CN109118884A - A kind of instructional device of robot experimental courses - Google Patents
A kind of instructional device of robot experimental courses Download PDFInfo
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- CN109118884A CN109118884A CN201811063985.7A CN201811063985A CN109118884A CN 109118884 A CN109118884 A CN 109118884A CN 201811063985 A CN201811063985 A CN 201811063985A CN 109118884 A CN109118884 A CN 109118884A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
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Abstract
The application provides a kind of instructional device of robot experimental courses, comprising: teaching robot, robot operation battle array disk, image collecting device, user terminal and server；The robot localization identifier of array arrangement is indicated on robot operation battle array disk, position identifiers is for positioning and identifying to teaching robot, moving target object, barrier；Image collecting device is used to acquire the image information of relative position of the teaching robot on robot operation battle array disk, and image information is sent to server；User terminal receives the autokinetic movement control program of user's input for showing image information；Server is used to parse autokinetic movement control program, generates the control instruction, and be assigned to the teaching robot.The present invention is used to understand the hardware configuration and software function that robot realizes that autokinetic movement needs by robot teaching's experimental courses, and the design for making student participate in the autokinetic movement function of robot is built.
Description
Technical field
This application involves robotic technology field more particularly to a kind of instructional devices of robot experimental courses.
Background technique
With the relevant technologies such as automated control technology, artificial intelligence technology, mode identification technology, visual perception technologies
Development, it is more and more to the research of intelligent robot.In education sector, many universities and colleges have opened up robotics side in student
The related course in face, culture and raising to Scientific Literacy play positive effect, are able in numerous schools of middle and primary schools
It promotes, and is liked deeply by teen-age with the characteristics of its " playing middle school ", robot enters into school as the universal campus of computer,
Through become must trend, enhance understanding of the student to this nouveaut relevant knowledge of robot.Correspondingly, it is used for student
Teaching robot's platform of experiment becomes increasingly popular.Teaching robot be it is a kind of be suitble to large, medium and small student have open feature
Real training experiment porch, can carry out that robot architecture is assembled, circuit connection is built and various design of hardware and software for student, can
To say being a variety of high-tech fusions, it is capable of logic thinking ability, manipulative ability, equipment the manipulation ability of exercise student '.Mesh
Before, teaching robot be specially developed by production firm, to excite students ' interest of study, training student integration capability as target
Robot finished product, suit or loose mail, it is other than machine human organism itself, and there are also corresponding control softwares and teaching textbook
Deng.
Autokinetic movement be for many robots all important abilities and its characteristic the most attracting it
One.In actual application, the robot with autokinetic movement ability can be undertaken under personnel or cargo conveying, particular surroundings
Many functions such as operation and investigation, amusement and match.For robot, autokinetic movement not only mechanically has leg
Or the Motor executions component such as wheel, it is often more important that there are the components such as camera, rangefinder, and realize visual identity,
The software of the functions such as target positioning, path planning, obstacle bypass, such as surveyed about image procossing, mark or Object Extraction, positioning
The control program of calculation, path design, avoidance etc..To sum up, robot realizes that autokinetic movement needs are more complicated soft
Hardware support.
But for student experimenting, it is above-mentioned in order to realize it is robot autonomous movement and required software and hardware configuration all
It is excessively advanced and complicated.For example, robot first has to find target from the picture that camera is shot, this just needs image
The algorithm of many professions such as enhancing, edge extracting, pattern-recognition, then will also change according to position coordinates of the target in picture
It is calculated in the positioning of real space, is related to coordinate system conversion formula, so according to robot self poisoning in real space with
And distance exam and path planning are realized in the positioning of target, finally according to the movement of path segments control robot.The above
The high control program of professional degree is very abstract, is the understanding level for being completely out of general student, especially for middle and primary schools
Saying from birth can not grasp within the shorter course time, and it is even more impossible to actual participations certainly establishes one to for Robot Design by student
Cover autokinetic movement function.Therefore, current robot teaching can not touch the autokinetic movement of one of most crucial function of robot；
Alternatively, student can only be allowed to visit how robot system takes action in a manner of demonstration, student only leaves some intuitive
Impression can not learn the basic principle to robot autonomous movement, can not understand robot and realize which autokinetic movement needs
Which required function a little basic hardware configurations, control software include.
Summary of the invention
In view of this, the purpose of the application is to propose a kind of instructional device of robot experimental courses, it is existing to solve
The hardware configuration being related to and software function complexity are moved due to robot autonomous in technology, causes numerous students in middle and primary schools that can not lead to
Robot teaching's experimental courses are crossed to understand the basic principle of robot autonomous movement, do not know that robot realizes autokinetic movement
The hardware configuration and software function which is basic are needed, the design that can not participate in the autokinetic movement function of robot builds, is unfavorable
In popularization of the teaching robot in school of middle and primary schools the technical issues of.
Based on above-mentioned purpose, present applicant proposes a kind of instructional devices of robot experimental courses, comprising:
Teaching robot, robot operation battle array disk, image collecting device, user terminal and server；
The robot localization identifier of array arrangement is indicated on the robot operation battle array disk, the position identifiers is used for institute
It states any one of teaching robot, moving target object, barrier or multiple identify and its position is positioned；Institute
Robot operation battle array disk is stated to be also used to drive moving target object and/or barrier；
Described image acquisition device is used to acquire the teaching robot and moving target object, barrier are transported in the robot
The image information of relative position on row battle array disk, and described image information is sent to the server；
The user terminal is for showing that the teaching robot and moving target object, barrier run battle array disk in the robot
On relative position image information, teaching robot and moving target object, barrier are identified according to described image information, with
And according to described image information extraction teaching robot and moving target object, barrier on robot operation battle array disk
Relative position coordinates, and the autokinetic movement control program of user's input is received, autokinetic movement control program is sent to institute
State server；Wherein the autokinetic movement control program is used for according to the teaching robot and moving target object, barrier
Relative position coordinates planning robot motion path, and issued stage by stage according to motion path about the direction of motion and speed
Control instruction；
The server is used to parse autokinetic movement control program, generates the control instruction, and be assigned to institute
State teaching robot；
The teaching robot is used to receive the control instruction from the server, and according to the control instruction to this religion
It learns robot to be controlled, to change relative position of the teaching robot on robot operation battle array disk.
In some embodiments, the robot runs the size and distance of each position identifiers on battle array disk
Any one of the teaching robot for putting or moving on battle array disk, moving target object, barrier are run in the robot
Size matching, so that the teaching robot, moving target object and barrier are completely covered and shelter from least one machine
Device people's position identifiers.
It in some embodiments, include: motion driving mechanism, start and stop synchronization signal hair inside the robot operation battle array disk
Raw circuit；The motion driving mechanism is for driving the moving target object and/or barrier to run battle array disk in the robot
On move；The start and stop synchronous signal generating circuit is for time-synchronously controlling the movement driving machine with teaching robot
Structure drives the moving target object and/or barrier to move on robot operation battle array disk.
In some embodiments, the user terminal is used for according to robot localization mark sightless in described image information
Know the serial number distribution of symbol, it is any one in the teaching robot and moving target object, barrier in identification image information
It is a, and any one of the determining teaching robot and moving target object, barrier are in robot operation battle array disk
Relative position coordinates.
In some embodiments, the user terminal shows graphic programming interface, shows in the graphic programming interface
Corresponding to identification function, positioning function, the graphical programs module of path planning function and corresponding to judgement, recycle, jump
The graphic logic module of equal basic operations logic；According to user on graphic programming interface by graphical programs module with
And connection relationship and option configuration that graphic logic module is established, it is parsed, is generated certainly by caller code segment
Main motion controls program.
In some embodiments, described image acquisition device includes the first wireless communication module, is used for and the server
Establish communication connection.
In some embodiments, the server includes the second wireless communication module, is used for and the teaching robot, figure
As acquisition device, robot operation battle array disk establish communication connection.
In some embodiments, the server further include:
Parsing module, the autokinetic movement for receiving user terminal upload controls program, to the journey of autokinetic movement control program
Sequence code is parsed and is identified, is generated the executable control instruction of robot, is sent to the execution module；
Execution module, the control instruction for being sent according to the parsing module are handed down to religion according to each section synchronization time
Robot is learned, the teaching robot is controlled and executes corresponding actions.
In some embodiments, the teaching robot includes:
Sension unit, control unit and execution unit；
The sension unit for perceiving surrounding signals, described control unit be used for according to the surrounding signals and
The control instruction that server issues, execution unit described in co- controlling executes to be acted accordingly in the control instruction.
In some embodiments, the robot operation battle array disk includes the grid of array arrangement, and the position identifiers is set
It sets in the grid.
In some embodiments, the server further includes circle logic module, and the circle logic module is used for:
User is received according to the terminal of every phase paths in the teaching robot current location and each motion process stage by stage
Position, judges whether the teaching robot current location and final position are overlapped, and works as the teaching robot current location
When not being overlapped with final position, the teaching robot is controlled by the execution module and is continued in next section synchronization time
It is mobile according to the motion path of current generation, until the teaching robot current location and final position are overlapped.
In some embodiments, the circle logic module, is also used to:
Judge whether the current location of the teaching robot is included in current motion path, if being included in current movement
In path, then the teaching robot is controlled according to moving line movement by the execution module, worked as if being not included in
In preceding motion path, then circle logic module feeds back error information to parsing module, prompts current location to deviate, then stops
The movement of teaching robot, until execution module reacquires motion path after program updates, and according to the movement newly got
Teaching robot described in path clustering is mobile.
The application provides a kind of instructional device of robot experimental courses；The instructional device provides firstly a kind of multi-functional
And the robot for adapting to teaching characteristic runs battle array disk, is easy to identify teaching machine by camera shooting and visual perception using this gust of disk
People, moving target object, barrier etc. and the relative position for positioning them, and generation form is straight in the form of Identifier Sequence Number
The output seen, should be readily appreciated that and programmed is as a result, understand visual perception, target identification, phase in robot autonomous movement convenient for student
To the concept and principle in the stages such as positioning；And the design according to experimental courses may be implemented to object and barrier in this gust of disk
Driving, therefore can be adapted for the study of plurality of target course, can be realized learning Content abundant, and be effectively ensured
The mobile synchronism of robot, object, barrier；User terminal provides the Objective extraction to view-based access control model perception, identification, determines
The intuitive displaying of position process, it is often more important that provide the graphic programming mode of image, allow student to participate in robot autonomous
The design of motor program, and the teaching robot according to autokinetic movement control program control by stages is in the robot
The movement on battle array disk is run, teaching robot is solved dependent on control program, does not have to the students in middle and primary schools of program capability weakness
There is general applicability, is unfavorable for teaching robot the popularization of school of middle and primary schools the technical issues of.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the circuit theory schematic diagram of the instructional device of the robot experimental courses of the embodiment of the present application one；
Fig. 2 is the structural schematic diagram of the instructional device of the robot experimental courses of the embodiment of the present application one；
Fig. 3 is the motion driving mechanism schematic diagram inside the robot operation battle array disk of the embodiment of the present application one；
Fig. 4 is the start and stop synchronous signal generating circuit structural schematic diagram inside the robot operation battle array disk of the embodiment of the present application one；
Fig. 5 is the user terminal graphic programming interface schematic diagram of the embodiment of the present application one；
Fig. 6 is the structural schematic diagram of the server of the robot Experiment Course Teaching device of the embodiment of the present application two；
Fig. 7 is teaching robot's structural schematic diagram of the embodiment of the present application two.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As one embodiment of the application, as shown in Figure 1, being the religion of the robot experimental courses of the embodiment of the present application one
Learn the circuit theory schematic diagram of device.Fig. 2 is that the structure of the instructional device of the robot experimental courses of the embodiment of the present application one is shown
It is intended to.As can be seen that the instructional device of robot experimental courses provided in this embodiment from Fig. 1 and Fig. 2, comprising:
The figure of cylindrical shape in teaching robot 1(Fig. 1), robot run battle array disk 2, image collecting device 3, user terminal 4
With server 5.Figure, letter in the present embodiment are being illustrated to the technical solution of the application for exemplary, without answering
When being understood to the restriction to technical scheme.
The robot localization identifier that array arrangement is indicated on the robot operation battle array disk 2, for example, as shown in fig. 1
The robot localizations identifier such as alphabetical A1, B1, C1, D1, E1 to A6, B6, C6, D6, E6, constitute the matrix battle array of a 8*6
Column；Other than letter, the robot localization identifier be also possible to pattern of various shapes or number, Chinese character etc. its
He has the character etc. of mark action, will not enumerate here.Upper surface by running battle array disk 2 in the robot marks
The robot localization identifier arranged in arrays out, after being shot for image information, the robot localization identifier is easy
In separating and being identified from the general image of robot operation battle array disk 2 using image segmentation algorithm, for example, can make
Each robot localization identifier has the color for the upper surface background color significant difference that battle array disk 2 is run with robot, to make every
A robot localization identifier has clearly boundary in the upper surface of battle array disk, is easy to extract the machine by edge partitioning algorithm
The shape of device people's position identifiers simultaneously identifies.In some other embodiments of the application, the robot runs battle array disk
Grid including array arrangement, the position identifiers are arranged in the grid (grid as shown in Figure 1), fixed to reinforce
The accuracy of position identification.
And in the rectangular array of robot localization identifier, the size and distance of each position identifiers
Scheduled design is also passed through, it is made and the teaching robot 1 for putting or moving on battle array disk 2 and movement will be run in robot
Object, barrier size match；When teaching robot 1, moving target object and barrier put robot
When running on battle array disk 2, it can be completely covered and shelter from least one robot localization identifier, thus being shot for image
After information, this is completely covered the robot localization identifier that blocks in the general image of robot operation battle array disk 2 not
It can be seen that.Thus, can be right by the position for judging to be covered the robot localization identifier blocked by teaching robot 1
The initial position of 1 each run of teaching robot and/or final position position；In the present embodiment and subsequent embodiment
Initial position refer to teaching robot according to motion path start to execute this stage it is mobile when the position that is presently in, terminal position
Setting is this course movement end position specified in motion path.In addition judge by moving target object and/or obstructing objects institute
The position for covering the robot localization identifier blocked, can also be to the place of the moving target object and barrier used in course
Position is positioned.
Athletic ground of the robot operation battle array disk 2 as teaching robot, is also provided with various support circuits
And mechanism, motion driving mechanism, start and stop synchronous signal generating circuit including target object and/or obstructing objects.Specifically,
The present apparatus supports teaching robot 1 hide towards autokinetic movement and obstacle with ambulant moving target object and barrier
It averts disasters and tests, it, can be according to course when moving target object and/or barrier are placed on the robot operation battle array disk 2
Design configurations information moves on this gust of disk under the driving of the motion driving mechanism.The motion driving mechanism, start and stop are same
Step signal generating circuit is installed under the upper surface of the robot operation battle array disk 2.As shown in figure 3, the movement driving
Mechanism include magnetic head 201, X to driving track 202, X to linear motor 203, Y-direction extension board 204, Y-direction driving track 205, Y-direction
Linear motor 206.Wherein, robot operation 2 upper surface of battle array disk table top underhung X to driving track 202, the X is to drive
Dynamic rail road 202 can be uniline track, along the robot operation battle array disk 2 X to a side extended to separately from one end
One end, length and the X of robot operation battle array disk 2 are identical to side, are also possible to duplicate rows parallel orbit, run along robot
Battle array disk 2 X to two parallel sides extend to the other end from one end；The X is slidably fixed to X to linear motor 203
It, can edge on driving track 202 (on the track for being fixed on its any row if being duplicate rows parallel orbit to driving track 202 if X)
X move linearly upwards to driving track 202 in X；Y-direction extension board 204 is fixedly mounted on the X on linear motor 203,
Thus can with X to linear motor 203 in X to movement, and Y-direction extension board 204 itself is along the Y of robot operation battle array disk 2
The length certain to extension；Y-direction driving track 205 is uniline track, be fixedly mounted on the Y-direction extension board 204 it
On, and extend along the Y-direction of robot operation battle array disk 2, length is identical as the robot operation Y-direction side edge length of battle array disk 2；Institute
It states Y-direction linear motor 206 to be slidably fixed on Y-direction driving track 205, and along Y-direction driving track 205 in Y-direction
Linear movement；The magnetic head 201 is fixedly mounted on the Y-direction linear motor 206 by holding position.As it can be seen that by X to
The driving of linear motor 203 and Y-direction linear motor 206, can drive magnetic head 201 X to be moved in Y-direction robot fortune
Any position under 2 upper surface of row battle array disk.And moving target object, barrier pedestal can install magnet, thus, magnetic head 201
Can use magnetic attraction drives moving target object and/or barrier to move on the upper surface of robot operation battle array disk 2.
Start and stop synchronous signal generating circuit specific structure is as shown in figure 4, include X to motor start stop signal circuit 207, Y-direction motor start and stop
Signal circuit 208, synchronization signal transmission circuit 209, controller circuitry 210, short-range communication circuit 211, connected network communication circuit
212.Wherein, X exports start stop signal, start stop signal to the connection X of motor start stop signal circuit 207 to linear motor 203 and to it
Control the beginning and end that the X moves linearly to linear motor；Similar, Y-direction motor start stop signal circuit 208 connects Y-direction straight line
Motor 206 simultaneously exports start stop signal, the beginning and end of control Y-direction linear motor linear movement.The short-range communication circuit
211 for realizing robot operation battle array disk 2 is connect with the short distance paired communication of teaching robot 1, such as can use bluetooth,
Infrared equal communications realize the pairing of the two.Synchronization signal transmission circuit 209 is for generating synchronous enabling signal and leading to
It crosses the short-range communication circuit 211 and the synchronous enabling signal is sent to teaching robot, or is logical by the short distance
Believe that circuit 211 receives the synchronous enabling signal that teaching robot provides；Synchronous enabling signal for trigger teaching robot 1 and
The X synchronizes the fortune for executing each section synchronization time to motor start stop signal circuit 207, Y-direction motor start stop signal circuit 208
It is dynamic.The connected network communication circuit 212 is for making robot operation battle array disk 2 be connected to server 5 by networking, so that networking is logical
Letter circuit 212 can receive the Course Exercise configuration information that server 5 issues.Controller circuitry 210 is configured according to Course Exercise
Information, obtains movement routine in experimental courses of moving target object and barrier, and according to path clustering X to motor start and stop
Signal circuit 207 and Y-direction motor start stop signal circuit 208 issue start stop signal stage by stage, to drive moving target object and barrier
Hinder object mobile by the requirement of Course Exercise.
Teaching robot 1 can be according to control instruction from main modulation self-operating on robot operation battle array disk 2
Direction and speed, so that autonomous is carried out along motion path, to complete the experimental courses target of robot teaching.Usually
In the case of, the user in the present embodiment is primarily referred to as student, and the robot experimental courses that this instructional device is supported include along default
Fixed motion path, which advances, motion path is independently set according to moving target position advances, it is autonomous get around barrier advance, towards
The autonomous path planning and traveling, robot soccer etc. of mobility moving target and barrier, can be made by these courses
Student fully understands the basic principle of robot autonomous traveling, and mounter people independently advances necessary hardware module, and
It participates in design control robot and realizes the software function independently advanced.
Described image acquisition device 3 is for acquiring the teaching robot 1 and moving target object, barrier in the machine
Device people runs the image information of the relative position on battle array disk 2, and described image information is sent to the server 5.In this reality
It applies in example, described image acquisition device 3 can be video camera, it is also possible to the other equipment with image collecting function, such as
Smart phone etc..Described image acquisition device 3 can clap robot operation battle array disk 2 according to prefixed time interval
According to, it include the image including teaching robot 1 and moving target object, barrier and robot operation battle array disk 2 with acquisition, it should
Image can show which robot localization identifier of robot operation battle array disk 2 because by teaching robot 1 and/or movement
Object, barrier covering shelter from and invisible in the picture, utilize robot localization visible and sightless in the image
Identifier can determine that the teaching robot 1 and moving target object, barrier run battle array disk 2 in the robot in turn
Relative position.As it can be seen that the image collecting device 3 simulation be in practice industrial robot, traffic robot, amusement household machine
The common visual perception hardware such as device people.Described image information is sent to the server 5, server 5 in turn can be by institute
Image information sending value user terminal 4 is stated, is readily accessible by the user.
The user terminal 4 is for showing that the teaching robot 1 and moving target object, barrier transport in the robot
The image information of relative position on row battle array disk 2 identifies teaching robot and moving target object, barrier according to described image information
Hinder object, and is run according to described image information extraction teaching robot and moving target object, barrier in the robot
Relative position coordinates on battle array disk, and the autokinetic movement control program of user's input is received, the autokinetic movement is controlled into program
It is sent to the server；Wherein the autokinetic movement control program is used for according to the teaching robot and moving target
The motion path of the relative position coordinates planning robot of object, barrier, and issued stage by stage according to motion path about movement
The control instruction in direction and speed.It in the present embodiment, can after user terminal obtains the image information that image collecting device 3 acquires
To identify described in image information according to the visible and sightless state of robot localization identifier in described image information
Teaching robot and moving target object, barrier, and determine the teaching robot 1 and moving target object, barrier institute
The relative position coordinates of robot operation battle array disk 2 are stated, and in the graphic programming showing interface result identified above of user terminal
And relative position coordinates, so that simulation is walked with coordinate setting necessary to robot autonomous movement in reality is intuitively shown
Suddenly.Specifically, image information as shown in Figure 5, wherein there are three pieces of sightless occlusion areas of robot localization identifier,
Remaining robot localization identifier is visible.It can be according to number for being capped the robot localization identifier blocked in image information
Code distribution, there is shown the shape of each occlusion area, and then identify which occlusion area is teaching robot, which occlusion area
It is moving target object, which occlusion area belongs to barrier；Invisible robot localization mark in first occlusion area in Fig. 5
Symbol is B1, C1, B2, C2, according to these ID numbers serial numbers, it can be determined that the occlusion area is square shape, Ke Yishi
It does not belong to teaching robot；Similar, the sightless robot localization identifier of second occlusion area is E5, E6, according to this
The strip occlusion area shape that a little ID numbers indicate, can identify that it belongs to object；Third occlusion area causes
Sightless robot localization identifier be D4, can identify and belong to barrier；As it can be seen that the present invention utilizes invisible robot
The position identifiers regularity of distribution realizes visual Object identifying, is not only able to be easy and fast implements the identification process, and
It is easy to student's intuitivism apprehension and matches the principle for realizing visual identity based on shape.Also, according to sightless robot localization mark
Know symbol serial number, can be mapped directly into its robot operation battle array disk 2 on the location of, thus obtain teaching robot with
And the relative position coordinates of moving target object, barrier on robot operation battle array disk.User terminal 4 also provides for user
Patterned programming interface controls program, the autokinetic movement control for the autokinetic movement of teaching robot 1 for user's input
Program is used for the movement according to the teaching robot and the relative position coordinates planning robot of moving target object, barrier
Path.Specifically, identification function is corresponded respectively to as shown in figure 5, can show on the graphic programming interface of user terminal 4
Graphical programs module-identification module O1, graphical programs module-locating module O2, correspondence corresponding to positioning function
Input is all had in graphical programs module-path module O3, each graphical programs module O1-O3 of path planning function
The I/O interface of logical value is exported, student can meet IO corresponding with each graphical programs module O1-O3 on graphic interface
Mouth is attached, to complete the control programming to robot autonomous movement in a manner of graphically connecting；In turn, student
The input and output of control logic and I/O interface performed by each graphical programs module O1-O3 can be configured, example
Such as when clicking each module O1-O3, the control logic option and IO that module O1-O3 support can be provided by menu are connect
The input and output option of mouth, student can carry out the design of control logic option and input and output option in a manner of selection, from
And configuration pin is to the control function of each module O1-O3.The control program of robot autonomous movement also needs to be implemented judgement, follows
Ring such as jumps at the basic logic operations, then the graphic programming interface of user terminal 4, which can also be shown, indicates various basic operation logics
Logic module, such as indicate whether graphic logic module O4 that judgement jumps, indicate the graphic logic mould that loops to determine
The I/O interface of graphical programs module O1-O3 and graphic logic module O4, O5 etc. can be established connection by block O5, student, from
And indicate patrolling for I/O interface institute's input and output in robot autonomous motion control program timing to graphical programs module O1-O3
Volume amount execute judgement represented by graphic logic module O4, O5 jump, the basic logic operations such as cycling jump.Existed according to user
The connection relationship established on graphic programming interface by graphical programs module O1-O3 and graphic logic module O4, O5
And option configuration, user terminal 4 are parsed by caller code segment in turn, are generated autokinetic movement and are controlled program, it can be with
Autokinetic movement control program is uploaded to server 5.By this simple and easy mode of graphical operation, student can be allowed
It participates among the design process of robot autonomous motion control program, understands identification, positioning, path setting of control program etc.
The logical communication link of basic step.Concrete example, such as advising from main path towards mobility moving target and barrier
It draws and advances, for the image information of the robot operation battle array disk 2 collected, identification module O1 is blocked for therefrom basis
The serial number distribution of invisible robot localization identifier, identifies that the region that is blocked belongs to teaching robot, moving target in region
Object or barrier；In turn, by the way that the output interface of identification module O1 to be connected to the input interface of locating module O2, locating module
O2 is used for the serial number according to robot localization identifier invisible in occlusion area to teaching robot, moving target object and obstacle
Object determines it in the relative position coordinates of robot operation battle array disk 2 respectively；By the way that the output interface of locating module O2 is connected to
The input interface of path module O3, path module O3 can be according to the opposite positions of teaching robot, moving target object and barrier
Setting coordinate is that teaching robot determines from current location to moving target object and not by way of the shortest path of barrier, to export
The shortest path；If it is autokinetic movement stage by stage, path module O3 can be with connection judgment logic module O4 and circulation
Logic module O5；Whether decision logic module O4 judgement has reached moving target by teaching robot after this course movement
Object terminates to test if reaching, if not up to exporting judging result not up to circle logic module O5, makes to control by O5
Program is circulated back to locating module O2, re-starts the Relatively orientation and path clustering of next stage.The above robot
Autokinetic movement control program can also be used for robot soccer curriculum experiment, wherein using football as moveable moving target object,
And using other side robot as moveable barrier.
The server 5, which is used to control program parsing according to the autokinetic movement, generates control instruction, and is assigned to teaching
Robot 1 controls the teaching robot 1, and the teaching robot 1 runs according to control instruction in the robot
Autokinetic movement on battle array disk 2, to change its relative position on robot operation battle array disk 2.Lead to when server 5 receives user
After crossing the autokinetic movement control program of user terminal transmission, each stage for including in program can be controlled according to the autokinetic movement
Motion path, send control command stage by stage, come control the teaching robot 1 the robot operation battle array disk 2 move up
It is dynamic.Also, server 5 is also according to the unpaired message between teaching robot 1 and robot operation battle array disk 2, according to server
Upper storage or the Course Catalogue provided by user terminal 4 are issued to each teaching robot 1 corresponding robot operation battle array disk 2
Course Exercise configuration information；As it was noted above, robot operation battle array disk 2 will drive the fortune according to Course Exercise configuration information
Moving-target object and barrier cooperate the autokinetic movement of teaching robot 1, to complete entire curriculum experiment target.
As the alternative embodiment of the application, on the basis of the above embodiments, described image acquisition device 3 includes
First wireless communication module is communicated to connect for establishing with the server 5.In the present embodiment, first wireless communication
Module can be the wireless communication module with Bluetooth function and/or wifi function, connect for establishing wireless communication with server 5
It connects.In addition, the line interface of various models is also provided on described image acquisition device 3, to establish and take by route
The wired connection of business device 5.
As shown in fig. 6, being that the structure of the server of the instructional device of the robot experimental courses of the embodiment of the present application two is shown
It is intended to.As one embodiment of the application, on the basis of the above embodiments, the server 5 can also include the second nothing
Line communication module 501 is communicated to connect for establishing with described image acquisition device 3.Pass through the second wireless communication module 501 and institute
It states the first wireless communication module on image collecting device 3 and establishes communication connection, realize server and image collecting device
Acquired image information can be sent to clothes via the communication connection channel by communication connection, image collecting device 3 in real time
Business device, and user terminal 4 is forwarded to via server to be readily accessible by the user.Also, second wireless communication module 501 be also used to
Teaching robot 1 and robot operation battle array disk 2 establish communication connection, so that control instruction is assigned to teaching robot 1, and
It is transmitted to robot operation battle array disk 2 described
In addition, the server 5 further include:
Parsing module 502, the parsing module 502 is used to receive the autokinetic movement control program of user's upload, to described autonomous
The program code of motion control program is parsed and is identified, the executable control instruction of robot is generated, and is sent to described hold
Row module；
Execution module 503, the control instruction for being sent according to the parsing module 502, according under each section synchronization time
Teaching robot 1 is issued, the teaching robot 1 is controlled and executes corresponding actions.As described above, teaching robot 1 and machine
People, which runs battle array disk 2, will synchronize the synchronized with each other of time interval, then execute relevant athletic performance according still further to control instruction,
Including maintaining or changing the direction of motion and movement velocity etc..
Circle logic module 504, the circle logic module are used for:
According to the final position of every phase paths in the current position of the teaching robot 1 and each motion process stage by stage,
Judge whether the current position of the teaching robot and final position are overlapped, and when the current position of the teaching robot and
When final position is not overlapped, by the execution module 503 control the teaching robot next section synchronization time after
The continuous motion path according to the current generation is mobile, until the current position of the teaching robot 1 and final position are overlapped.
To which the robot motion path of autokinetic movement control Program Generating is resolved to movement stage by stage by the parsing module 502
Path；In order to complete the motion path in each stage, execution module 503 is as unit of each section synchronization time to teaching machine
People 1 assigns control instruction, and circle logic module 504 judges that teaching robot 1 is after each section synchronization time
The no final position for having reached this course movement path is held if the not up to final position by the circulation of execution module 503
Next section synchronization time of row, parses next fortune stage by stage by parsing module 502 if having reached the final position
Dynamic path.
In addition, the circle logic module 504 can be also used for judging whether the current location of the teaching robot wraps
It is contained in current moving line, if being included in current moving line, the religion is controlled by the execution module 503
It is mobile according to the moving line to learn robot, if being not included in current moving line, circle logic module 504 is to solution
It analyses module 502 and feeds back error information, current location is prompted to deviate, then stop the movement of teaching robot 1, until program updates
Execution module 503 reacquires moving line afterwards, and controls teaching robot's movement according to the moving line newly got.
As the alternative embodiment of the application, as shown in fig. 7, the teaching robot include: sension unit 101,
Control unit 102 and execution unit 103；
The sension unit 101 is used to perceive surrounding signals, such as infrared distance sensor can be set etc., so as in reality
It avoids colliding during testing；What described control unit 102 was used to be issued according to the surrounding signals and server 5
The control instruction, execution unit 103(such as vehicle wheel component described in co- controlling) it executes and is moved accordingly in the control instruction
Make.In teaching process, student can be by by the spelling of sension unit 101, control unit 102 and the selectivity of execution unit 103
Load connects, and can be assembled into various types of robots, no longer be described in detail here.
The application provides a kind of instructional device of robot experimental courses；Present invention firstly provides a kind of multi-functional and suitable
It answers the robot of teaching characteristic to run battle array disk, is easy to identify teaching robot, fortune by camera shooting and visual perception using this gust of disk
Moving-target object, barrier etc. and the relative position for positioning them, and in the form of Identifier Sequence Number generate formal intuition, easily
In the output for understanding and programming as a result, understanding visual perception, target identification, relative positioning in robot autonomous movement convenient for student
The concept and principle in equal stages；And the drive according to the design of experimental courses to object and barrier may be implemented in this gust of disk
It is dynamic, therefore can be adapted for the study of plurality of target course, it can be realized learning Content abundant, and machine has been effectively ensured
The mobile synchronism of people, object, barrier；User terminal provides the Objective extraction to view-based access control model perception, identification, positioned
The intuitive displaying of journey, it is often more important that provide the graphic programming mode of image, student is allowed to participate in robot autonomous movement
The design of program, and the teaching robot according to autokinetic movement control program control by stages runs in the robot
Movement on battle array disk solves teaching robot dependent on control program, does not have to the students in middle and primary schools of program capability weakness general
All over applicability, it is unfavorable for teaching robot the popularization of school of middle and primary schools the technical issues of.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of instructional device of robot experimental courses, comprising:
Teaching robot, robot operation battle array disk, image collecting device, user terminal and server；
The robot localization identifier of array arrangement is indicated on the robot operation battle array disk, the position identifiers is used for institute
It states any one of teaching robot, moving target object, barrier or multiple identify and its position is positioned；Institute
Robot operation battle array disk is stated to be also used to drive moving target object and/or barrier；
Described image acquisition device is used to acquire the teaching robot and moving target object, barrier are transported in the robot
The image information of relative position on row battle array disk, and described image information is sent to the server；
The user terminal is for showing that the teaching robot and moving target object, barrier run battle array disk in the robot
On relative position image information, teaching robot and moving target object, barrier are identified according to described image information, with
And according to described image information extraction teaching robot and moving target object, barrier on robot operation battle array disk
Relative position coordinates, and the autokinetic movement control program of user's input is received, autokinetic movement control program is sent to institute
State server；Wherein the autokinetic movement control program is used for according to the teaching robot and moving target object, barrier
Relative position coordinates planning robot motion path, and issued stage by stage according to motion path about the direction of motion and speed
Control instruction；
The server is used to parse autokinetic movement control program, generates the control instruction, and be assigned to institute
State teaching robot；
The teaching robot is used to receive the control instruction from the server, and according to the control instruction to this religion
It learns robot to be controlled, to change relative position of the teaching robot on robot operation battle array disk.
2. the instructional device of robot experimental courses according to claim 1, which is characterized in that the robot runs battle array
The size and distance of each position identifiers and the religion put or moved on robot operation battle array disk on disk
The size of any one matching of robot, moving target object, barrier is learned, so that the teaching robot, movement mesh
Mark object and barrier are completely covered and shelter from least one robot localization identifier.
3. the instructional device of robot experimental courses according to claim 2, which is characterized in that the robot runs battle array
It include: motion driving mechanism, start and stop synchronous signal generating circuit inside disk；The motion driving mechanism is for driving the movement
Object and/or barrier move on robot operation battle array disk；The start and stop synchronous signal generating circuit be used for
Teaching robot time-synchronously controls the motion driving mechanism and drives the moving target object and/or barrier in the machine
Device people runs and moves on battle array disk.
4. the instructional device of robot experimental courses according to claim 3, which is characterized in that the user terminal is used for root
It is distributed according to the serial number of robot localization identifier sightless in described image information, identifies the teaching in image information
Any one in robot and moving target object, barrier, and determine the teaching robot and moving target object, barrier
Hinder object any one the robot operation battle array disk relative position coordinates.
5. the instructional device of robot experimental courses according to claim 4, which is characterized in that the user terminal display figure
Shape programming interface, display corresponds to the figure of identification function, positioning function, path planning function in the graphic programming interface
Shape program module and corresponding to judgement, the graphic logic module of basic operations logic such as recycle, jump；Existed according to user
The connection relationship and option established on graphic programming interface by graphical programs module and graphic logic module are matched
It sets, is parsed by caller code segment, generate autokinetic movement and control program.
6. the instructional device of robot experimental courses according to claim 5, which is characterized in that described image acquisition device
Including the first wireless communication module, communicated to connect for being established with the server.
7. the instructional device of robot experimental courses according to claim 6, which is characterized in that the server includes the
Two wireless communication modules, for establishing and communicating to connect with the teaching robot, image collecting device, robot operation battle array disk.
8. the instructional device of robot experimental courses according to claim 7, which is characterized in that the server also wraps
It includes:
Parsing module, the autokinetic movement for receiving user terminal upload controls program, to the journey of autokinetic movement control program
Sequence code is parsed and is identified, is generated the executable control instruction of robot, is sent to the execution module；
Execution module, the control instruction for being sent according to the parsing module are handed down to religion according to each section synchronization time
Robot is learned, the teaching robot is controlled and executes corresponding actions.
9. the instructional device of robot experimental courses according to claim 8, which is characterized in that teaching robot's packet
It includes:
Sension unit, control unit and execution unit；
The sension unit for perceiving surrounding signals, described control unit be used for according to the surrounding signals and
The control instruction that server issues, execution unit described in co- controlling executes to be acted accordingly in the control instruction.
10. the instructional device of robot experimental courses according to claim 9, which is characterized in that the robot operation
Battle array disk includes the grid of array arrangement, and the position identifiers is arranged in the grid.
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| CN201811063985.7A CN109118884B (en) | 2018-09-12 | 2018-09-12 | Teaching device of robot experiment course |
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| CN109118884B (en) | 2020-05-08 |
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