CN110576433A - robot motion generation method - Google Patents

robot motion generation method Download PDF

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Publication number
CN110576433A
CN110576433A CN201810585494.2A CN201810585494A CN110576433A CN 110576433 A CN110576433 A CN 110576433A CN 201810585494 A CN201810585494 A CN 201810585494A CN 110576433 A CN110576433 A CN 110576433A
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CN
China
Prior art keywords
action
robot
motion
information
file
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810585494.2A
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Chinese (zh)
Inventor
钟皓家
张明生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hongkong Merchants Nuwa Create Ltd By Share Ltd
Original Assignee
Hongkong Merchants Nuwa Create Ltd By Share Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hongkong Merchants Nuwa Create Ltd By Share Ltd filed Critical Hongkong Merchants Nuwa Create Ltd By Share Ltd
Priority to CN201810585494.2A priority Critical patent/CN110576433A/en
Publication of CN110576433A publication Critical patent/CN110576433A/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
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Abstract

A robot motion generating method, comprising: (1) inputting parameter information related to the robot motion into the motion conversion device. (2) The action conversion device reads the information and converts the information into action information, and transmits the action information to the action generation platform. (3) According to the action information and the database, the action generation platform analyzes and generates an action reading file, and transmits the action reading file to the action playing device and the robot, the action playing device plays the action reading file according to the action reading file, and the robot acts according to the action. By the method, the actions of the robot are diversified, so that a plurality of different actions can be made, and the actions of the robot are smoother.

Description

Robot motion generation method
Technical Field
The invention relates to a robot motion generating method, which can diversify the motion of a robot and make the motion of the robot smoother by the aid of a motion converting device and a motion generating platform.
background
Nowadays, science and technology are gradually changing, many robot-related products appear on the market, interaction between the robot and a user is more and more frequent, and importance of the robot in life is increasingly higher. However, in the prior art, the action of the robot is too single, and the robot cannot perform a very smooth motion, so how to solve the above-mentioned syndrome nodes becomes a problem to be solved.
In view of the foregoing, the present inventors have devised and designed a robot motion generation method to overcome the shortcomings of the prior art and further enhance the industrial application.
Disclosure of Invention
In view of the above-mentioned known problems, it is an object of the present invention to provide a robot motion generating method for solving the problems encountered in the prior art.
In view of the above object, the present invention provides a robot motion generating method including: (1) and inputting the hardware name, the initial parameters and the action parameters of the robot into the action conversion device. (2) The action conversion device reads the hardware name, the initial parameters and the action parameters, converts the hardware name, the initial parameters and the action parameters into action information corresponding to the action conversion device and integrates the action information into the action information, and the action conversion device transmits the action information to the action generation platform. (3) According to the action information and the database, the action generating platform analyzes and generates an action reading file, and transmits the action reading file to the action playing device and the processor of the robot, the action playing device reads the file according to the playing action, and the robot acts according to the action. By the method, the motion of the robot is diversified, a plurality of different motions can be made, and the motion of the robot is smoother.
preferably, the hardware components of the robot include a motor, a light emitting component, and a chassis.
Preferably, the database includes information about the robot operating system, which is an analysis basis of the motion generation platform, and material information, which includes hardware operation information, sound information, and expression information of the robot.
Preferably, the motion generation platform is provided on the internet, and the external electronic device modifies the motion information by connecting to the motion generation platform through the internet, thereby adjusting the motion of the robot.
Preferably, the action playing device simulates the action of the robot during the file reading period of the playing action and judges the configuration of the action reading file.
Preferably, when the action playing device determines that the action reading file is in a good configuration, the action playing device transmits a correct signal back to the action generating platform, the action generating platform marks that the action reading file is a correct file, and an engineer knows that the action reading file is in a better configuration.
Preferably, when the action playing device determines that the action read file is in a wrong configuration, the action playing device returns a wrong signal to the action generating platform, the action generating platform marks the action read file as a wrong file, and the engineer knows that the action read file is in a bad configuration.
Preferably, the robot has a recording component, and when the microprocessor of the robot reads the motion reading file, the recording component records the operation value of the hardware component of the robot so as to know whether the motion of the robot is smooth.
In view of the above, the robot motion generating method of the present invention has one or more of the following advantages:
The robot motion generating method of the present invention diversifies the motions of the robot with the assistance of the motion generating platform and the motion converting device.
The robot action generating method of the present invention simulates the action of the robot through the action player to determine whether the action reading file is the better configuration.
Drawings
Fig. 1 is a flowchart of a robot motion generating method according to a first embodiment of the present invention.
FIG. 2 is a block diagram of a robot motion generating method according to a first embodiment of the present invention.
FIG. 3 is a flowchart illustrating a robot motion generating method according to a second embodiment of the present invention.
FIG. 4 is a block diagram of a robot motion generating method according to a second embodiment of the present invention.
Fig. 5 is a bezier chart of a robot motion generating method according to a second embodiment of the present invention.
Fig. 6 is a diagram showing the judgment state of the motion playback device in the second embodiment of the robot motion generation method according to the present invention.
Description of reference numerals:
10: motion conversion device
20: motion generation platform
30: database with a plurality of databases
40: action playing device
50: robot
60: external electronic device
ACT: action information
FILE: action reading file
INT: initial parameters
MOT: motion parameter
name: hardware name
S11-S14, S21-S25: and (5) carrying out the following steps.
Detailed Description
The present invention will be described in detail with reference to the drawings and examples for understanding the nature, content and advantages of the invention, as well as the nature and operation of the invention, wherein the drawings are designed solely for the purpose of illustration and description and not as a definition of the limits of the invention, for which reference should be made to the appended drawings.
The advantages, features and technical solutions of the present invention will be more readily understood by referring to the exemplary embodiments and the accompanying drawings, which are described in greater detail, and the present invention may be implemented in different forms, and therefore should not be construed as limited to the embodiments set forth herein, but rather provided for enabling those skilled in the art to more fully and completely convey the scope of the present invention and that the present invention is defined only by the appended claims.
Please refer to fig. 1 and 2, which are a flowchart of a first embodiment of the method for generating robot motion according to the present invention and a block diagram of the first embodiment of the method for generating robot motion according to the present invention. In this embodiment, the method for generating robot motion of the present invention includes: (1) and step S11: the hardware name of the robot 50, the initial parameter INT, and the motion parameter MOT are input to the motion conversion apparatus 10, where the hardware name is a name of a hardware component of the robot 50, the hardware component of the robot 50 includes a motor, a light emitting component, and a chassis, the initial parameter INT of the robot 50 includes a position where the robot 50 is located, a time point and a speed of the robot 50, and the motion parameter MOT of the robot 50 includes a rotation angle, an acceleration, a start motion, an end motion, and a facial expression (an image of a display of the robot 50) of a joint of the robot 50. (2) And step S12: the motion conversion device 10 reads the hardware name, the initial parameter INT, and the motion parameter MOT, converts the hardware name, the initial parameter INT, and the motion parameter MOT into motion information ACT corresponding to the motion conversion device 10, and integrates the hardware name, the initial parameter INT, and the motion parameter MOT into the motion information ACT, and the motion conversion device 10 transmits the motion information ACT to the motion generation platform 20. (3) And step S13: based on the action information ACT and the database 30, the action generation platform 20 analyzes and generates an action reading FILE, and transmits the action reading FILE to the action playing device 40 and the processor of the robot 50. (5) And step S14: the action playing device 40 reads the FILE according to the playing action, and the robot 50 acts accordingly, wherein the action read FILE is in xml format or fst format, which further increases the reading speed of the processor of the robot 50. By the method of the present invention, the motions of the robot 50 are diversified to make many different motions, and the motions of the robot 50 are made smoother.
It should be noted that the database 30 is disposed in the motion generation platform 20 and includes information about the robot operating system and material information, the material information includes hardware operation information, sound information, and expression information of the robot 50, and an engineer can adjust the content of the material information according to the motion of the robot 50; the information of the robot operating system is a set of computer operating system architecture designed for robot software development, which provides similar services to the operating system, including hardware abstraction description, underlying driver management, shared function execution, inter-program message passing, and program distribution package management, and it also provides some tools and libraries for acquiring, creating, writing, and executing multi-machine converged programs, in short, the robot operating system provides many joint parameter attributes designed for robot actions, such as table 2, and engineers can adjust the actions of the robot 50 according to the robot operating system.
TABLE 1
in addition, the motion converting apparatus 10 adds a Maya program to the computer, and the motion of the robot 50 can be more realistic with the aid of the Maya program, and the parameters in the Maya program are as shown in table 2:
TABLE 2
Please refer to fig. 3 and 4, which are a flowchart illustrating a second embodiment of the method for generating robot motion according to the present invention and a block diagram illustrating the second embodiment of the method for generating robot motion according to the present invention. In this embodiment, the method for generating robot motion of the present invention includes: (1) and step S21: the hardware name of the robot 50, the initial parameter INT, and the motion parameter MOT are input to the motion conversion apparatus 10. (2) And step S22: the motion conversion device 10 reads the hardware name, the initial parameter INT, and the motion parameter MOT, converts the hardware name, the initial parameter INT, and the motion parameter MOT into motion information ACT corresponding to the motion conversion device 10, and integrates the hardware name, the initial parameter INT, and the motion parameter MOT into the motion information ACT, and the motion conversion device 10 transmits the motion information ACT to the motion generation platform 20. (3) And step S23: based on the action information ACT and the database 30, the action generation platform 20 analyzes and generates an action reading FILE, and transmits the action reading FILE to the action playing device 40 and the processor of the robot 50. (4) And step S24: the action playback device 40 plays the action read FILE, and the robot 50 starts to act. (5) And step S25: the external electronic device 60 modifies the action information ACT by connecting to the action generating platform 20 through the internet, the action generating platform 20 further generates a new action reading FILE, and transmits the new action reading FILE to the action playing device 40 and the robot 50, the action playing device 40 plays the action reading FILE again, and the robot 50 starts to ACT again. The external electronic device 60 modifies the action information ACT to complete the action of reading the FILE, and the robot 50 can perform a smoother action.
It should be noted that the difference between the second embodiment and the first embodiment is that the motion generating platform 20 is installed on the internet, and the external electronic device 60 is connected to the motion generating platform 20 through the internet to adjust the parameter setting of the motion information ACT, so that the motion of the robot 50 is enriched. The external electronic device 60 is a computer or a tablet computer, but may be other electronic devices with the same function, and is not limited to the illustrated scope of the present invention.
It should be noted that the robot 50 has a recording component 51, when the microprocessor of the robot 50 reads the motion reading FILE, the recording component 51 records the operation values of the hardware components of the robot 50 and returns the operation values of the hardware components of the robot 50 to the motion generating platform 20, the motion generating platform 20 then arranges and plots the above information into a bezier curve, and an engineer knows whether the motion of the robot 50 is smooth and improves the hardware configuration of the robot 50 from the bezier curve, and can predict the motion of the robot 50 through the bezier curve and adjust the parameter configuration of the motion information ACT.
Referring to fig. 5, a bezier chart of a robot motion generating method according to a second embodiment of the present invention is shown. Specifically, the motion generation platform 20 includes a bessel operator, the motion read FILE includes a plurality of bessel layers, each bessel layer corresponds to one motor, and includes a plurality of bessel control units for controlling the motion of the motor, and a preferred illustrative example is as follows: the bessel operator draws a bessel curve according to the operation values of the plurality of motors recorded by the recording component 51 as shown in fig. 5, predicts the actions of each motor according to the bessel curve and the points of any two bessel control units on the bessel curve, adjusts the action to read the multilayer bessel layers of the FILE, adjusts the parameters of each bessel control unit, reads the parameters of each bessel control unit to correspondingly actuate, further adjusts the joint actions controlled by the motor, and makes the actions of the robot 50 more detailed. Wherein the parameters of the action read FILE are shown in Table 3.
TABLE 3
Please refer to fig. 6, which is a diagram illustrating a determination status of a motion playback device according to a second embodiment of the robot motion generating method of the present invention. As shown in fig. 6, the action playing device 40 simulates the action of the robot 50 during the playing action reading FILE, and determines the parameter configuration of the action reading FILE, and has two conditions as follows: (1) when the action playing device 40 determines that the action FILE is in good configuration, the action playing device 40 sends back a correct signal to the action generating platform 20, the action generating platform 20 marks the action FILE as a correct FILE, the engineer knows that the action FILE is in a better configuration, and adjusts the parameters of other action FILEs based on the better configuration. (2) When the action playing device 40 determines that the action FILE is configured incorrectly, the action playing device 40 sends back an error signal to the action generating platform 20, the action generating platform 20 marks that the action FILE is an error FILE, the engineer knows that the action FILE is not configured correctly, and excludes the parameters of the action FILE. By simulating the motion playback device 40, the motion of the robot 50 is simulated in advance to exclude the poorly configured motion reading FILE, and the motion of the microprocessor of the robot 50 can be smoother when the motion reading FILE is read.
In summary, the robot motion generating method of the present invention makes the motions of the robot 50 more diversified through the assistance of the motion generating platform 20 and the motion converting device 10, and makes the motions of the robot 50 smoother through the simulation of the motion playing device 40, so that the engineer can also adjust the parameters configured by the motion information ACT by connecting the motion generating platform 20 through the external electronic device 60. The robot motion generating method of the present invention has the advantages as described above, so that the robot 50 can perform various motions and the motion of the robot 50 is smoother.
The above-described embodiments are merely illustrative of the principles and features of the present invention, which is intended to enable one skilled in the art to understand the invention and practice it accordingly, and it is not intended to limit the claims, which are intended to cover all equivalent variations or modifications that are within the spirit of the invention.

Claims (8)

1. A robot motion generation method, comprising:
Inputting a hardware name, initial parameters and action parameters of the robot into the action conversion device;
The action conversion device reads the hardware name, the initial parameter and the action parameter, converts the hardware name, the initial parameter and the action parameter into action information corresponding to the action conversion device and integrates the hardware name, the initial parameter and the action parameter into the action information, and the action conversion device transmits the action information to an action generation platform; and
And according to the action information and the database, the action generating platform analyzes and generates an action reading file, and transmits the action reading file to an action playing device and a processor of the robot, wherein the action playing device plays the action reading file according to the action information and the database, and the robot acts according to the action.
2. A robot motion generating method according to claim 1, wherein the hardware components of the robot include a motor, a light emitting component, and a chassis.
3. A robot action generating method according to claim 1, wherein the database includes information on a robot operation system and material information.
4. A robot motion generating method according to claim 1, further comprising modifying the motion information by connecting an external electronic device to the motion generating platform via the internet.
5. A robot motion generating method according to claim 1, wherein the motion playback means simulates the motion of the robot during playback of the motion read file and determines the configuration of the motion read file.
6. The method as claimed in claim 5, wherein when the action playback device determines that the action read file is a good configuration, the action playback device sends back a correct signal to the action generation platform, and the action generation platform marks the action read file as a correct file.
7. The method as claimed in claim 5, wherein when the action playback device determines that the action read file is an error configuration, the action playback device returns an error signal to the action generation platform, and the action generation platform marks the action read file as an error file.
8. A robot motion generating method according to claim 2, wherein the robot has a recording component that records an operation value of the hardware component of the robot when the microprocessor of the robot reads the motion reading file to start the robot.
CN201810585494.2A 2018-06-08 2018-06-08 robot motion generation method Pending CN110576433A (en)

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Citations (9)

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CN105630006A (en) * 2014-11-21 2016-06-01 国立研究开发法人产业技术综合研究所 Operation command generation device, operation command generation method and process system
CN105690394A (en) * 2016-04-21 2016-06-22 奇弩(北京)科技有限公司 Robot action generating method
CN106663127A (en) * 2016-07-07 2017-05-10 深圳狗尾草智能科技有限公司 An interaction method and system for virtual robots and a robot
CN106945036A (en) * 2017-03-21 2017-07-14 深圳泰坦创新科技有限公司 Robot motion generation method and device
CN106985150A (en) * 2017-03-21 2017-07-28 深圳泰坦创新科技有限公司 The method and apparatus of control machine human action
CN107053191A (en) * 2016-12-31 2017-08-18 华为技术有限公司 A kind of robot, server and man-machine interaction method
CN107696028A (en) * 2016-08-08 2018-02-16 深圳光启合众科技有限公司 Control method and device and robot for intelligent robot
CN108115678A (en) * 2016-11-28 2018-06-05 深圳光启合众科技有限公司 Robot and its method of controlling operation and device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120158183A1 (en) * 2010-12-21 2012-06-21 Samsung Electronics Co., Ltd. Walking robot and control method thereof
CN105630006A (en) * 2014-11-21 2016-06-01 国立研究开发法人产业技术综合研究所 Operation command generation device, operation command generation method and process system
CN105690394A (en) * 2016-04-21 2016-06-22 奇弩(北京)科技有限公司 Robot action generating method
CN106663127A (en) * 2016-07-07 2017-05-10 深圳狗尾草智能科技有限公司 An interaction method and system for virtual robots and a robot
CN107696028A (en) * 2016-08-08 2018-02-16 深圳光启合众科技有限公司 Control method and device and robot for intelligent robot
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