CN110524531A - A kind of robot control system and its workflow based on Internet of Things cloud service - Google Patents
A kind of robot control system and its workflow based on Internet of Things cloud service Download PDFInfo
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- CN110524531A CN110524531A CN201910738973.8A CN201910738973A CN110524531A CN 110524531 A CN110524531 A CN 110524531A CN 201910738973 A CN201910738973 A CN 201910738973A CN 110524531 A CN110524531 A CN 110524531A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
Abstract
The invention discloses a kind of robot control system and its workflow based on Internet of Things cloud service, the problem of being to solve existing environment self-adaption when existing robot control system uses, multi-machine collaborative and intelligent cloud service.The present invention includes control unit, cloud service platform and collaboration control unit, control unit includes processing module, sensing module, positioning and navigation module, control module, edge calculations module, Internet of Things module and human-computer interaction module, cloud service platform includes computing module, data memory module and interface of internet of things component, collaboration control unit is connected with control unit, and control unit is connected with cloud service platform and robot respectively.Robot calculating higher to real-time and reliability requirement is placed on control unit by the present invention, and the low and computationally intensive calculating of requirement of real-time is placed on cloud service platform, provides real-time reliable cloud service under conditions of not influencing robot work for user.
Description
Technical field
The present invention relates to robot field, specifically a kind of robot control system based on Internet of Things cloud service.
Background technique
The fast development of artificial intelligence technology has pushed the progress of intelligent robot technology.Robot need Intellisense,
The artificial intelligence technologys such as network interaction and Collaborative Control between Dynamic matrix control, human-computer intellectualization and multiple robots have been come
At complicated task, but the operation of these algorithms needs the support of a large amount of computing resources, and the computing capability of robot itself is usually not
It is able to satisfy calculating demand.
Intelligent treatment task is uploaded to cloud server mostly by existing intelligent robot, and cloud server, which calculates, to be completed
After return result to robot.This process that robot is connect with cloud server is highly prone to the influence of network delay,
It will cause the unstable of whole system, to influence the user experience of robot.Certain pairs of real-times and reliability requirement compared with
High occasion, existing robot system frame are unable to meet demand.
Calculating, which is placed on local side, can effectively solve intelligent robot and cloud server interacting strip next ground network delay
The problems such as, but increase computing resource in intelligence machine human body, it will cause that robot computational load is overweight, and data space is wanted
Ask high, calculating time, power consumption and cost can all greatly increase, and influence the usage experience and cost performance of intelligent robot, Ren Menye
In the research for carrying out related fields.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of robot control system based on Internet of Things cloud service, to solve
The problems mentioned above in the background art.
To achieve the above object, the embodiment of the present invention provides the following technical solutions:
A kind of robot control system based on Internet of Things cloud service, including control unit, cloud service platform and collaboration pipe
Unit is controlled, control unit includes processing module, sensing module, positioning and navigation module, control module, edge calculations module, object
Networking module and human-computer interaction module, cloud service platform include computing module, data memory module and interface of internet of things component, association
It is connected with control unit with control unit, control unit is connected with cloud service platform and robot respectively, and processing module is for dividing
The calculating service request for sending out robot distributes the high calculating of requirement of real-time in control unit according to the algorithm being previously set,
The low artificial intelligence of requirement of real-time is calculated into distribution in cloud service platform, processing module is for responding each functional module of robot
Request, and by Internet of Things module connect networking interaction；Sensing module be used for the various working conditions of robot, mechanical arm and
Robot movement orientation, target and environmental aspect carry out comprehensive Intellisense；Positioning is used for accurate to robot with navigation module
Positioning, moving line tracking and Dynamic Programming；Control module is mainly used for moving orientation, mechanical arm and machinery to robot body
The movement of hand is controlled；Edge calculations module is used to receive the computation requests of robot, and the result after the completion of calculating is led to
It crosses Internet of Things module and calculated result is returned into processing module；Internet of Things module be used for each functional unit of robot interior and
Robot and other robots, smart machine, cloud service platform pass through various wired and wireless networking mode connections, meter
The calculating service request that module is used to receive robot is calculated, and the result after the completion of calculating is returned into machine by internet
People, data memory module take for storing the data information that the needs that robot is sent save, interface of internet of things component for cloud
Business platform is communicated with the heterogeneous network converged between each robot, smart machine, and control unit can be complete by collaboration control unit
At robot to the higher computation requests of requirement of real-time, and provided in real time under conditions of not influencing robot work for user
Reliable cloud service, control unit can be by collaboration control units and cloud service platform according to existing operating procedure packet, setting mesh
Mark and operative scenario control robot autonomous completion task, and improve optimization to technique packet according to course of work data.
As further embodiment of the embodiment of the present invention: a kind of robot control system based on Internet of Things cloud service, also
Including teaching box, teaching box is used to not download the technique packet of suitable robot operative scenario in robot initial service stage
In the case of, teaching box, remote-controlled robot synchronization action, while robot memory operation are operated by technique those skilled in the art
Various types of data in process flow and operating process, and it is sent to cloud service platform, the computing module of cloud service platform passes through depth
Degree study obtains corresponding knowledge mapping, forms new robot technique packet, or supplement improves existing robot technique packet.
As further embodiment of the embodiment of the present invention: human-computer interaction module includes camera, microphone array and touch
Display screen meets the interaction demand of people.
As further embodiment of the embodiment of the present invention: the wireless communication dress that Internet of Things module is adjusted using adaptive power
It sets, to guarantee the working range of covering robot, to realize network communication and side Yun Xietong.
As further embodiment of the embodiment of the present invention: positioning and navigation module include GPS/ Beidou composite module, interior
Locating module and Multi-sensor Fusion navigation module, technology maturation, using effect are good.
The workflow of the robot control system based on Internet of Things cloud service, the specific steps are as follows:
Step 1, after waking up robot, robot issues the request of change state, cloud service platform and collaboration control unit
Receive the request；
Step 2, human-computer interaction module acquire the audio and video information of robot, and sensing module acquires the shape of robot
State information and environmental information；
The audio and video information of robot is sent to collaboration control list by Internet of Things module by step 3, control unit
Member cooperates with control unit to convert service request for the audio and video information of robot, and according to requirement of real-time to service
Request is classified, and the high service request of requirement of real-time is then forwarded to processing module, by the low service of requirement of real time
Request is sent to cloud service platform；
Step 4, the calculated result for cooperateing with control unit receiving processing module and cloud service platform to return, and according to calculating
As a result control instruction is generated, the electric hydraulic control valve of robot is then issued to, to control movement and the action behavior of robot；
Step 5, after robot completes all tasks, sending course of work data and work to cloud service platform terminates letter
Breath, interacts with cloud service platform, automatic to detect downloading data and technique packet more new information, after the completion robot motion to specific bit
It sets, waiting wakes up next time.
As further embodiment of the embodiment of the present invention: robot includes robot motion chassis, robot body, folding
Or flexible mechanical arm and manipulator, robot motion chassis is by chassis and several driving wheels being mounted on chassis, passive
Wheel and its direction adjusting apparatus composition；Robot body is mounted on robot chassis, and robot body is by cabinet, several motors
And its driving device, hydraulic pump and its electric hydraulic control valve composition；Mechanical arm is mounted on robot body, folded by several sections or
Telescopic mechanical arm composition, it is in the open state in machine man-hour, in folding or retracted state, mechanical arm when standby
At work can be according to technique packet and interactive information automatic height adjustment and angle, when standby mode, restores to fold or retract automatically
State, to reduce space hold；The manipulator installation is on the robotic arm, optional according to robot classification and operative scenario
Select different classes of or quantity the manipulator of installation.
Compared with prior art, the beneficial effect of the embodiment of the present invention is:
The present invention provides intelligent cloud service reliable in real time under conditions of not influencing intelligent robot work for user；
The present invention cooperates with control technology using edge calculations and side cloud, reduce robot system to network environment according to
Rely, improves the real-time and reliability of robot system；
The present invention uses Internet of Things and multi-modal interaction technique, and robot is made to be easier to the collaboration of machine machine and human-computer interaction；
Sensing module, positioning and navigation module can provide the work of robot for robot and cloud service platform in the present invention
State, real time position, motion profile and target and environmental information, convenient for intelligent robot decision with cooperate with manage, use effect
Fruit is good.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot control system based on Internet of Things cloud service.
Fig. 2 is the structural schematic diagram of control unit in the robot control system based on Internet of Things cloud service.
Fig. 3 is the structural schematic diagram of cloud service platform in the robot control system based on Internet of Things cloud service.
Wherein: 1- control unit, 2- cloud service platform, 3- cooperate with control unit, 4- robot, 5- processing module, 6- sense
Know module, 7- positioning and navigation module, 8- control module, 9- edge calculations module, 10- Internet of Things module, 11- human-computer interaction mould
Block, 12- computing module, 13- data memory module, 14- interface of internet of things component.
Specific embodiment
The technical solution of the patent is explained in further detail With reference to embodiment.
Embodiment 1
A kind of robot control system based on Internet of Things cloud service, including teaching box, control unit 1, cloud service platform 2
With collaboration control unit 3, control unit 1 includes processing module 5, sensing module 6, positioning and navigation module 7, control module 8, side
Edge computing module 9, Internet of Things module 10 and human-computer interaction module 11, cloud service platform 2 include computing module 12, data storage mould
Block 13 and interface of internet of things component 14, collaboration control unit 3 be connected with control unit 1, control unit 1 respectively with cloud service platform
2 are connected with robot 4, and teaching box is used to not download the work of suitable 4 operative scenario of robot in the initial service stage of robot 4
In the case where skill packet, teaching box, 4 synchronization action of remote-controlled robot, while robot 4 are operated by technique those skilled in the art
Various types of data in memory operation process flow and operating process, and it is sent to cloud service platform 2, the calculating of cloud service platform 2
Module 12 obtains corresponding knowledge mapping by deep learning, forms new technique packet, or supplement improves existing technique packet, locates
The calculating service request that module 5 is used for dispensing machines people 4 is managed, according to the algorithm being previously set, by the high calculating of requirement of real-time
Distribute in control unit 1, the low artificial intelligence of requirement of real-time is calculated into distribution in cloud service platform 2, processing module 5 is for ringing
The request of each functional module of robot 4 is answered, and networking interaction is connected by Internet of Things module 10；Sensing module 6 is used for machine
The various working conditions of people 4, mechanical arm and robot movement orientation, target and environmental aspect carry out complete perception；Positioning and navigation
Module 7 is used to be accurately positioned robot 4, moving line tracks and Dynamic Programming；Control module 8 is mainly used for robot 4
The movement in movement orientation, mechanical arm and manipulator controlled；The calculating that edge calculations module 9 is used to receive robot 4 is asked
It asks, and calculated result is returned into processing module 5 by Internet of Things module 10 by the result after the completion of calculating；Internet of Things module 10
For each functional unit in 4 inside of robot and robot 4 to be led to other robots 4, smart machine, cloud service platform 2
Various wired and wireless networking mode connections are crossed, computing module 12 is used to receive the calculating service request of robot 4, and will
Result after the completion of calculating returns to robot 4 by internet, and data memory module 13 is for storing the need that robot 4 is sent
Data to be saved information, interface of internet of things component 14 is for different between cloud service platform 2 and each robot 4, smart machine
Network forming network converged communication, control unit 1 can complete robot 4 to the higher calculating of requirement of real-time by collaboration control unit 3
Request, and real-time reliable cloud service is provided for user under conditions of not influencing robot 4 and working, control unit 1 can pass through
Control unit 3 and cloud service platform 2 is cooperateed with to control robot 4 certainly according to existing operating procedure packet, setting target and operative scenario
Main completion task, and optimization is improved to technique packet according to course of work data.
In order to guarantee being normally carried out for network communication and the collaboration of side cloud, Internet of Things module 10 and interface of internet of things component 14 are equal
The wireless communication device adjusted using adaptive power, to guarantee the working range of covering robot 4.
The workflow of the robot control system based on Internet of Things cloud service, the specific steps are as follows:
Step 1, after waking up robot 4, robot 4 issues the request of change state, cloud service platform 2 and collaboration control
Unit 3 receives the request；
Step 2, human-computer interaction module 11 acquire the audio and video information of robot 4, and sensing module 6 acquires robot 4
Status information and environmental information；
The audio and video information of robot 4 is sent to collaboration pipe by Internet of Things module 10 by step 3, control unit 1
Unit 3 is controlled, cooperates with control unit 3 to convert service request for the audio and video information of robot 4, and according to requirement of real-time
Service request is classified, the high service request of requirement of real-time is then forwarded to processing module 5, requirement of real time is low
Service request be sent to cloud service platform 2；
Step 4, the calculated result for cooperateing with 3 receiving processing module 5 of control unit and cloud service platform 2 to return, and according to meter
It calculates result and generates control instruction, the electric hydraulic control valve of robot 4 is then issued to, to control the movement and movement of robot 4
Behavior；
Step 5, after robot 4 completes all tasks, sending course of work data and work to cloud service platform 2 terminates
Information is interacted with cloud service platform 2, and automatic to detect downloading data and technique packet more new information, robot 4 moves to finger after the completion
Positioning is set, and waiting wakes up next time.
Embodiment 2
A kind of robot control system based on Internet of Things cloud service, including control unit 1, cloud service platform 2 and collaboration
Control unit 3, control unit 1 include processing module 5, sensing module 6, positioning and navigation module 7, control module 8, edge calculations
Module 9, Internet of Things module 10 and human-computer interaction module 11, cloud service platform 2 include computing module 12,13 and of data memory module
Interface of internet of things component 14, collaboration control unit 3 be connected with control unit 1, control unit 1 respectively with cloud service platform 2 and machine
Device people 4 is connected, and processing module 5 is used for the calculating service request of dispensing machines people 4, according to the algorithm being previously set, by real-time
Demanding calculating distribution calculates distribution in cloud service platform 2, place in control unit 1, by the low artificial intelligence of requirement of real-time
Reason module 5 is used to respond the request of each functional module of robot 4, and connects networking interaction by Internet of Things module 10；Perceive mould
Block 6 is for feeling the various working conditions of robot 4, mechanical arm and robot movement orientation, target and environmental aspect comprehensively
Know；Positioning is used to be accurately positioned robot 4 with navigation module 7, moving line tracks and Dynamic Programming；Control module 8 is main
Movement for movement orientation, mechanical arm and manipulator to robot 4 controls；Edge calculations module 9 is used for receiver
The computation requests of device people 4, and calculated result is returned into processing module by Internet of Things module 10 by the result after the completion of calculating
5；Internet of Things module 10 be used for by each functional unit in the inside of robot 4 and robot 4 and other robots 4, smart machine,
Cloud service platform 2 is used to receive the calculating of robot 4 by various wired and wireless networking mode connections, computing module 12
Service request, and the result after the completion of calculating is returned into robot 4 by internet, data memory module 13 is for storing machine
The data information that the needs that device people 4 sends save, interface of internet of things component 14 is for cloud service platform 2 and each robot 4, intelligence
Heterogeneous network converged communication between equipment, control unit 1 can complete robot 4 by collaboration control unit 3 and want to real-time
Higher computation requests are sought, and provide real-time reliable cloud service, control under conditions of not influencing robot 4 and working for user
Unit 1 can be by collaboration control unit 3 and cloud service platform 2 according to existing operating procedure packet, setting target and operative scenario control
The autonomous completion task of robot 4 processed, and optimization is improved to technique packet according to course of work data.
In order to meet various interaction demands, human-computer interaction module 11 includes camera, microphone array and touch display screen,
Using effect is good.
Further, positioning includes that GPS/ Beidou composite module, indoor positioning module and multisensor melt with navigation module 7
Conjunction navigation module, technology maturation, using effect are good.
The workflow of the robot control system based on Internet of Things cloud service, the specific steps are as follows:
Step 1, robot 4 include robot motion chassis, robot body, folding or flexible mechanical arm and machine
Tool hand, robot motion chassis is by chassis and several driving wheels, follower and its direction adjusting apparatus group that are mounted on chassis
At；Robot body is mounted on robot chassis, and robot body is by cabinet, several motors and its driving device, hydraulic pump
And its electric hydraulic control valve composition；Mechanical arm is mounted on robot body, is folded by several sections or telescopic mechanical arm forms, In
Machine man-hour is in the open state, at work can be according to technique in folding or retracted state, mechanical arm when standby
Packet and interactive information automatic height adjustment and angle, restore when standby mode to fold or retracted mode automatically, to reduce space
It occupies；The manipulator installation on the robotic arm, according to robot classification and operative scenario, may be selected to install different classes of or number
The manipulator of amount, user is close to robot 4 or after having Remote Wake Up instruction to issue, and robot 4 automatically wakes up, mechanical arm and machine
Tool hand is opened, and after waking up robot 4, robot 4 issues the request of change state, and cloud service platform 2 and collaboration control unit 3 connect
Receive the request；
Step 2, human-computer interaction module 11 acquire the audio and video information of robot 4, and sensing module 6 acquires robot 4
Status information and environmental information；
The audio and video information of robot 4 is sent to collaboration pipe by Internet of Things module 10 by step 3, control unit 1
Unit 3 is controlled, cooperates with control unit 3 to convert service request for the audio and video information of robot 4, and according to requirement of real-time
Service request is classified, the high service request of requirement of real-time is then forwarded to processing module 5, requirement of real time is low
Service request be sent to cloud service platform 2；
Step 4, the calculated result for cooperateing with 3 receiving processing module 5 of control unit and cloud service platform 2 to return, and according to meter
It calculates result and generates control instruction, be then issued to the electro-hydraulic control of the servo-driver, mechanical arm and manipulator on the chassis of robot 4
Valve processed, to control movement and the action behavior of robot 4, mechanical arm and manipulator；
Step 5, after robot 4 completes all tasks, sending course of work data and work to cloud service platform 2 terminates
Information, mechanical arm and manipulator playback, interact with cloud service platform 2, and automatic detection downloading data and technique packet more new information are complete
Designated position is moved at rear robot 4, waiting wakes up next time, and this system will be wanted real-time and reliability in robot 4
Higher calculating is asked to be placed on control unit 1, the low and computationally intensive calculating of requirement of real-time is placed on cloud service platform 2, passes through machine
Device people 4, control unit 1, the tight fit for cooperateing with control unit 3 and cloud service platform 2, in the item for not influencing the work of robot 4
Intelligent cloud service reliable in real time is provided under part for user.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.No
It should treat any reference in the claims as limiting the claims involved.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of robot control system based on Internet of Things cloud service, including control unit (1), cloud service platform (2) and association
Same control unit (3), which is characterized in that control unit (1) includes processing module (5), sensing module (6), positioning and navigation mould
Block (7), control module (8), edge calculations module (9), Internet of Things module (10) and human-computer interaction module (11), cloud service platform
(2) include computing module (12), data memory module (13) and interface of internet of things component (14), cooperate with control unit (3) and control
Unit (1) processed is connected, and control unit (1) is connected with cloud service platform (2) and robot (4) respectively.
2. the robot control system according to claim 1 based on Internet of Things cloud service, which is characterized in that further include showing
Teach box.
3. the robot control system according to claim 1 based on Internet of Things cloud service, which is characterized in that described man-machine
Interactive module (11) includes camera, microphone array and touch display screen.
4. the robot control system according to claim 1 or 3 based on Internet of Things cloud service, which is characterized in that described
The wireless communication device that Internet of Things module (10) uses adaptive power to adjust.
5. the robot control system according to claim 1 based on Internet of Things cloud service, which is characterized in that the positioning
It include GPS/ Beidou composite module, indoor positioning module and Multi-sensor Fusion navigation module with navigation module (7).
6. a kind of workflow of the robot control system a method as claimed in any one of claims 1 to 5 based on Internet of Things cloud service,
It is characterized in that, specific step is as follows:
Step 1, after waking up robot (4), robot (4) issues the request of change state, cloud service platform (2) and collaboration pipe
Control unit (3) receives the request；
Step 2, human-computer interaction module (11) acquire the audio and video information of robot (4), and sensing module (6) acquires machine
The status information and environmental information of people (4)；
The audio and video information of robot (4) is sent to collaboration by Internet of Things module (10) by step 3, control unit (1)
Control unit (3) cooperates with control unit (3) to convert service request for the audio and video information of robot (4), and according to reality
When property requires to be classified service request, and the high service request of requirement of real-time is then forwarded to processing module (5), will be real
Shi Yaoqiu low service request is sent to cloud service platform (2)；
Step 4, the calculated result for cooperateing with control unit (3) receiving processing module (5) and cloud service platform (2) to return, and according to
Calculated result generates control instruction, the electric hydraulic control valve of robot (4) is then issued to, to control the movement of robot (4)
And action behavior；
Step 5, after robot (4) completes all tasks, sending course of work data and work to cloud service platform (2) terminates
Information is interacted with cloud service platform (2), automatic to detect downloading data and technique packet more new information, and robot (4) moves after the completion
To designated position.
7. the workflow of the robot control system according to claim 6 based on Internet of Things cloud service, feature exist
In the robot (4) includes robot motion chassis, robot body, folding or flexible mechanical arm and manipulator, machine
Device people moves chassis and is made of chassis and several driving wheels, follower and its direction adjusting apparatus that are mounted on chassis；Machine
Human agent is mounted on robot chassis, and robot body is by cabinet, several motors and its driving device, hydraulic pump and its electro-hydraulic
Control valve group at；Mechanical arm is mounted on robot body, is folded by several sections or telescopic mechanical arm forms, manipulator installation
On the robotic arm.
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| CN110850789A (en) * | 2019-12-09 | 2020-02-28 | 常州市小先信息技术有限公司 | Robot energy efficiency optimization method based on edge calculation |
| CN112549020A (en) * | 2020-11-12 | 2021-03-26 | 国网上海市电力公司 | Control system and method for live working robot |
| CN112659128A (en) * | 2020-12-28 | 2021-04-16 | 智动时代(北京)科技有限公司 | Robot brain and human-computer cooperative control brain parallel cooperative control method |
| CN113110463A (en) * | 2021-04-22 | 2021-07-13 | 山东新一代信息产业技术研究院有限公司 | Delivery service robot system based on intelligent disinfection cabin |
| US11630444B2 (en) | 2020-11-30 | 2023-04-18 | International Business Machines Corporation | Artificial Intelligence empowered industrial Internet of Things |
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| CN112549020A (en) * | 2020-11-12 | 2021-03-26 | 国网上海市电力公司 | Control system and method for live working robot |
| US11630444B2 (en) | 2020-11-30 | 2023-04-18 | International Business Machines Corporation | Artificial Intelligence empowered industrial Internet of Things |
| CN112659128A (en) * | 2020-12-28 | 2021-04-16 | 智动时代(北京)科技有限公司 | Robot brain and human-computer cooperative control brain parallel cooperative control method |
| CN113110463A (en) * | 2021-04-22 | 2021-07-13 | 山东新一代信息产业技术研究院有限公司 | Delivery service robot system based on intelligent disinfection cabin |
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Application publication date: 20191203 |