind of modular hotel's handling robot system |
| CN208289897U (en) * | 2017-12-24 | 2018-12-28 | 华南理工大学广州学院 | A kind of behaviour control system of robot |
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