CN113282110B - Flying robot and human cooperative operation method and device and flying robot - Google Patents
Flying robot and human cooperative operation method and device and flying robot Download PDFInfo
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Abstract
The disclosure relates to a cooperative operation method of a flying robot and a flying robot, a device thereof and the flying robot, wherein the cooperative operation method of the flying robot and the flying robot comprises the steps of acquiring the human body pose of a high-altitude operator; when the pose is judged to be matched with the set pose according to the human body pose of the high-altitude operation personnel, the position of the flying robot and the position of the high-altitude operation personnel are obtained; determining an aerial flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel, and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the aerial flight path; and acquiring an external voice command sent by the high-altitude operation personnel, and controlling the flying robot to cooperatively operate with the high-altitude operation personnel according to the external voice command. Through the technical scheme disclosed by the invention, the complementation of various advantages of cooperative operation of the flying robot and the human in the high altitude is effectively realized, and the flying robot is utilized to facilitate high altitude operation personnel to carry out high altitude operation.
Description
Technical Field
The disclosure relates to the technical field of flying robots, in particular to a flying robot and human cooperative operation method and device and a flying robot.
Background
Rotor unmanned aerial vehicle has great flexibility aloft, can accomplish multiple different tasks according to human instruction, including tasks such as taking photo by plane, search, monitoring and tracking, traditional rotor unmanned aerial vehicle carries on the camera to carry out the shooting aloft usually only on the aircraft, can't carry out the physical interaction operation of contact with external environment, and this application range that has also restricted traditional unmanned aerial vehicle. Based on the problems, the operation type mechanical arm flying robot is suitable for transportation, the use range of the flying robot is greatly expanded due to the fact that the operation type mechanical arm flying robot is provided with the multi-degree-of-freedom mechanical arm capable of freely moving, the mechanical arm flying robot not only has the functions of aerial photography, searching, monitoring, tracking and the like of a traditional unmanned aerial vehicle, but also can perform various operation tasks in contact with the environment.
However, at present, an operator usually remotely controls the flying robot to perform high-altitude operation on the ground, and then controls the flying robot to land after the operation is completed, the flying robot can only perform simple object grabbing and carrying operation, while the actual high-altitude operation is performed by the worker climbing high-altitude position in person, and how to utilize the flying robot to facilitate the high-altitude operation performed by the high-altitude operation worker becomes an urgent problem to be solved.
Disclosure of Invention
In order to solve the technical problems or at least partially solve the technical problems, embodiments of the present disclosure provide a method and an apparatus for cooperative work between flying robots and a flying robot, which effectively achieve complementation of various advantages of cooperative work between flying robots and a flying robot in the high altitude, and facilitate high altitude operations by using a flying robot.
In a first aspect, an embodiment of the present disclosure provides a cooperative work method of a flying robot and a human, including:
acquiring the human body pose of the aerial worker;
when the pose is judged to be matched with the set pose according to the human body pose of the high-altitude operation personnel, the position of the flying robot and the position of the high-altitude operation personnel are obtained;
determining an aerial flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel, and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the aerial flight path;
and acquiring an external voice command sent by the high-altitude operation personnel, and controlling the flying robot to cooperatively operate with the high-altitude operation personnel according to the external voice command.
Optionally, after controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the air flight path, the method further includes:
acquiring the operation range of the tail end of the mechanical arm of the flying robot and the palm position information of the high-altitude operation personnel;
and adjusting the position of the mechanical arm in the vertical direction according to the operation range of the tail end of the mechanical arm and the palm position information until the position of the mechanical arm in the vertical direction is flush with the position of the palm of the high-altitude operation worker.
Optionally, after controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the air flight path, the method further includes:
acquiring the distance between the flying robot and the high-altitude operation personnel;
and adjusting the hovering position of the flying robot according to the distance between the flying robot and the high-altitude operation personnel.
Optionally, when the flying robot is controlled to cooperatively work with the high-altitude operator according to the external voice command, the method further includes:
acquiring real-time operation information of a mechanical arm of the flying robot;
and adjusting the cooperative operation parameters of the mechanical arm according to the real-time operation information.
Optionally, while controlling the flying robot to fly to the vicinity of the high-altitude operator according to the air flight path, the method further includes:
acquiring obstacle information in the surrounding environment of the flying robot;
and adjusting the flight path of the flying robot in real time according to the obstacle information.
Optionally, while controlling the flying robot to fly to the vicinity of the high-altitude operator according to the air flight path, the method further includes:
acquiring a real-time flight pose of the flying robot;
and adjusting the actual flight pose of the flying robot according to the real-time flight pose.
Optionally, before acquiring the human body pose of the aerial work worker, the method further includes:
acquiring working state information of internal devices of the flying robot;
and controlling the flying robot to stop working when judging that the device with abnormal working exists according to the working state information.
In a second aspect, an embodiment of the present disclosure further provides a cooperative work apparatus of a flying robot and a human, including:
the pose acquisition module is used for acquiring the human body pose of the high-altitude operation personnel;
the position acquisition module is used for acquiring the position of the flying robot and the position of the high-altitude operation personnel when judging that the pose is matched with the set pose according to the human body pose of the high-altitude operation personnel;
the path planning module is used for determining an aerial flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the aerial flight path;
and the cooperative control module is used for acquiring an external voice command sent by the high-altitude operation personnel and controlling the flying robot and the high-altitude operation personnel to cooperatively operate according to the external voice command.
In a third aspect, the disclosed embodiment further provides a flying robot, including the flying robot and human cooperative work apparatus as described in the second aspect.
Optionally, the flying robot comprises:
the flying robot comprises a flying robot main body, two mechanical arm lifting devices and two mechanical arms, wherein one end of each mechanical arm lifting device is fixed on the flying robot main body, the other end of each mechanical arm lifting device is provided with two mechanical arms, and the mechanical arm lifting devices are arranged in the vertical direction and are used for driving the mechanical arms to move relative to the flying robot main body in the vertical direction.
Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the following advantages:
the cooperative operation method for the flying robot and the human comprises the steps of obtaining the human body pose of the aerial worker, obtaining the position of the flying robot and the position of the aerial worker when the pose is judged to be matched with the set pose according to the human body pose of the aerial worker, determining the aerial flight path of the flying robot according to the position of the flying robot and the position of the aerial worker, controlling the flying robot to fly to the position close to the aerial worker according to the aerial flight path, obtaining an external voice instruction sent by the aerial worker, and controlling the flying robot and the aerial worker to perform cooperative operation according to the external voice instruction. Therefore, the aerial working personnel can control the cooperative work task of the flying robot and the human through upper limb actions and voice instructions, the advantages of large aerial visual field range, flexible aerial movement and the like of the flying robot and the advantage that the aerial working personnel can flexibly perform complex work are fully combined, the complementation of various advantages of the cooperative work of the flying robot and the human in the high altitude is effectively realized, and the aerial working personnel can conveniently perform the aerial work by utilizing the flying robot.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present disclosure, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a cooperative operation method of a flying robot and a human provided in an embodiment of the present disclosure;
fig. 2 is a schematic perspective view of a flying robot according to an embodiment of the present disclosure;
fig. 3 is a schematic view of a flying robot and a human being performing cooperative work in high altitude according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of another flying robot and a human being working in coordination at high altitude according to the embodiment of the disclosure;
fig. 5 is a schematic specific flowchart of a cooperative operation method of a flying robot and a human according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a cooperative operation device of a flying robot and a human provided in an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, aspects of the present disclosure will be further described below. It should be noted that the embodiments and features of the embodiments of the present disclosure may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways than those described herein; it is to be understood that the embodiments disclosed in the specification are only a few embodiments of the present disclosure, and not all embodiments.
Fig. 1 is a schematic flow chart of a cooperative operation method of a flying robot and a human provided in an embodiment of the present disclosure. The cooperative operation method of the flying robot and the human can be applied to application scenes in which the flying robot and the human need to perform cooperative operation, and can be executed by the cooperative operation device of the flying robot and the human provided by the embodiment of the disclosure. As shown in fig. 1, the cooperative work method of the flying robot and the human includes:
s101, obtaining the human body pose of the aerial worker.
Rotor unmanned aerial vehicle has great flexibility aloft, can accomplish multiple different tasks according to human instruction, including tasks such as taking photo by plane, search, monitoring and tracking, traditional rotor unmanned aerial vehicle carries on the camera to carry out the shooting aloft usually only on the aircraft, can't carry out the physical interaction operation of contact with external environment, has restricted traditional unmanned aerial vehicle's application range.
Based on the problems, the operation type mechanical arm flying robot is suitable for transportation, the use range of the flying robot is greatly expanded due to the fact that the operation type mechanical arm flying robot is provided with the multi-degree-of-freedom mechanical arm capable of freely moving, the mechanical arm flying robot not only has the functions of aerial photography, searching, monitoring, tracking and the like of a traditional unmanned aerial vehicle, but also can perform various operation tasks in contact with the environment. The mechanical arm flying robot can grab and release objects like birds to grab prey, and meanwhile, dangerous goods such as inflammable and explosive goods or other chemical goods can be cleaned. In the face of natural disasters or artificial disasters such as earthquakes, tsunamis and fires, rescue workers are difficult to approach to carry out rescue work, and the mechanical arm flying robot can also carry out disaster rescue and emergency release of lifesaving materials and other tasks by utilizing the advantages of large visual field in the air and rapid movement in the air at the first time.
No matter be civilian field or military field, rotor unmanned aerial vehicle carries on arm all has important effect, also is the important direction of future flying robot development. Rotor unmanned aerial vehicle carries on the arm and combines rotor unmanned aerial vehicle and robot's advantage together, has both had rotor unmanned aerial vehicle VTOL, hovers in appointed aerial position and the nimble characteristics of carrying out various aerial photography tasks, has the robot again simultaneously and carries out the advantage of multiple operation or complicated operation to all kinds of objects.
During high altitude construction, high altitude construction personnel need climb to the high altitude position, and high altitude construction personnel's removal position is limited this moment, and upper limbs can freely move about and the operation usually only, and when the operation personnel had extra operation demand, can turn into arm action or palm action with the operation demand, for example high altitude construction personnel need not be extra instrument or article by oneself, and high altitude construction personnel can be to flying robot and lift the hand and indicate this moment.
The flying robot can acquire the human body pose of the high-altitude operation personnel in real time. Specifically, the flying robot can acquire the information of the high-altitude operation environment through a stereoscopic vision sensing system carried by the flying robot in the high altitude and perform three-dimensional modeling of the high-altitude operation environment in real time, and simultaneously, the three-dimensional vision sensing system carried by the flying robot models the human body pose of the high-altitude operation personnel.
The flying robot can be arranged near the operation position, the information of high-altitude operation personnel and the environment is collected through the depth camera, the infrared emitter in the depth camera emits laser light, the laser light is uniformly projected to a measurement space through a grating in front of the lens of the infrared emitter, a rough object in the measurement space reflects infrared light to form random speckles, then each speckle in the space is recorded through the infrared camera, and the three-dimensional depth image of the environment and the human body can be obtained through the calculation of a wafer. After the three-dimensional depth image is established, the depth camera adopts a separation strategy to distinguish a human body from a complex environment background, converts the human body into a human body skeleton tracking system, records human body skeleton joint points, generates skeleton key point information including the trunk, limbs, fingers and the like of the aerial worker, and further acquires the pose of the aerial worker, wherein the pose of the aerial worker can comprise the trunk pose, the limb pose or the palm finger pose and the like of the aerial worker.
When the high-altitude operation personnel sends out operation requirement action. For example, when a hand-raising operation is performed, the flying robot recognizes the movement and motion of the bones of the aerial worker by the depth camera, and detects and analyzes the motion information of the aerial worker. When the flying robot detects the human body operation action information of the high-altitude operation personnel, the flying robot enters the next operation link. If the flying robot does not detect the human skeleton action information of the high-altitude operation personnel, a system in the flying robot can be set to generate warning information, the flying robot stays at the original position and repeatedly detects and analyzes the action information of the high-altitude operation personnel again.
Exemplarily, a depth camera can be arranged and installed on a camera rotating device of the flying robot, the depth camera is used for collecting three-dimensional images during operation of a mechanical arm of the flying robot, the camera rotating device can accurately control rotation of the depth camera through a stepping motor, so that the flying robot can obtain an all-dimensional view without a dead angle during operation, the situation that the mechanical arm of the flying robot exceeds the view of the depth camera during operation is avoided, and the flying robot can collect and feed back images to the mechanical arm conveniently.
Optionally, before the human body pose of the high-altitude operation personnel is obtained, the working state information of the internal device of the flying robot can be obtained, and the flying robot is controlled to stop operation when the abnormal device is judged to exist according to the working state information. The flying robot internal device may be, for example, a GPS (Global Positioning System), a barometer, an IMU (Inertial Measurement Unit), various sensors, and the like, and when receiving the high-altitude operation start signal, the flying robot takes off from the ground and flies to the vicinity of the aerial position of an operation point, at the moment, the flying robot reads working state information signals of a GPS, a barometer, an IMU and various sensors of a system to detect whether internal devices with abnormal work exist or not, if the internal devices with abnormal work exist in the flying robot, the flying robot is controlled to stop working when abnormal information exists in the flying robot, a landing instruction is waited, and the next working link is started only when the flying robot detects that all internal devices work normally, so that the safety of cooperative work of the flying robot and people in the high altitude is improved.
S102, when the pose is judged to be matched with the set pose according to the human body pose of the high-altitude operation personnel, the position of the flying robot and the position of the high-altitude operation personnel are obtained.
Specifically, when the high-altitude operator sends out an operation demand action, for example, sends out a hand-raising action, that is, the hand-raising action is a set pose, the position information of the flying robot and the position information of the high-altitude operator can be calculated through the navigation positioning system of the high-altitude operator. The navigation positioning system GPS can adopt a Real Time Kinematic (RTK) technology, namely a carrier phase differential technology, the RTK technology is a differential method for processing the observed quantity of carrier phases of two measuring stations in Real Time, the carrier phases acquired by a reference station are sent to a user receiver for difference solving of coordinates, the RTK technology can enable the flying robot to obtain centimeter-level positioning accuracy and can ensure hovering accuracy of the flying robot during aerial operation, and a high-precision barometer in the flying robot is used for height acquisition of the flying robot and can obtain centimeter-level height positioning information.
It should be noted that, in the above embodiments, only the hand raising motion is taken as an example for setting the pose, and the setting pose is not limited, but the setting pose in the embodiments of the present disclosure is not specifically limited, and may be an arm or palm motion, and the setting pose may be a pose that can be easily made by an aerial worker.
S103, determining an air flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel, and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the air flight path.
Specifically, when the flying robot detects the operation action demand information of the high-altitude operation personnel, the flying robot starts to calculate the optimal air operation position information of the flying robot according to the position of the high-altitude operation personnel, plans the specific flight path of the flying robot in the air according to the current position of the flying robot and the current position of the high-altitude operation personnel, and controls the flying robot to fly to the vicinity of the high-altitude operation personnel according to the air flight path to prepare for follow-up cooperative operation with the high-altitude operation personnel.
Optionally, when the flying robot is controlled to fly to the vicinity of the high-altitude operation personnel according to the air flight path, the obstacle information in the surrounding environment of the flying robot can be acquired, and the flight path of the flying robot is adjusted in real time according to the obstacle information. Specifically, when the flying robot flies to the operation demand position, in order to guarantee flight safety, a camera and a sensor carried by the flying robot can detect obstacle information of the surrounding environment in the flying process of the flying robot in real time, and the flying path of the flying robot is adjusted in real time according to the obstacle information, for example, the flying path of the flying robot can be adjusted to reasonably avoid obstacles in the original flying path until the flying robot safely reaches the operation demand position and hovers near the upper part of the high-altitude operation personnel.
Optionally, after the flying robot is controlled to fly to the vicinity of the high-altitude operation personnel according to the air flying path, the distance between the flying robot and the high-altitude operation personnel can be acquired, and the hovering position of the flying robot is adjusted according to the distance between the flying robot and the high-altitude operation personnel. Specifically, when the flying robot flies to the vicinity of the high-altitude operation personnel, namely the flying robot hovers above the high-altitude operation personnel, the flying robot detects the distance between the flying robot and the high-altitude operation personnel in real time, and adjusts the hovering position of the flying robot according to the distance between the flying robot and the high-altitude operation personnel, for example, if the flying robot is too close to the high-altitude operation personnel and exceeds a safety distance, the flying robot can calculate the optimal aerial operation position again and adjust the hovering position of the flying robot until the safety distance requirement between the flying robot and the high-altitude operation personnel is met, and the safety of the cooperative operation between the flying robot and the people is further improved.
Optionally, after the flying robot is controlled to fly to the vicinity of the high-altitude operation personnel according to the air flight path, the terminal operation range of the mechanical arm of the flying robot and the palm position information of the high-altitude operation personnel can be acquired, and the position of the mechanical arm in the vertical direction is adjusted according to the terminal operation range of the mechanical arm and the palm position information until the position of the mechanical arm in the vertical direction is flush with the position of the palm of the high-altitude operation personnel.
The operation range adaptability of a flying robot carrying mechanical arms in the prior art is not enough, the mechanical arms in the existing flying robot are usually fixedly connected with the bottom of an aircraft main body structure, when the flying robot performs hovering operation, the vertical positions of the mechanical arms can only be consistent with the height of the aircraft main body structure, the vertical positions of the mechanical arms cannot be adjusted according to actual operation scenes, the vertical operation range and the operation space of the mechanical arms carried by the flying robot are limited, and the flying robot cannot adapt to various different operation scenes.
Fig. 2 is a schematic perspective structure diagram of a flying robot provided in the embodiment of the present disclosure. As shown in fig. 2, when the flying robot 100 flies near the high-altitude worker, the position and posture of the robot arm 110 are controlled by the robot arm control system, and information such as the position, speed, and direction of the end of the robot arm 110 needs to be controlled during the work. Specifically, when the flying robot 100 reaches the work demand position and hovers near above the high-altitude operator, the flying robot 100 detects the work range of the end of the robot arm 110 and the palm position of the high-altitude operator to determine whether the end of the robot arm 110 meets the work requirement. If the end working range of the mechanical arm 110 meets the working requirement, for example, the end working range of the mechanical arm 110 is substantially flush with the palm of the high-altitude worker, the next link is entered, otherwise the flying robot 100 may adjust the position of the mechanical arm 110 in the vertical direction by adjusting the mechanical arm lifting device 120 until the position of the mechanical arm 110 in the vertical direction is flush with the palm of the high-altitude worker. The flying robot 100 generally cooperates with the palm of the operator to perform cooperative work, and therefore the flying robot 100 performs planning calculation of the movement trajectory of the robot 110 by detecting information about the position of the end of the robot 110 and the position of the palm of the operator, calculates the movement trajectory of the robot 110, such as the two robots shown in fig. 2, by inverse kinematics solution, and then controls the left robot 111 and the right robot 112 to reach the designated work positions, respectively.
Optionally, the flying robot is controlled to fly to the vicinity of the high-altitude operation personnel according to the air flight path, the real-time flight pose of the flying robot can be obtained, and the actual flight pose of the flying robot is adjusted according to the real-time flight pose. Specifically, in the flying process of the flying robot, the flying robot can detect the flying pose of the flying robot in real time, further judge whether the flying robot has the problems of inclination, oscillation and the like in the flying process, and adjust the actual flying pose of the flying robot according to the real-time flying pose to ensure that the flying robot flies safely and stably.
And S104, acquiring an external voice command sent by the high-altitude operation personnel, and controlling the flying robot to cooperatively operate with the high-altitude operation personnel according to the external voice command.
Specifically, when the tail end of the mechanical arm of the flying robot reaches the position close to the palm of the high-altitude operation personnel, the high-altitude operation personnel adopt a voice command to control the cooperative operation of the flying robot and the high-altitude operation personnel, namely when the tail end of the mechanical arm of the flying robot reaches the position close to the required operation position of the high-altitude operation personnel, the high-altitude operation personnel can send the voice command to control the mechanical arm of the flying robot to act, the flying robot obtains an external voice command sent by the high-altitude operation personnel, and the flying robot and the high-altitude operation personnel are controlled to perform cooperative operation according to the external voice command. And if the flying robot detects the voice command of the high-altitude operation personnel, entering the next link, otherwise, generating warning prompt information by the flying robot until the voice command sent by the high-altitude operation personnel is monitored. When the flying robot detects that the high-altitude operation personnel sends out an operation ending instruction, the flying robot stops the operation and prepares for landing, and the cooperative operation of the flying robot and the people is ended. Illustratively, the external voice commands may include, but are not limited to, an object release command, an object grab command, and an end job command.
Fig. 3 is a schematic view of a flying robot and a human being performing cooperative work in high altitude according to an embodiment of the disclosure. As shown in fig. 3, when the voice command sent by the aerial worker is an object grabbing and transmitting command, the flying robot grabs the designated object placed at the fixed position by using the mechanical arm according to the received object grabbing and transmitting command and transmits the object grabbing and transmitting command to the aerial worker, so as to assist the aerial worker in completing the object grabbing work.
Fig. 4 is a schematic view of another flying robot and a human being working in coordination in high altitude according to the embodiment of the disclosure. As shown in fig. 4, when the voice command sent by the high-altitude operator is an object cooperative transportation command, the flying robot grips one end of the object to be transported by using the mechanical arm according to the received object cooperative transportation command and synchronously moves with the high-altitude operator, so as to assist the high-altitude operator in completing the object transportation work. Of course, fig. 3 and 4 are just two examples of cooperative work between flying robots and people at high altitudes, and flying robots may assist high altitude workers in performing any actions they may perform.
Optionally, when the flying robot is controlled to cooperatively operate with the high-altitude operation personnel according to the external voice instruction, real-time operation information of the mechanical arm of the flying robot can be acquired, and cooperative operation parameters of the mechanical arm can be adjusted according to the real-time operation information. Specifically, the real-time operation information of the mechanical arm may be, for example, the size of the mechanical arm grabbing force of the mechanical arm of the flying robot in the object transferring process as shown in fig. 3, and the cooperative operation parameter of the mechanical arm may also be the size of the mechanical arm grabbing force of the flying robot at this time, for example, the real-time operation information of the mechanical arm of the flying robot is acquired, that is, when the grabbing force of the mechanical arm is large, it may be determined that the grabbed object is large or heavy, and the cooperative operation parameter of the mechanical arm is adjusted according to the real-time operation information, that is, the grabbing force of the mechanical arm may be adjusted to be increased, so as to improve the stability of the mechanical arm in grabbing the object. Or, the real-time operation information of the mechanical arm may also be a pose and a motion speed of the mechanical arm of the flying robot during the process of carrying the object as shown in fig. 4, and the cooperative operation parameter of the mechanical arm may be, for example, the motion speed of the mechanical arm, for example, the real-time operation information of the mechanical arm of the flying robot is obtained, that is, when the mechanical arm moves at a constant speed while assuming the pose as shown in fig. 4, it may be determined that the flying robot is assisting the aerial worker to carry the object, and the cooperative operation parameter of the mechanical arm is adjusted according to the real-time operation information, that is, the motion speed of the mechanical arm may be adjusted to keep the mechanical arm moving at a constant speed in the horizontal direction as much as possible, so as to improve the stability of the mechanical arm in carrying the object.
Optionally, when the flying robot and the high-altitude operation personnel are controlled to cooperatively operate according to the external voice instruction, the distance between the flying robot and the high-altitude operation personnel can be acquired in real time, and the hovering position of the flying robot is adjusted according to the distance between the flying robot and the high-altitude operation personnel. Specifically, in the process that the flying robot controls the flying robot to cooperatively work with the high-altitude operation personnel according to the external voice command, the flying robot detects the distance between the flying robot and the high-altitude operation personnel in real time, and adjusts the hovering position of the flying robot according to the distance between the flying robot and the high-altitude operation personnel, for example, the flying robot is too close to the high-altitude operation personnel and exceeds a safety distance, the flying robot can calculate the optimal aerial operation position again and adjust the hovering position of the flying robot until the safety distance requirement between the flying robot and the high-altitude operation personnel is met, and the safety of cooperative work between the flying robot and the people is further improved.
Fig. 5 is a schematic specific flowchart of a cooperative operation method between a flying robot and a human provided in the embodiment of the present disclosure. The cooperative operation method of the flying robot and the human can also be applied to application scenes in which the flying robot and the human need to perform cooperative operation, and can be executed by the cooperative operation device of the flying robot and the human provided by the embodiment of the disclosure. As shown in fig. 5, the cooperative work method of the flying robot and the human includes:
s201, starting.
S202, controlling the flying robot to fly to the high-altitude operation point position.
S203, judging whether the internal devices of the flying robot are abnormal or not; if yes, go to S220; if not, go to step S204.
And S204, the depth camera collects the information of the surrounding environment of the high-altitude operation personnel and the flying robot.
And S205, performing three-dimensional reconstruction of the working environment and modeling of the human skeleton.
And S206, detecting and analyzing the work information of the high-altitude operators.
S207, judging whether the human body operation action information is detected or not; if yes, go to S208; if not, go to step S221.
And S208, calculating the optimal operation position information of the flying robot.
And S209, planning the flight path of the flying robot and hovering the flying robot near the operation position.
S210, judging whether the distance between the flying robot and the high-altitude operation personnel exceeds a safe distance or not; if yes, go to S208; if not, go to S211.
S211, judging whether the position of the mechanical arm meets the operation requirement or not; if yes, go to step S212; if not, go to S224.
S212, detecting the tail end of the mechanical arm and the position information of the human body.
And S213, solving the motion trail of the mechanical arm by inverse kinematics.
And S214, controlling the left and right mechanical arms to reach corresponding working positions.
S215, judging whether an external voice command is detected; if yes, go to S216; if not, go to step S222.
And S216, detecting the operation state and the acting force information of the mechanical arm in real time.
And S217, controlling the mechanical arm to work with the high-altitude operator in a cooperative manner.
S218, judging whether a voice instruction for finishing the operation is detected or not; if yes, go to S219; if not, go to S216.
S219, the landing is prepared.
And S220, stopping executing the operation and waiting for a landing command.
S221, generating first warning prompt information.
S222, generating second warning prompt information.
And S223, adjusting the mechanical arm lifting device.
And S224, ending.
Therefore, the embodiment of the disclosure makes full use of the characteristic that the cooperative operation of the human and the flying robot has multiple complementary advantages, for example, when the aerial operation is carried out, the aerial operation personnel needs additional operation tools or articles, the aerial operation personnel is inconvenient to move at a narrow aerial position, and at the moment, the flying robot can efficiently deliver the articles to the hands of the operation personnel by utilizing the advantage of flexible movement in the air. In addition, when the high-altitude operation personnel can not complete the operation by one person, the flying robot can utilize the carried mechanical arm and the person to complete the common operation tasks in a cooperative manner, such as logistics distribution, environmental protection sampling, object grabbing, object carrying, aerial operation and the like, so that the multiple advantages complementation of the cooperative operation of the flying robot and the person in high altitude is effectively realized, and the flying robot is convenient for the high-altitude operation personnel to perform the high-altitude operation.
The embodiment of the disclosure further provides a cooperative operation device of a flying robot and a person, and fig. 6 is a schematic structural diagram of the cooperative operation device of a flying robot and a person provided by the embodiment of the disclosure. As shown in fig. 6, the cooperative working apparatus of flying robots and humans includes a pose acquisition module 301, a position acquisition module 302, a path planning module 303 and a cooperative control module 304, where the pose acquisition module 301 is used to acquire the human pose of the high-altitude worker, the position acquisition module 302 is used to determine that the pose matches the set pose according to the human pose of the high-altitude worker, the position of the flying robot and the position of the high-altitude operation personnel are obtained, the path planning module 303 is used for determining the air flying path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel, and the cooperative control module 304 is used for acquiring an external voice command sent by the high-altitude operation personnel and controlling the flying robot and the high-altitude operation personnel to cooperatively operate according to the external voice command.
The cooperative operation method for the flying robot and the human comprises the steps of obtaining the human body pose of the aerial worker, obtaining the position of the flying robot and the position of the aerial worker when the pose is judged to be matched with the set pose according to the human body pose of the aerial worker, determining the aerial flight path of the flying robot according to the position of the flying robot and the position of the aerial worker, controlling the flying robot to fly to the position close to the aerial worker according to the aerial flight path, obtaining an external voice instruction sent by the aerial worker, and controlling the flying robot and the aerial worker to perform cooperative operation according to the external voice instruction. Therefore, the aerial working personnel can control the cooperative work task of the flying robot and the human through upper limb actions and voice instructions, the advantages of large aerial visual field range, flexible aerial movement and the like of the flying robot and the advantage that the aerial working personnel can flexibly perform complex work are fully combined, the complementation of various advantages of the cooperative work of the flying robot and the human in the high altitude is effectively realized, and the aerial working personnel can conveniently perform the aerial work by utilizing the flying robot.
The embodiment of the present disclosure further provides a flying robot, where the flying robot includes the cooperative operation device of the flying robot and a human according to the above embodiment, and therefore the beneficial effects of the above embodiment are achieved, and details are not repeated here. As shown in fig. 2, the flying robot 100 may include a flying robot body 130, a robot arm lifting device 120, and two robot arms 111 and 112, one end of the robot arm lifting device 120 is fixed to the flying robot body 130, the other end of the robot arm lifting device 120 is provided with the two robot arms 111 and 112, and the robot arm lifting device 120 is disposed in a vertical direction and is configured to move the robot arms 111 and 112 in the vertical direction with respect to the flying robot body.
The mechanical arm carried by the flying robot at present has low freedom degree of motion and inflexible operation, namely the freedom degree of motion of a mechanical arm device carried by the flying robot is limited, the whole mechanical arm of the system usually has only one to two freedom degrees, and a single mechanical arm usually can only carry out simple motion in a plane.
The flying robot adopted by the embodiment of the disclosure carries two mechanical arms, so that the grabbing force is larger and more stable in the aspects of grabbing objects and carrying objects than that of a single-arm flying robot, and the flying robot has superiority in the aspects of operation range, operation flexibility and working efficiency. In addition, the double-arm flying robot can independently operate and control multiple targets, and can also cooperate with double arms to perform common task operation. In addition, the two mechanical arms carried by the flying robot adopted by the embodiment of the disclosure are of a mechanical structure imitating a human arm type, the proportions of the upper arm, the lower arm and the shoulder width of the two mechanical arms are all designed according to the proportion of the two arms of the human body, the two mechanical arms have eight freedom degrees of movement, each mechanical arm has four freedom degrees of movement, the rotation of the shoulder joint, the elbow joint and the wrist joint of the human arm can be simulated respectively, and the advantages of more stable grabbing, wider operation range, more flexible operation and the like are fully embodied by the two mechanical arm structure.
In addition, when the flying robot flies near the high-altitude operator, the position and posture of the robot arm are controlled by the robot arm control system, and information such as the position, speed, and direction of the end of the robot arm needs to be controlled during the operation. Specifically, when the flying robot reaches the operation demand position and hovers near the upper part of the high-altitude operation personnel, the flying robot detects the operation range of the tail end of the mechanical arm and the palm position of the high-altitude operation personnel to judge whether the tail end of the mechanical arm meets the operation requirement. If the tail end operation range of the mechanical arm meets the operation requirement, for example, the tail end operation range of the mechanical arm is basically flush with the palm of the high-altitude operation personnel, the next link is started, otherwise, the flying robot can adjust the position of the mechanical arm in the vertical direction by adjusting the mechanical arm lifting device until the position of the mechanical arm in the vertical direction is flush with the palm of the high-altitude operation personnel. The flying robot generally cooperates with the palm of the operator to perform cooperative work, and therefore the flying robot performs planning calculation of the robot arm movement trajectory by detecting information on the robot arm end position and the palm position of the high-altitude operator, calculates the movement trajectories of the robot arms, such as the two robot arms 111 and 112 shown in fig. 2, by inverse kinematics solution, and then controls the left robot arm 111 and the right robot arm 112 to reach the designated work positions, respectively.
According to the six-rotor aircraft, the two operation mechanical arms are carried, the system comprises a stereoscopic vision sensing system, a navigation positioning system, a flight control system and a mechanical arm control system, the advantages of large aerial visual field range, flexibility in movement and the like of the flying robot are fully utilized, and an operator controls the collaborative operation task of the flying robot and a human through upper limb actions and voice instructions. When the flying robot reaches the operation demand position and hovers near the upper part of an operator, the system can detect whether the position of the mechanical arm meets the operation requirement or not, and then the system adjusts the positions of the two mechanical arms in the vertical direction by adjusting the mechanical arm lifting device so as to realize the matching of the operation height of the mechanical arm of the flying robot and the position of the upper limbs of the operator and achieve the aim of increasing the adaptability of the mechanical arm with wider operation range.
The embodiment of the disclosure also provides an electronic device, and fig. 7 is a schematic structural diagram of the electronic device provided by the embodiment of the disclosure. As shown in fig. 7, the electronic device includes a processor and a memory, and the processor executes the steps of the cooperative work method between the flying robot and the human according to the above embodiment by calling a program or an instruction stored in the memory, so that the advantageous effects of the above embodiment are achieved, and details are not repeated here.
As shown in fig. 7, the electronic device may be arranged to comprise at least one processor 401, at least one memory 402 and at least one communication interface 403. The various components in the electronic device are coupled together by a bus system 404. The communication interface 403 is used for information transmission with an external device. It is understood that the bus system 404 is used to enable communications among the components. The bus system 404 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 404 in fig. 7.
It will be appreciated that the memory 402 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. In some embodiments, memory 402 stores the following elements: an executable unit or data structure, or a subset thereof, or an extended set of them, an operating system and an application program. In the embodiment of the present disclosure, the processor 401 executes the steps of the embodiments of the cooperative work method between a flying robot and a human provided by the embodiment of the present disclosure by calling a program or an instruction stored in the memory 402.
The cooperative work method of the flying robot and the human provided by the embodiment of the disclosure can be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the cooperative operation method of the flying robot and the human provided by the embodiment of the disclosure can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 402, and the processor 401 reads information in the memory 402 and performs the steps of the method in combination with its hardware.
The electronic device may further include one physical component or a plurality of physical components to execute the instructions generated by the processor 401 when executing the cooperative work method of the flying robot and the human provided by the embodiment of the present application. Different entity components can be arranged in the electronic device or outside the electronic device, such as a cloud server and the like. The various physical components cooperate with the processor 401 and the memory 402 to implement the functions of the electronic device in this embodiment.
The disclosed embodiments also provide a storage medium, such as a computer-readable storage medium, which stores a program or instructions for causing a computer to execute a cooperative work method of a flying robot and a human, including:
acquiring the human body pose of the aerial worker;
when the pose is judged to be matched with the set pose according to the human body pose of the high-altitude operation personnel, the position of the flying robot and the position of the high-altitude operation personnel are obtained;
determining an aerial flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel, and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the aerial flight path;
and acquiring an external voice command sent by the high-altitude operation personnel, and controlling the flying robot to cooperatively operate with the high-altitude operation personnel according to the external voice command.
Optionally, the computer executable instructions, when executed by a computer processor, may also be used to implement the technical solution of the cooperative work method of a flying robot and a human provided by any embodiment of the present disclosure.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments of the present disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present disclosure, which enable those skilled in the art to understand or practice the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A cooperative operation method of a flying robot and a person is characterized by comprising the following steps:
acquiring the human body pose of the aerial worker;
when the pose is judged to be matched with the set pose according to the human body pose of the high-altitude operation personnel, the position of the flying robot and the position of the high-altitude operation personnel are obtained;
determining an aerial flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel, and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the aerial flight path;
acquiring the operation range of the tail end of the mechanical arm of the flying robot and the palm position information of the high-altitude operation personnel;
adjusting the position of the mechanical arm in the vertical direction according to the end operation range of the mechanical arm and the palm position information until the position of the mechanical arm in the vertical direction is flush with the position of the palm of the high-altitude operation worker;
and acquiring an external voice command sent by the high-altitude operation personnel, and controlling the flying robot to cooperatively operate with the high-altitude operation personnel according to the external voice command.
2. The cooperative work method of a flying robot and a human as claimed in claim 1, further comprising, after controlling the flying robot to fly to the vicinity of the high-altitude worker according to the air flight path:
acquiring the distance between the flying robot and the high-altitude operation personnel;
and adjusting the hovering position of the flying robot according to the distance between the flying robot and the high-altitude operation personnel.
3. The cooperative work method of flying robots and people according to claim 1, wherein when the flying robots are controlled to cooperatively work with high-altitude workers according to the external voice commands, the method further comprises the following steps:
acquiring real-time operation information of a mechanical arm of the flying robot;
and adjusting the cooperative operation parameters of the mechanical arm according to the real-time operation information.
4. The cooperative work method of a flying robot and a human as claimed in claim 1, wherein the method further comprises, while controlling the flying robot to fly to the vicinity of the high-altitude worker according to the air flight path:
acquiring obstacle information in the surrounding environment of the flying robot;
and adjusting the flight path of the flying robot in real time according to the obstacle information.
5. The cooperative work method of a flying robot and a human as claimed in claim 1, wherein the method further comprises, while controlling the flying robot to fly to the vicinity of the high-altitude worker according to the air flight path:
acquiring a real-time flight pose of the flying robot;
and adjusting the actual flight pose of the flying robot according to the real-time flight pose.
6. The cooperative work method of flying robots and people as claimed in claim 1, further comprising, before acquiring the human body pose of the high-altitude worker:
acquiring working state information of internal devices of the flying robot;
and controlling the flying robot to stop working when judging that the device with abnormal working exists according to the working state information.
7. A cooperative work apparatus between a flying robot and a human being, comprising:
the pose acquisition module is used for acquiring the human body pose of the high-altitude operation personnel;
the position acquisition module is used for acquiring the position of the flying robot and the position of the high-altitude operation personnel when judging that the pose is matched with the set pose according to the human body pose of the high-altitude operation personnel;
the path planning module is used for determining an aerial flight path of the flying robot according to the position of the flying robot and the position of the high-altitude operation personnel and controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the aerial flight path;
the cooperative control module is used for acquiring an external voice command sent by the high-altitude operation personnel and controlling the flying robot and the high-altitude operation personnel to cooperatively operate according to the external voice command;
the position acquisition module is further used for controlling the flying robot to fly to the vicinity of the high-altitude operation personnel according to the air flight path, and then acquiring the tail end operation range of the mechanical arm of the flying robot and the palm position information of the high-altitude operation personnel; the cooperative control module is further used for adjusting the position of the mechanical arm in the vertical direction according to the operation range of the tail end of the mechanical arm and the palm position information until the position of the mechanical arm in the vertical direction is flush with the position of the palm of the high-altitude operation worker.
8. A flying robot comprising the flying robot-human cooperative working apparatus according to claim 7.
9. A flying robot as claimed in claim 8, comprising:
the flying robot comprises a flying robot main body, two mechanical arm lifting devices and two mechanical arms, wherein one end of each mechanical arm lifting device is fixed on the flying robot main body, the other end of each mechanical arm lifting device is provided with two mechanical arms, and the mechanical arm lifting devices are arranged in the vertical direction and are used for driving the mechanical arms to move relative to the flying robot main body in the vertical direction.
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| CN101646534A (en) * | 2007-06-27 | 2010-02-10 | 松下电器产业株式会社 | Apparatus and method for controlling robot arm, and robot and program |
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| US9658619B1 (en) * | 2016-03-31 | 2017-05-23 | Unmanned Innovation, Inc. | Unmanned aerial vehicle modular command priority determination and filtering system |
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| CN101646534A (en) * | 2007-06-27 | 2010-02-10 | 松下电器产业株式会社 | Apparatus and method for controlling robot arm, and robot and program |
| CN102219051A (en) * | 2011-04-29 | 2011-10-19 | 北京工业大学 | Method for controlling four-rotor aircraft system based on human-computer interaction technology |
| CN110667845A (en) * | 2019-09-27 | 2020-01-10 | 东南大学 | Valve screwing-oriented double-arm operation type flying robot system and method |
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