CN109333532A - A kind of crusing robot control method based on man-machine coordination system - Google Patents

A kind of crusing robot control method based on man-machine coordination system Download PDF

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Publication number
CN109333532A
CN109333532A CN201811186640.0A CN201811186640A CN109333532A CN 109333532 A CN109333532 A CN 109333532A CN 201811186640 A CN201811186640 A CN 201811186640A CN 109333532 A CN109333532 A CN 109333532A
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CN
China
Prior art keywords
task
robot
user
control
parameter
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Pending
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CN201811186640.0A
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Chinese (zh)
Inventor
邹林
刘旭
王颂
朱小舟
林清霖
刘国梁
李辉
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China Southern Power Grid Co Ltd
Research Institute of Southern Power Grid Co Ltd
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China Intelligent Technology Co Ltd
Research Institute of Southern Power Grid Co Ltd
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Application filed by China Intelligent Technology Co Ltd, Research Institute of Southern Power Grid Co Ltd filed Critical China Intelligent Technology Co Ltd
Priority to CN201811186640.0A priority Critical patent/CN109333532A/en
Publication of CN109333532A publication Critical patent/CN109333532A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1679Programme controls characterised by the tasks executed
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object or an image, setting a parameter value or selecting a range
    • G06F3/04847Interaction techniques to control parameter settings, e.g. interaction with sliders, dials
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object or an image, setting a parameter value or selecting a range
    • G06F3/0486Drag-and-drop
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06NCOMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N5/00Computer systems using knowledge-based models
    • G06N5/04Inference methods or devices

Abstract

The invention discloses a kind of crusing robot control methods based on man-machine coordination system, it is controlled including task level and instruction-level, specific steps are as follows: user carries out task description to robot system in task level, task based access control description amount simultaneously obtains the dbjective state of robot system by inference mechanism, the current characteristic parameter of robot is obtained from dbjective state, is stored in backstage as target instruction target word;In instruction-level, user according to task level plan in feedback result, the voluntarily implementation procedure of planning tasks, system judge the reasonability that user plans on backstage, and provides the task path of prompt and recommendation.Method provided by the invention combines the planning of people and decision-making capability with the contexture by self of anthropomorphic robot, so that robot has the ability that can adapt to environmental change, the combined use of task level parameter and instruction-level parameter, so that the motion profile of robot is more acurrate, the completion of intelligent Task is more accurate reliable.

Description

A kind of crusing robot control method based on man-machine coordination system
Technical field
The present invention relates to robot fields, more particularly, to a kind of crusing robot controlling party based on man-machine coordination system Method.
Background technique
Currently, smart grid construction and enhancing power supply reliability have gone up as national strategy, status of electric power detection, prison It surveys as the emerging industry to grow up in recent years, shows huge growing potential and development space.Smart grid construction rule The market demand of intelligent inspection robot will greatly be pushed by drawing, and become the long-term promotion of crusing robot industry sustainable growth Power.Indoor Robot demand analysis is with the artificial example of outdoor machine, and which are mainly applied in substation.Substation is in electric system Voltage of transformation, receiving and distribution electric energy control the flow direction of electric power and adjust the electric power facility of voltage.Further accordance with National Energy Board's public affairs " action plan (2015-2020) is transformed in distribution network construction " of cloth, to 2020, domestic power distribution automation coverage rate will reach To 90%.If assuming, 20% automation power distribution station uses intelligent inspection device, and in 5 years, domestic indoor machine man-year is needed The amount of asking is more than 10,000.
However, the crusing robot of the prior art is all disposably to input parameter through user and work, but face scene Environment complexity and changeable situation, often robot can work according to old parameter, change without the change according to environment Become, keeps robot operation acts incomplete, reliable.Especially when completing the patrol task of some large-scale key facilities, to patrolling Accuracy and the security requirement for examining robot are higher.The crusing robot of no manual intervention executes the safety of patrol task at present The flexibility of property and reliability and timely error correction is still difficult to ensure completely.
Summary of the invention
For present technology above shortcomings, the purpose of the present invention is to provide a kind of based on man-machine coordination system Crusing robot control method, including task level and instruction-level control, specific steps are as follows:
A kind of crusing robot control method based on man-machine coordination system, which is characterized in that including task level and instruction Grade control, specific steps are as follows:
User carries out task description to robot system in task level, and task based access control description amount is simultaneously obtained by inference mechanism The dbjective state of robot system obtains the current characteristic parameter of robot from dbjective state, is stored in as target instruction target word From the background;
In instruction-level, user according to task level plan in feedback result, voluntarily the implementation procedure of planning tasks, system exist Backstage judges the reasonability of user's planning, and provides the mission planning of prompt and recommendation;
After user confirms the mission planning recommended, system control machine device people executes task.
Further, the user carries out task description to robot system in task level, comprising:
Importing includes the text of the scene of object scene model information and crusing robot model information involved in task Part constructs robot simulation environment in Virtual Space;
Task entity is set, to determine the hardware of system operatio;
Task ontology is set, the qualitative description and quantitative description of task itself are distinguished.
Further, the step of Task entity is arranged to robot in the user, comprising:
Setting active entities can actively issue interactive entity and be configured to a degree of independence, to Clear specific implementation device;
Passive entity is set, itself cannot issue to object operated by active entities and actively interactive entity and set It sets, the device to clearly implementation movement.
Further, the step of task ontology is arranged to robot in the user, comprising:
Task attribute, the presentation of multidimensional qualitative description and static constraint condition to task are set, and setting task object is appointed Business rule, current state;
Task parameters are set, to the quantitative description of task itself, task result is produced under the premise of task attribute determines The raw amount significantly affected.
Further, the step of task parameters that robot is arranged in the user, comprising:
Setting input parameter, the constraint to task execution process, limitation movement velocity, time or path;
Output parameter is set, to the feedback of system current state, including base plate electric machine angle, end pose parameter and holder Joint angle.
Further, in the document scene of the importing, including task scene and space layout:
The task scene is unrelated with task object, is the external factor having an impact to the implementation procedure of task, packet Include barrier, space limitation;
The space layout is information aggregate of the entity object involved in task execution in spatial position, including machine The standing place coordinate of device people, the initial position of tool, the spatial position of task object and the position of barrier;
The relative positional relationship of each entity in the task space information is described with homogeneous transform matrix.
Further, the user carries out the implementation procedure of planning tasks in instruction-level to robot system, comprising:
Control mode is set, accurate control of the different movement instruction realizations to robot is assigned to multiple control modes, To complete specified task;
Control parameter is set, the parameter under different control modes is configured, including inputting specified joint angles, end Hold pose parameter etc.;
Sequential relationship is arranged makes robot follow the sequence of planning for describing the sequencing between different control modes It executes, with the accuracy of safety action.
Further, sequential relationship is arranged to robot in the user, is divided into concurrency relation and two kinds of Serial Relation, is in The control mode of concurrency relation can control robot simultaneously, assign and execute instruction, and the control mode in Serial Relation must Sequencing must be followed successively to execute.
Further, the system judges the reasonability of user's planning on backstage, and provides the task road of prompt and recommendation The step of diameter, comprising:
The parameter that system inputs in instruction-level according to user is examined the reasonability of the planning of each step, and is made simultaneously Judge whether planning is reasonable;
If it is determined that unreasonable, then the task path of prompt and recommendation is provided, fed back to after user's Reparametrization again It is secondary to execute judgement;
If it is determined that rationally, then the relevant parameter of editor is stored in backstage;
System judges whether all parameters of required by task are completed to be arranged;
If it is determined that not completing to be arranged, then user is prompted to carry out parameter setting simultaneously by dragging control model to planning region Connection front and back mode, after user completes parameter setting, system continues to execute the rational judgement movement of planning;
If it is determined that completing setting, then whole parameters on backstage are stored into, form flow of task file.
Further, the system is that the parameter that user edits should be approached gradually to the foundation of the reasonability judgement of planning Target instruction target word parameter.
Compared with prior art, the invention has the following beneficial effects:
1) feature is patrolled according to people's machine of patrolling and divides action, give full play to reapective features, define collaboration and make an inspection tour action, Avoid inspection insufficient or inspection surplus.
2) it merges with production business, it can be achieved that power transmission and transformation equipment state overhauling system, the business of production management system are closed Ring particularly makees classification of task according to inspection device and inspection content, and task feedback is realized on the basis of overhauling service closed_loop, Task is worked as dispatcher and distributes optimization.
3) realize that " patrol task is assigned "-" the automatic uploads of acquisition data "-" inspection data are analyzed in real time "-is " automatic raw At Strategies of Maintenance " integration of Business Stream and information flow, establish man-machine coordination cooperation information model.
4) planning of people and decision-making capability are combined with the contexture by self of anthropomorphic robot so that robot have can Adapt to the ability of environmental change, the combined use of task level parameter and instruction-level parameter, so that the motion profile of robot is more quasi- Really, the completion of intelligent Task is more accurate reliable.
Detailed description of the invention
Fig. 1: the system structure based on man-machine coordination;
Fig. 2: the step process of control method in embodiment.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a kind of crusing robot control method based on man-machine coordination system, including task level and Instruction-level control, specific steps are as follows:
(1) task model is imported, document scene is imported and constructs robot simulation environment in Virtual Space;
(2) information such as incoming task entity, task ontology parameter are retrieved in background data base and generate target instruction target word ginseng Number;
(3) dbjective state when robot system is completed by the autonomous reasoning task of data of parsing user's input, and it is anti- Feed user;
(4) the execution process of contexture by self task by way of user passes through dragging control mode and edits action parameter;
(5) robot system judge to the parameter that user inputs the reasonability of user's planning on backstage, if do not conformed to Action parameter is re-entered in reason, then feedback information prompt;If rationally, providing the task path of prompt and recommendation;
(6) after being judged to rationally, the relevant parameter of editor is stored in backstage by user, is stored in the form of xm l file, is formed Flow of task file;
(7) crusing robot reads flow of task file and executes movement.
As shown in Figure 1 and Figure 2, control task is divided into task level and instruction-level two-stage, task level planning is centainly to take out As, to the macro-plan of task, not being related to the movement instruction of robot bottom in level;And instruction-level planning is then to robot The integration of executable instruction.Two-stage be not it is isolated, task level planning instruct simultaneously constrain instruction-level planning, and instruction-level advise Drawing is the specific implementation planned in more fine granularity task level.In task level, user is responsible for inputting the intention of oneself to system, Being executed for task and related constraint are expressed, robot system is intended to by parsing user, when autonomous reasoning task is completed Dbjective state, and feed back to user;In instruction-level, user according to task level plan in feedback result, voluntarily planning tasks Implementation procedure, system judge the reasonability of user's planning on backstage, and providing the task path of prompt and recommendation, by user with The cooperation of both robot systems, the common planning overall process for completing instruction-level.User is in task level to anthropomorphic robot system The task and scene to be executed are described, appointed task object, task objective etc. construct virtual scene, base by document scene The dbjective state of robot system is obtained in task description amount and by inference mechanism, it is current that robot is obtained from dbjective state Characteristic parameter, as target instruction target word be stored in backstage.In instruction-level, user combines control mode, setting control parameter, connection The control mode of front and back, user assign intermediary movements to robot by every kind of control mode of planning and instruct, parsed by instruction, Anticipation carries out comprehensive analysis to intermediate command, target instruction target word and robot system current state, judges the reasonable of intermediate command Property.Reasonable meaning refers to that all intermediate commands should constantly tend to target instruction target word in some way, and otherwise program results are Unreasonable;When judging result is reasonable, robot can execute movement instruction.
In embodiment, Task entity includes the active entities in task and passive entity, and robot is as task system In active entities interact being generated between passive entity under the control of controller, change the state or attribute of passive entity Deng.Object operated by robot is passive entity, and when executing tour task such as robot, instrument is passive entity.Task Ontology includes two element collection of task parameters and task attribute, it is intended to distinguish the qualitative description and quantitative description of task itself.Appoint Business attribute be task inherent characteristic, the presentation of multidimensional qualitative description and static constraint condition to task, including task object, Mission Rules Guidelines, current state etc..Task parameters are the quantitative descriptions to task itself, including output and input parameter, are in office The amount, such as movement velocity, run duration etc. that business attribute makes a significant impact task result under the premise of determining, input parameter It is the constraint to task execution process, limitation movement velocity, time or path etc.;And output parameter is to system current state Feedback, including base plate electric machine angle, end pose parameter and holder joint angle.Task space includes task scene and space layout Two set.Task environment is unrelated with task object, is the external factor having an impact to the implementation procedure of task, such as obstacle Object, space limitation etc..Space layout is information aggregate of the entity object involved in task execution in spatial position, including machine The standing place coordinate of device people, the initial position of tool, the spatial position of task object and the position of barrier.Task space letter Breath all records in document scene, and the relative positional relationship of each entity is described with homogeneous transform matrix.
Task level planning is by the task parameters to system input macroscopic view to obtain the target instruction target word grade that can complete task Parameter provides foundation for instruction-level planning, is input with three Task entity, task ontology and task space elements of mission collection Amount, is indicated, the state parameter of mechanical arm is final output amount when being completed using task, with logical symbol t < table with logical symbol > t Show, be embodied as:
> t=E ∪ B ∪ L;T <={ JA, EP, FJ },
In formula: E, B and L are respectively Task entity, task ontology and task space;JA, E P and FJ respectively represent chassis electricity Machine angle, end pose parameter and the instruction of holder joint angle.
The task parameters that user inputs are stored in backstage with the linguistic form of predicate logic by robot system, pass through parsing Predicate logic is obtained the position of each entity in scene by document scene, passes through the joint of the position computer tool arm of task object Angle information etc..By taking the right hand grabs spanner simple task as an example, predicate logic is expressed as making an inspection tour meter reading, is moved by making an inspection tour this Make the moving person for judging to be related to as chassis and holder, crusing robot can be obtained on map according to location information set Position and pose and holder angle.
Instruction-level planning is marked off using modular planning mode according to the difference of the movement instruction type of robot Each planning module instruction-level planning is that each module is carried out to the integration of graphical set stance, constitutes the executable instruction sequence of task Column.
There is formula again: T={ C, P, S },
In formula: C is control mode set;P is the corresponding parameter sets of control mode;Timing of the S between control mode is closed System.
In embodiment, joint angles control need the specified joint angle of user's input, and end Pose Control then need The specified end pose parameter of input.Since single control mode can only realize limited function, it is therefore necessary to will be multiple Control mode combines to achieve the purpose that completion task.Sequential relationship is successive suitable between different control modes for describing Sequence is roughly divided into parallel and serial two kinds, and the control mode in concurrency relation can control robot simultaneously, assign execution and refer to It enables, and the control mode in Serial Relation must comply with sequencing and successively execute.
Particular embodiments described above has carried out further the purpose of the present invention, technical scheme and beneficial effects It is described in detail, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention Range.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done any repairs Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.

Claims (10)

1. a kind of crusing robot control method based on man-machine coordination system, which is characterized in that including task level and instruction-level Control, specific steps are as follows:
User carries out task description to robot system in task level, and task based access control description amount simultaneously obtains machine by inference mechanism The dbjective state of people's system, obtains the current characteristic parameter of robot from dbjective state, is stored in backstage as target instruction target word;
In instruction-level, user according to task level plan in feedback result, the voluntarily implementation procedure of planning tasks, system is on backstage Judge the reasonability of user's planning, and provides the mission planning of prompt and recommendation;
After user confirms the mission planning recommended, system control machine device people executes task.
2. crusing robot control method according to claim 1, the user is carried out in task level to robot system Task description, comprising:
Importing includes the document scene of object scene model information and crusing robot model information involved in task, Robot simulation environment is constructed in Virtual Space;
Task entity is set, to determine the hardware of system operatio;
Task ontology is set, the qualitative description and quantitative description of task itself are distinguished.
3. crusing robot control method according to claim 2, step of the user to robot setting Task entity Suddenly, comprising:
Setting active entities can actively issue interactive entity and be configured to a degree of independence, to clear It is specific to implement device;
Passive entity is set, itself cannot issue to object operated by active entities and actively interactive entity and be configured, Device to clearly implementation movement.
4. crusing robot control method according to claim 2, step of the user to robot setting task ontology Suddenly, comprising:
Task attribute, the presentation of multidimensional qualitative description and static constraint condition to task, setting task object, task rule are set Then, current state;
Task parameters are set, to the quantitative description of task itself, task result are generated under the premise of task attribute determines aobvious Write the amount influenced.
5. crusing robot control method according to claim 4, robot is arranged in the user task parameters Step, comprising:
Setting input parameter, the constraint to task execution process, limitation movement velocity, time or path;
Output parameter is set, to the feedback of system current state, including base plate electric machine angle, end pose parameter and holder joint Angle.
6. crusing robot control method according to claim 2, in the document scene of the importing, including task scene With space layout:
The task scene is unrelated with task object, is the external factor having an impact to the implementation procedure of task, including barrier Hinder object, space limitation;
The space layout is information aggregate of the entity object involved in task execution in spatial position, including robot Standing place coordinate, the initial position of tool, the spatial position of task object and barrier position;
The relative positional relationship of each entity in the task space information is described with homogeneous transform matrix.
7. crusing robot control method according to claim 1, the user is carried out in instruction-level to robot system The implementation procedure of planning tasks, comprising:
Control mode is set, accurate control of the different movement instruction realizations to robot is assigned to multiple control modes, with complete At specified task;
Control parameter is set, the parameter under different control modes is configured, including inputting specified joint angles, end position Appearance parameter etc.;
Sequential relationship is set, for describing the sequencing between different control modes, the sequence for making robot follow planning is executed, With the accuracy of safety action.
8. crusing robot control method according to claim 7, sequential relationship is arranged to robot in the user, is divided into Concurrency relation and two kinds of Serial Relation, the control mode in concurrency relation can control robot simultaneously, assign and execute instruction, And the control mode in Serial Relation must comply with sequencing and successively execute.
9. crusing robot control method according to claim 1, the system judges the reasonable of user's planning on backstage Property, and the step of providing the task path of prompt and recommendation, comprising:
The parameter that system inputs in instruction-level according to user is examined the reasonability of the planning of each step, and is judged simultaneously Whether plan reasonable;
If it is determined that it is unreasonable, then the task path of prompt and recommendation is provided, is held again after feeding back to user's Reparametrization Row judgement;
If it is determined that rationally, then the relevant parameter of editor is stored in backstage;
System judges whether all parameters of required by task are completed to be arranged;
If it is determined that not completing to be arranged, then user is prompted to carry out parameter setting by dragging control model to planning region and connecting Front and back mode, after user completes parameter setting, system continues to execute the rational judgement movement of planning;
If it is determined that completing setting, then whole parameters on backstage are stored into, form flow of task file.
10. crusing robot control method according to claim 9, foundation of the system to the reasonability judgement of planning It is that parameter that user edits should be gradually close to target instruction target word parameter.
CN201811186640.0A 2018-10-12 2018-10-12 A kind of crusing robot control method based on man-machine coordination system Pending CN109333532A (en)

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