CN107984474A - A kind of humanoid intelligent robot of half body and its control system - Google Patents
A kind of humanoid intelligent robot of half body and its control system Download PDFInfo
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- CN107984474A CN107984474A CN201711425448.8A CN201711425448A CN107984474A CN 107984474 A CN107984474 A CN 107984474A CN 201711425448 A CN201711425448 A CN 201711425448A CN 107984474 A CN107984474 A CN 107984474A
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Automation & Control Theory (AREA)
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Abstract
The present invention provides a kind of humanoid intelligent robot of half body and its control system, the environmental information of measurement is sent to task manager by environment sensing device, task manager is based on above-mentioned environmental information and assignment instructions issue job task to upper body exercises planner and bobbin movement planner, upper body exercises planner is based on above-mentioned job task generation joint of mechanical arm angle sequence and is sent in joint servo control device, with the task of fulfiling assignment, bobbin movement planner is based on above-mentioned job task generation base plate electric machine rotating speed sequence and is sent in base plate electric machine controller, with the task of fulfiling assignment.Environment sensing device, task manager, upper body exercises planner, bobbin movement planner, joint servo control device and base plate electric machine controller form the complete humanoid Study of Intelligent Robot Control system of half body, realize being uniformly controlled for chassis and upper body, its convenience is improved, is conducive to marketing；Hierarchical control is carried out to the humanoid intelligent robot of half body, improves system reliability and control efficiency.
Description
Technical field
The present invention relates to intelligence manufacture, robotic technology field, more particularly, to a kind of humanoid intelligent robot of half body
And its control system.
Background technology
Intelligent robot is one of current hotspot research direction, the humanoid intelligent robot of half body, have benefited from its movement flexibly,
Operation easily waits technical characterstic, and in service robot, particularly indoor service robot field has broad prospect of application.
Currently, most of robot control systems are both for industrial robot, towards the control system of intelligent robot
Less, the control system developed specifically for the humanoid intelligent robot of half body is even more rare.
Two sets of control systems are all respectively adopted in the humanoid intelligent robot of Most current half body, respectively to machine upper part of human body with moving
Dynamic chassis is controlled, on the one hand expensive, on the other hand inconvenient.
The content of the invention
In order to overcome the above-mentioned problems in the prior art at least in part, the present invention provides a kind of humanoid intelligence of half body
Robot and its control system.
According to an aspect of the present invention, the present invention provides a kind of humanoid Study of Intelligent Robot Control system of half body, including：With
Environment sensing device in measuring environment information, the task manager for receiving environmental information and release tasks instruction, be used for
Generate the upper body exercises planner of joint of mechanical arm angle sequence, planned for generating the bobbin movement of base plate electric machine rotating speed sequence
Device, the joint servo control device for control machinery shoulder joint angle and for controlling the base plate electric machine of base plate electric machine rotating speed to control
Device；Wherein,
The task manager respectively with the environment sensing device, the upper body exercises planner and the bobbin movement
Planner is electrically connected；
The joint servo control device is electrically connected with the upper body exercises planner；
The base plate electric machine controller is electrically connected with the bobbin movement planner.
Wherein, the environment sensing device includes being used to detect half body humanoid intelligent robot base position, direction and appearance
The pose detection unit of state, the binocular vision for detecting the humanoid intelligent robot vision direction of half body and acquisition binocular coloured image
Feel unit, the laser radar unit for scanning ranging, for detecting whether having obstacle and the ultrasonic wave with the distance of obstacle
Distance measuring unit, for detecting whether contact object touch sensing unit, for detecting the humanoid intelligent robot mechanical arm of half body
The direction of suffered external force and the external force measuring unit and messaging unit of size；Wherein,
Described information transfer unit respectively with the pose detection unit, the binocular vision unit, the ultrasound
It is electrically connected away from unit, the touch sensing unit, the laser radar unit and the external force measuring unit, described information passes
Unit is passed to be electrically connected with the task manager.
Wherein, the pose detection unit includes GPS, electronic compass and the first gyroscope, the binocular vision unit
Include binocular colour imagery shot and the second gyroscope.
Wherein, the task manager includes information receiving unit, task scheduling unit, builds figure for laser SLAM, regards
Feel the Context awareness unit for building figure and Environment Obstacles detection, the article recognition unit for search and identification mission article, use
In the absolute position of the identification humanoid intelligent robot of half body, the location identification unit of direction and posture, for Detection task thing
Product and the article positioning unit of the relative position of the humanoid intelligent robot of half body；Wherein,
Described information receiving unit is identified with the Context awareness unit, the article recognition unit, the position respectively
Unit and the article positioning unit are electrically connected；
The task scheduling unit is identified with the Context awareness unit, the article recognition unit, the position respectively
Unit, the article positioning unit, the upper body exercises planner and the bobbin movement planner are electrically connected.
Wherein, further include：For display system state and the liquid crystal display of human-computer interaction, it is used for and external server
Communication, cloud computing, reception assignment instructions feed back the Network Interface Unit of the humanoid intelligent robot oneself state of half body, are used for
Monitor the micromotion of the Systems Monitoring Unit, preservation of the humanoid intelligent robot operating status of half body for completing required by task
Action storage unit, the voice recognition unit for sending phonetic order and the task for receiving peripheral control unit transmission refer to
Order and the external communications units of the feedback humanoid intelligent robot state of half body；Wherein,
The task scheduling unit respectively with the liquid crystal display, the Network Interface Unit, the system monitoring
Unit, action storage unit, the voice recognition unit and the external communications units are electrically connected.
Wherein, the joint servo control device includes multiple joint servo control units；Wherein,
One joint servo control unit controls a joint of mechanical arm, to realize that the position of joint of mechanical arm is closed
Ring.
Wherein, the base plate electric machine controller includes multiple base plate electric machine control units；Wherein,
One base plate electric machine control unit controls a base plate electric machine, to realize that the rotating speed of base plate electric machine controls.
Wherein, the processor of the task manager is industrial personal computer, microcomputer or calculates board.
Wherein, the processor of the upper body exercises rule device and the bobbin movement planner is DSP or ARM.
According to another aspect of the present invention, the present invention provides a kind of humanoid intelligent robot of half body, including claim 1
To the humanoid Study of Intelligent Robot Control system of half body any one of 9.
To sum up, the present invention provides a kind of humanoid Study of Intelligent Robot Control system of half body, environment of the environment sensing device measurement
Information is sent to task manager, and task manager is based on above-mentioned environmental information and assignment instructions are issued job task and transported to upper body
Dynamic planner and bobbin movement planner, upper body exercises planner are based on above-mentioned job task generation joint of mechanical arm angle sequence
It is sent in joint servo control device, with the task of fulfiling assignment, bobbin movement planner is based on above-mentioned job task generation chassis
Motor speed sequence is sent in base plate electric machine controller, with the task of fulfiling assignment.Environment sensing device, task manager, upper body
It is humanoid that movement planner, bobbin movement planner, joint servo control device and base plate electric machine controller form complete half body
Study of Intelligent Robot Control system, realizes being uniformly controlled for chassis and upper body, improves its convenience, be conducive to marketing；It is right
The humanoid intelligent robot of half body carries out hierarchical control, improves system reliability and control efficiency.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structure diagram according to a kind of humanoid Study of Intelligent Robot Control system of half body of the embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing, to the embodiment of the present invention
In technical solution be explicitly described, it is clear that described embodiment is part of the embodiment of the present invention, rather than all
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art institute without making creative work
The every other embodiment obtained, belongs to the scope of protection of the invention.
Fig. 1 is according to a kind of structure diagram of the humanoid Study of Intelligent Robot Control system of half body of the embodiment of the present invention, such as Fig. 1
It is shown, including：
Environment sensing device 101 for measuring environment information, times for receiving environmental information and release tasks instruction
Business manager 201, the upper body exercises planner 301 for generating joint of mechanical arm angle sequence, for generate base plate electric machine turn
The bobbin movement planner 302 of fast sequence, the joint servo control device 401 for control machinery shoulder joint angle and for controlling
The base plate electric machine controller 402 of base plate electric machine rotating speed；Wherein,
The task manager 201 respectively with the environment sensing device 101, the upper body exercises planner 301 and institute
Bobbin movement planner 302 is stated to be electrically connected；
The joint servo control device 401 is electrically connected with the upper body exercises planner 301；
The base plate electric machine controller 402 is electrically connected with the bobbin movement planner 302.
Specifically, upper body exercises planner 301 receives the work for the humanoid intelligent robot of half body that task manager 201 is sent
Industry task, according to robot kinematics, Dynamic solving manipulator motion track, generates each joint of mechanical arm angle sequence,
It is sent in joint servo control device 401, with the task of fulfiling assignment.
Specifically, bobbin movement planner 302 receives the chassis that task manager 201 is sent and moves task and according to physics
The mobile route of kinematic calculation and the avoidance planning when running into obstacle are learned, bobbin movement planner 302 is according to mobile road
Footpath is planned and car body parameter, generates each motor speed sequence in chassis, and is sent in base plate electric machine controller 402, to complete
Move task in chassis.
In embodiments of the present invention, the environmental information of measurement is sent to task manager, task management by environment sensing device
Device is based on above-mentioned environmental information and assignment instructions issue job task to upper body exercises planner and bobbin movement planner, upper body
Movement planner is based on above-mentioned job task generation joint of mechanical arm angle sequence and is sent in joint servo control device, to complete
Job task, bobbin movement planner are based on above-mentioned job task generation base plate electric machine rotating speed sequence and are sent to base plate electric machine control
In device, with the task of fulfiling assignment.Environment sensing device, task manager, upper body exercises planner, bobbin movement planner, joint
Servo controller and base plate electric machine controller form the complete humanoid Study of Intelligent Robot Control system of half body, realize chassis with
Upper body is uniformly controlled, and is improved its convenience, is conducive to marketing；Hierarchical control is carried out to the humanoid intelligent robot of half body,
Improve system reliability and control efficiency.
On the basis of above-described embodiment, the environment sensing device 101 includes being used to detect the humanoid intelligent robot of half body
The pose detection unit of base position, direction and posture, for detecting the humanoid intelligent robot vision direction of half body and acquisition
The binocular vision unit of binocular coloured image, the laser radar unit for scanning ranging, for detecting whether have obstacle and
Ultrasonic ranging unit with the distance of obstacle, for detecting whether contacting the touch sensing unit of object, for detecting half body
The external force measuring unit and messaging unit of the direction of external force and size suffered by humanoid intelligent robot mechanical arm；Wherein,
Described information transfer unit respectively with the pose detection unit, the binocular vision unit, the ultrasound
It is electrically connected away from unit, the touch sensing unit, the laser radar unit and the external force measuring unit, described information passes
Unit is passed to be electrically connected with the task manager.
Specifically, pose detection unit is half body humanoid intelligent robot base position, direction and the posture detected
Information is sent to messaging unit；Binocular vision unit is the humanoid intelligent robot vision direction of half body detected and acquisition
Binocular color image information is sent to messaging unit；The scanning ranging information detected is sent to letter by laser radar unit
Cease transfer unit；Ultrasonic ranging unit no have obstacle and is sent to information transmission with the range information of obstacle what is detected
Unit；Touch sensing unit detect whether contact object information is sent to messaging unit；External force measuring unit handle
The direction of external force suffered by the humanoid intelligent robot mechanical arm of half body detected is sent to messaging unit with size information.
On the basis of above-described embodiment, the pose detection unit includes GPS, electronic compass and the first gyroscope,
The binocular vision unit includes binocular colour imagery shot and the second gyroscope.
Specifically, binocular vision unit is installed on the humanoid intelligence machine head part center of half body, includes the colored shooting of binocular
Head and the second gyroscope, for detecting the humanoid intelligent robot vision direction of half body and obtaining binocular coloured image, so as to complete
Image three-dimensional map structuring and article identification.
Specifically, pose detection unit is installed among chassis, comprising GPS, electronic compass, the first gyroscope, for examining
Half body humanoid intelligent robot base position, direction and posture are surveyed, so as to complete the humanoid intelligent robot positioning of half body and appearance
State detects.
On the basis of above-described embodiment, the task manager includes information receiving unit, task scheduling unit, is used for
Laser SLAM builds figure, vision builds figure and the Context awareness unit of Environment Obstacles detection, for searching for and identification mission article
Article recognition unit, the absolute position for identifying the humanoid intelligent robot of half body, direction and posture location identification unit,
For Detection task article and the article positioning unit of the relative position of the humanoid intelligent robot of half body；Wherein,
Described information receiving unit is identified with the Context awareness unit, the article recognition unit, the position respectively
Unit and the article positioning unit are electrically connected；
The task scheduling unit is identified with the Context awareness unit, the article recognition unit, the position respectively
Unit, the article positioning unit, the upper body exercises planner and the bobbin movement planner are electrically connected.
Specifically, the environmental information that information receiving unit receive information transfer unit is sent.
Specifically, Context awareness unit is according to laser radar unit, ultrasonic ranging unit, the data of binocular vision unit
The Context awareness tasks such as laser SLAM builds figure, vision builds figure, Environment Obstacles detection can be achieved.
Specifically, article recognition unit utilizes the data that binocular vision unit obtains, and by YOLO algorithms or other are artificial
Intelligent algorithm completes search, identification mission article.
Specifically, location identification unit identifies the humanoid intelligent machine of half body by laser radar unit, binocular vision unit
Position of the device people in built map, absolute position residing for the humanoid intelligent robot of half body is determined by pose detection unit data
With direction, posture.
Specifically, article positioning unit passes through binocular vision unit, ultrasonic ranging unit Detection task article and machine
The relative position of people.
On the basis of above-described embodiment, further include：For display system state and the liquid crystal display of human-computer interaction,
For communicating with external server, cloud computing, receive assignment instructions or feed back half body humanoid intelligent robot oneself state
Network Interface Unit, the Systems Monitoring Unit for monitoring the humanoid intelligent robot operating status of half body, preserve for completing to appoint
The action storage unit of micromotion, the voice recognition unit for sending phonetic order and for receiving outside needed for business
The assignment instructions and the external communications units of the feedback humanoid intelligent robot state of half body that controller is sent；Wherein,
The task scheduling unit respectively with the liquid crystal display, the Network Interface Unit, the system monitoring
Unit, action storage unit, the voice recognition unit and the external communications units are electrically connected.
Specifically, liquid crystal display is called for task scheduling unit, for display system state and finishing man-machine interaction
Task.
Specifically, Network Interface Unit is used for realization the communication of task manager and external server, in task manager
Computing capability realizes cloud computing when insufficient, or remote operating assignment instructions are received under remote operating control model, feeds back half body people
Shape intelligent robot oneself state.
Specifically, Systems Monitoring Unit is responsible for monitoring the humanoid intelligence machine human body operating status of half body, including detection mother
Line voltage, current of electric, system temperature etc., determine whether malfunction, if need to send contingency tasks.
Specifically, external communications units are used for the communication between the humanoid intelligence machine human body of half body and peripheral control unit, connect
Receive the assignment instructions and the feedback humanoid intelligent robot state of half body of peripheral control unit.
Specifically, act storage unit to be used to preserve the micromotion for being used for completing required by task, for task scheduling unit
Combination is called, and reduces task manager calculation amount.
Specifically, task scheduling unit is according to different control models, from Network Interface Unit, external communications units, voice
Recognition unit obtains assignment instructions, or the ambient condition for obtaining oneself state by Systems Monitoring Unit and being perceived independently produces
Assignment instructions, are decomposed into the action sequence formed by depositing action in action storage unit, corresponding dynamic after determining assignment instructions
Upper body exercises planner and bobbin movement planner, upper body exercises planner and bobbin movement planner difference are sent to as sequence
Corresponding actions are performed, until completing assignment instructions.
On the basis of above-described embodiment, the joint servo control device 401 includes multiple joint servo control units；Its
In,
One joint servo control unit controls a joint of mechanical arm, to realize that the position of joint of mechanical arm is closed
Ring.
Specifically, joint servo control element number is determined by joint of mechanical arm quantity, a joint servo control unit
A joint of mechanical arm is controlled, realizes the position closed loop of joint of mechanical arm.
On the basis of above-described embodiment, the base plate electric machine controller includes multiple base plate electric machine control units；Wherein,
One base plate electric machine control unit controls a base plate electric machine, to realize that the rotating speed of base plate electric machine controls.
Specifically, base plate electric machine control unit quantity is corresponding with base plate electric machine quantity, base plate electric machine control unit control bottom
Coil motor, realizes the rotating speed control of base plate electric machine.
On the basis of above-described embodiment, the processor of the task manager is industrial personal computer, microcomputer or meter
Calculate board.
Preferably, the processor of task manager is microcomputer, is used for realization in half humanoid intelligent robot and calculates
Measure larger data operation.
On the basis of above-described embodiment, the processor of the upper body exercises rule device and the bobbin movement planner is equal
For DSP or ARM.
Preferably, upper body exercises planner and the processor of bobbin movement planner are DSP, for being responsible for path rule
Draw, the stronger data operation of real-time such as trajectory planning.
The embodiment of the present invention provides a kind of humanoid intelligent robot of half body, including any one of claim 1 to 9
The humanoid Study of Intelligent Robot Control system of half body.
Specifically, the humanoid Study of Intelligent Robot Control system of half body includes：Environment sensing device, use for measuring environment information
In reception environmental information and the task manager of release tasks instruction, the upper body fortune for generating joint of mechanical arm angle sequence
Dynamic planner, the bobbin movement planner for generating base plate electric machine rotating speed sequence, the pass for control machinery shoulder joint angle
Save servo controller and the base plate electric machine controller for controlling base plate electric machine rotating speed；Wherein,
The task manager respectively with the environment sensing device, the upper body exercises planner and the bobbin movement
Planner is electrically connected；
The joint servo control device is electrically connected with the upper body exercises planner；
The base plate electric machine controller is electrically connected with the bobbin movement planner.
Specifically, upper body exercises planner receives the operation times for the humanoid intelligent robot of half body that task manager is sent
Business, according to robot kinematics, Dynamic solving manipulator motion track, generates each joint of mechanical arm angle sequence, sends
Into joint servo control device, with the task of fulfiling assignment.
Specifically, bobbin movement planner receives the chassis that task manager is sent and moves task and moved according to physics
The mobile route calculated and the avoidance planning when running into obstacle are learned, bobbin movement planner is planned according to mobile route and car
Body parameter, generates each motor speed sequence in chassis, and is sent in base plate electric machine controller, to complete chassis movement task.
Preferably, the environment sensing device include be used for detect the humanoid intelligent robot base position of half body, direction and
The pose detection unit of posture, the binocular for detecting the humanoid intelligent robot vision direction of half body and acquisition binocular coloured image
Visual unit, the laser radar unit for scanning ranging, for detecting whether having obstacle and the ultrasound with the distance of obstacle
Ripple distance measuring unit, for detecting whether the touch sensing unit of contact object, for detecting half body humanoid intelligent robot machinery
The direction of external force suffered by arm and the external force measuring unit and messaging unit of size；Wherein,
Described information transfer unit respectively with the pose detection unit, the binocular vision unit, the ultrasound
It is electrically connected away from unit, the touch sensing unit, the laser radar unit and the external force measuring unit, described information passes
Unit is passed to be electrically connected with the task manager.
Specifically, the pose detection unit includes GPS, electronic compass and the first gyroscope, the binocular vision list
Member includes binocular colour imagery shot and the second gyroscope.
Preferably, the task manager include information receiving unit, task scheduling unit, build for laser SLAM figure,
Vision build figure and Environment Obstacles detection Context awareness unit, for search for and identification mission article article recognition unit,
For identifying the absolute position of the humanoid intelligent robot of half body, the location identification unit of direction and posture, for Detection task
Article and the article positioning unit of the relative position of the humanoid intelligent robot of half body；Wherein,
Described information receiving unit is identified with the Context awareness unit, the article recognition unit, the position respectively
Unit and the article positioning unit are electrically connected；
The task scheduling unit is identified with the Context awareness unit, the article recognition unit, the position respectively
Unit, the article positioning unit, the upper body exercises planner and the bobbin movement planner are electrically connected.
Wherein, described information receiving unit is electrically connected with described information transfer unit.
Preferably, the task manager further includes：For display system state and the liquid crystal display of human-computer interaction,
For communicating with external server, cloud computing, receive assignment instructions or feed back half body humanoid intelligent robot oneself state
Network Interface Unit, the Systems Monitoring Unit for monitoring the humanoid intelligent robot operating status of half body, preserve for completing to appoint
The action storage unit of micromotion, the voice recognition unit for sending phonetic order and for receiving outside needed for business
The assignment instructions and the external communications units of the feedback humanoid intelligent robot state of half body that controller is sent；Wherein,
The task scheduling unit respectively with the liquid crystal display, the Network Interface Unit, the system monitoring
Unit, action storage unit, the voice recognition unit and the external communications units are electrically connected.
Preferably, the joint servo control device includes multiple joint servo control units；Wherein,
One joint servo control unit controls a joint of mechanical arm, to realize that the position of joint of mechanical arm is closed
Ring.
Preferably, the base plate electric machine controller includes multiple base plate electric machine control units；Wherein,
One base plate electric machine control unit controls a base plate electric machine, to realize that the rotating speed of base plate electric machine controls.
Preferably, the processor of the task manager is industrial personal computer, microcomputer or calculates board.
Preferably, the processor of the upper body exercises rule device and the bobbin movement planner is DSP or ARM.
Specifically, the humanoid intelligent robot of half body can be divided into upper body and chassis two parts.
Specifically, pose detection unit is installed among chassis, comprising GPS, electronic compass, the first gyroscope, for examining
The humanoid intelligent robot base position of half body, direction, posture are surveyed, for the humanoid intelligent robot positioning of half body and attitude detection.
Specifically, binocular vision unit is installed on the head center of the humanoid intelligence machine upper part of human body of half body, color comprising binocular
Color camera and the second gyroscope, for detecting the humanoid intelligent robot vision direction of half body and obtaining binocular coloured image, are used
Identified in image three-dimensional map structuring, article etc..
Specifically, laser radar unit is installed on anterior outside chassis, is built figure for laser SLAM and is surveyed with scanning during positioning
Away from.
Specifically, touch sensing unit is installed in the humanoid intelligent robot mechanical arm tail end executing agency of half body, is used for
Detect whether contact object.
Specifically, ultrasonic ranging unit is installed on chassis surrounding and trunk different height, for detecting different height
Immediately ahead of the humanoid intelligent robot of half body, left front, right front, front-right, front-left, left back, right back, dead astern whether
There are obstacle and the distance with obstacle.
Specifically, the outer force snesor of external force measuring unit is installed on two mechanical arm shoulders and end, for detecting half
The direction of external force and size suffered by the humanoid intelligent robot mechanical arm of body, to realize Shared control.
In embodiments of the present invention, the environmental information of measurement is sent to task manager, task management by environment sensing device
Device is based on above-mentioned environmental information and assignment instructions issue job task to upper body exercises planner and bobbin movement planner, upper body
Movement planner is based on above-mentioned job task generation joint of mechanical arm angle sequence and is sent in joint servo control device, to complete
Job task, bobbin movement planner are based on above-mentioned job task generation base plate electric machine rotating speed sequence and are sent to base plate electric machine control
In device, with the task of fulfiling assignment.Environment sensing device, task manager, upper body exercises planner, bobbin movement planner, joint
Servo controller and base plate electric machine controller form the complete humanoid Study of Intelligent Robot Control system of half body, realize chassis with
Upper body is uniformly controlled, and is improved its convenience, is conducive to marketing；Hierarchical control is carried out to the humanoid intelligent robot of half body,
Improve system reliability and control efficiency.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical solution spirit and
Scope.
Claims (10)
- A kind of 1. humanoid Study of Intelligent Robot Control system of half body, it is characterised in that including：Environment sense for measuring environment information Know device, the task manager for receiving environmental information and release tasks instruction, for generating joint of mechanical arm angle sequence Upper body exercises planner, the bobbin movement planner for generating base plate electric machine rotating speed sequence, for control machinery shoulder joint The joint servo control device of angle and the base plate electric machine controller for controlling base plate electric machine rotating speed；Wherein,The task manager is planned with the environment sensing device, the upper body exercises planner and the bobbin movement respectively Device is electrically connected；The joint servo control device is electrically connected with the upper body exercises planner；The base plate electric machine controller is electrically connected with the bobbin movement planner.
- 2. the humanoid Study of Intelligent Robot Control system of half body according to claim 1, it is characterised in that the environment sensing device Including the pose detection unit for detecting the humanoid intelligent robot base position of half body, direction and posture, for detecting half The humanoid intelligent robot vision direction of body and binocular vision unit, the laser thunder for scanning ranging for obtaining binocular coloured image Up to unit, for detecting whether have obstacle and with the ultrasonic ranging unit of the distance of obstacle, for detecting whether contactant The touch sensing unit of body, survey for detecting suffered by the humanoid intelligent robot mechanical arm of half body the external force of the direction of external force and size Measure unit and messaging unit；Wherein,Described information transfer unit respectively with the pose detection unit, the binocular vision unit, the ultrasonic ranging list First, described touch sensing unit, the laser radar unit and the external force measuring unit are electrically connected, and described information is transmitted single It is first to be electrically connected with the task manager.
- 3. the humanoid Study of Intelligent Robot Control system of half body according to claim 2, it is characterised in that the pose detection is single Member includes GPS, electronic compass and the first gyroscope, and the binocular vision unit includes binocular colour imagery shot and the second gyro Instrument.
- 4. the humanoid Study of Intelligent Robot Control system of half body according to claim 1, it is characterised in that the task manager Figure is built including information receiving unit, task scheduling unit, for laser SLAM, vision builds figure and the environment of Environment Obstacles detection Recognition unit, for search for and identification mission article article recognition unit, for identifying the exhausted of the humanoid intelligent robot of half body It is location identification unit to position, direction and posture, opposite with the humanoid intelligent robot of half body for Detection task article The article positioning unit of position；Wherein,Described information receiving unit respectively with the Context awareness unit, the article recognition unit, the location identification unit And the article positioning unit is electrically connected；The task scheduling unit respectively with the Context awareness unit, the article recognition unit, the location identification unit, The article positioning unit, the upper body exercises planner and the bobbin movement planner are electrically connected.
- 5. the humanoid Study of Intelligent Robot Control system of half body according to claim 4, it is characterised in that further include：For showing Show the liquid crystal display of system mode and human-computer interaction, for communicating with external server, cloud computing, receive assignment instructions or Person feeds back the Network Interface Unit of the humanoid intelligent robot oneself state of half body, for monitoring the humanoid intelligent robot operation of half body The Systems Monitoring Unit of state, the action storage unit for preserving the micromotion for being used to complete required by task, for sending voice The voice recognition unit of instruction and assignment instructions and the feedback humanoid intelligence machine of half body for receiving peripheral control unit transmission The external communications units of people's state；Wherein,The task scheduling unit respectively with the liquid crystal display, the Network Interface Unit, the Systems Monitoring Unit, Action storage unit, the voice recognition unit and the external communications units are electrically connected.
- 6. the humanoid Study of Intelligent Robot Control system of half body according to claim 1, it is characterised in that the joint servo control Device processed includes multiple joint servo control units；Wherein,One joint servo control unit controls a joint of mechanical arm, to realize the position closed loop of joint of mechanical arm.
- 7. the humanoid Study of Intelligent Robot Control system of half body according to claim 1, it is characterised in that the base plate electric machine control Device processed includes multiple base plate electric machine control units；Wherein,One base plate electric machine control unit controls a base plate electric machine, to realize that the rotating speed of base plate electric machine controls.
- 8. the humanoid Study of Intelligent Robot Control system of half body according to claim 1, it is characterised in that the task manager Processor for industrial personal computer, microcomputer or calculate board.
- 9. the humanoid Study of Intelligent Robot Control system of half body according to claim 1, it is characterised in that the upper body exercises rule The processor of square device and the bobbin movement planner is DSP or ARM.
- 10. a kind of humanoid intelligent robot of half body, it is characterised in that including the half body people any one of claim 1 to 9 Shape Study of Intelligent Robot Control system.
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