CN113681569A - Control system for upper limb part of intelligent robot - Google Patents
Control system for upper limb part of intelligent robot Download PDFInfo
- Publication number
- CN113681569A CN113681569A CN202111131889.3A CN202111131889A CN113681569A CN 113681569 A CN113681569 A CN 113681569A CN 202111131889 A CN202111131889 A CN 202111131889A CN 113681569 A CN113681569 A CN 113681569A
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- unit
- module
- control
- upper limb
- paw
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention relates to the field of intelligent robots, in particular to a control system for upper limb parts of an intelligent robot. The system comprises a client and a processing end, wherein the processing end comprises: a receiving module; a measurement module; a transmission module; a processing module; a drive module, comprising: the arm joint driving units are respectively arranged on arm joints in the upper limb part and are sequentially connected, and are used for controlling the arm joints according to the control instruction and outputting arm joint control results to the processing module; and the paw driving unit is arranged on the paw in the upper limb part and used for controlling the paw according to the control instruction and outputting a paw control result to the processing module. The beneficial effects of the above technical scheme are: the joint of the upper limb is effectively controlled, and the flexibility of the upper limb part of the robot is improved.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a control system for upper limb parts of an intelligent robot.
Background
In the prior art, the robot is usually controlled by an upper limb part of the robot through an upper computer/a remote controller, the realization function of a lower computer of the robot is often simpler, signals required to be processed are not complicated, and the robot can not automatically process some complicated functions because the upper limb part of the robot is not flexible enough, the processing capacity of the robot is single, and the processing performance is not high.
Disclosure of Invention
In order to solve the above existing problems, a control system for an upper limb part of an intelligent robot is provided, and the control system is characterized in that the control system comprises a client and a processing terminal, the client is used for sending an instruction, and the processing terminal is arranged on the intelligent robot, is remotely connected with the client, and is used for receiving the instruction and controlling the upper limb part according to the instruction;
the processing end comprises:
the receiving module is used for receiving the instruction sent by the client;
the measuring module is used for acquiring the space information of the intelligent robot;
the transmission module is respectively connected with the measurement module and the receiving module and is used for receiving and outputting the instruction and the environment information;
the processing module is connected with the transmission module and used for generating a control instruction for controlling the movement of the upper limb part according to the instruction and the environment information;
a driver module, said driver module connected to said processing module, comprising:
the arm joint driving units are respectively arranged on arm joints in the upper limb part and are sequentially connected, and are used for controlling the arm joints according to the control instruction and outputting arm joint control results to the processing module;
and the paw driving unit is arranged on the paw in the upper limb part and used for controlling the paw according to the control instruction and outputting a paw control result to the processing module.
Preferably, the measurement module includes:
the first measurement unit is used for acquiring environmental information of the intelligent robot;
the second measurement unit is used for acquiring the position information of the intelligent robot;
and the third measurement unit is used for acquiring the coordinate information of the intelligent robot in the three-axis accelerometer.
Preferably, the processing module includes:
the first processing unit is connected with the transmission module and used for generating a first control instruction for controlling the upper limb part to stop according to the spatial information;
and the second processing unit is connected with the transmission module and is used for generating a second control instruction for controlling the movement of the upper limb part according to the client information.
Preferably, the processing module includes:
the first line concentration unit is respectively connected with the first processing unit and the driving module and is used for transmitting the first control instruction for controlling the stop of the upper limb part;
and the second line concentration unit is respectively connected with the second processing unit and the driving module and is used for transmitting the second control instruction for controlling the movement of the upper limb part.
Preferably, the driving module includes:
and the joint control unit is respectively connected with the first line concentration unit, the second line concentration unit and the arm joint driving unit and is used for outputting the first control instruction or the second control instruction to the arm joint driving unit, controlling the arm joint to stop or move and outputting the joint control result.
Preferably, the driving module further comprises:
a neck drive unit, neck drive unit sets up intelligent robot's neck joint department, neck the one end of control unit with first line concentration unit connects, neck the other end of control unit with joint the control unit is connected, be used for the basis first control command control the neck joint, and will first control command output extremely joint the control unit.
Preferably, the processing module further includes:
and the input end of the power supply unit is connected with the first line concentration unit, and the output end of the power supply unit is connected with the driving module and used for supplying power to the driving module according to the first control instruction.
Preferably, the gripper driving unit comprises:
the paw control units are connected with the processing module and the paws and used for controlling the paws according to the control instructions and outputting paw control results to the processing module;
a camera device arranged on the paw for acquiring the position information of the paw and outputting the position information to the processing module
And the force sensor is arranged on the paw and used for acquiring the acting force condition of the paw and outputting the acting force condition to the processing module.
Preferably, the driving module further comprises:
the climbing hook is arranged between the two arm joint driving units, is respectively connected with the transmission module, the first line concentration unit and the second line concentration unit, and is used for controlling the climbing hook according to the control command.
Preferably, the driving module further comprises:
the tail end sensing unit is arranged on the arm joint corresponding to the tail end of the arm part, is respectively connected with the first line concentration unit and the transmission module, is used for acquiring the motion state of the tail end joint, and outputs the motion state to the processing module through the transmission module.
The beneficial effects of the above technical scheme are: the joint of the upper limb is effectively controlled, and the flexibility of the upper limb part of the robot is improved.
Drawings
FIG. 1 is a schematic circuit diagram of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a joint control unit in accordance with a preferred embodiment of the present invention;
fig. 3 is a schematic diagram of a power supply unit of a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
A control system of an upper limb part of an intelligent robot is disclosed, as shown in figure 1, the control system comprises a client 1 and a processing end, the client 1 is used for sending instructions, the processing end is arranged on the intelligent robot and is remotely connected with the client 1 and is used for receiving the instructions and controlling the upper limb part according to the instructions;
the processing end comprises:
the receiving module 2 is used for receiving the instruction sent by the client 1;
the measuring module 3 is used for acquiring the space information of the intelligent robot;
the transmission module 4 is respectively connected with the measurement module 3 and the receiving module 2 and is used for receiving and outputting the instruction and the environmental information;
the processing module 5 is connected with the transmission module 4 and is used for generating a control instruction for controlling the movement of the upper limb part according to the instruction and the environmental information;
a driving module 6, the driving module 6 is connected with the processing module 5, and comprises:
a plurality of arm joint driving units 61 respectively arranged on arm joints of the upper limb part and sequentially connected for controlling the arm joints according to the control instruction and outputting the arm joint control result to the processing module 5;
and a gripper driving unit 62 provided on the gripper in the upper limb portion for controlling the gripper according to the control instruction and outputting the gripper control result to the processing module 5.
Specifically, in the actual operation process, if snatch the article, drive the article and remove, loosen the operation processes such as article, often need arm and paw cooperation motion in the upper limbs part of intelligent robot, set up a client 1 from this, operating personnel sends the instruction that actual operation needs through client 1, receiving module 2 receives the instruction, measuring module 3 obtains intelligent robot's spatial information, processing module 5 carries out the analysis to spatial information, just can generate the control command of the control upper limbs part motion that matches with client 1 send instruction, in order to reach operating personnel's operation demand.
Further, considering that the receiving module 2 needs to receive the instruction sent by the client 1 in real time in the process of starting the intelligent robot and controlling the upper limb movement of the intelligent robot, the measuring module 3 needs to acquire spatial information in real time, and data in the spatial information is complex, a transmission module 4 is arranged so as to ensure the accuracy of the instruction, the data and the like in the transmission process, and here, a gigabit network can be selected as the transmission module 4 to complete the transmission of the signal and the data.
In a preferred embodiment of the present invention, the measurement module 3 comprises:
a first measurement unit 31 for acquiring environmental information of the intelligent robot;
a second measurement unit 32 for acquiring position information of the intelligent robot;
and a third measurement unit 33, configured to acquire coordinate information of the intelligent robot in the three-axis accelerometer.
Specifically, considering that the spatial information of the intelligent robot affects the specific control of the processing module 5 on the upper limb part, a sensing head including a plurality of camera sets is used as the first measuring unit 31 to obtain the environment image of the intelligent robot and process the environment image to obtain the environment information required by the intelligent robot, a GPS antenna is used as the second measuring unit 32 to obtain the position information of the intelligent robot, a positioning inertial measuring unit is used as the third measuring unit 33 to obtain the coordinate information of the intelligent robot in the three-axis accelerometer, and the spatial information of the intelligent robot can be obtained by integrating the information obtained by the three measuring units.
Further, the positioning inertial measurement unit serving as the third measurement unit 33 can not only acquire coordinate information, but also provide auxiliary calculation for the processing module 5 and assist power distribution in the intelligent robot.
In a preferred embodiment of the present invention, the processing module 5 comprises:
the first processing unit 51, the first processing unit 51 is connected with the transmission module 4, and is used for generating a first control instruction for controlling the upper limb part to stop according to the spatial information;
and the second processing unit 52, the second processing unit 52 is connected with the transmission module 4, and is used for generating a second control instruction for controlling the movement of the upper limb part according to the information of the client 1.
Specifically, in the actual operation process, for example, when the object is moved to a designated position, not only the movement of the upper limb portion of the intelligent robot needs to be controlled, but also the upper limb portion of the intelligent robot needs to be controlled to stop in time, in order to improve the accuracy of the operation, the first processing unit 51 and the second processing unit 52 are disposed in the processing module 5, and the logic driver 50 is disposed between the first processing unit 51 and the second processing unit 52, thereby realizing the accurate control of the movement and stop of the upper limb portion.
In a preferred embodiment of the present invention, the processing module 5 comprises:
the first line concentration unit 53, the first line concentration unit 53 is respectively connected with the first processing unit 51 and the driving module 6, and is used for transmitting a first control instruction for controlling the upper limb part to stop;
the second line concentrating unit 54, the second line concentrating unit 54 is respectively connected with the second processing unit 52 and the driving module 6, and is used for transmitting a second control instruction for controlling the movement of the upper limb part.
Specifically, in the actual assembly process of the intelligent robot, assembly errors caused by too many lines often occur, and the lines have a certain weight and also affect the operation accuracy and energy consumption of the intelligent robot, so in the circuit design process, it is often necessary to consider reducing the lines as much as possible and optimizing the circuit design, and therefore, a first line concentration unit 53 and a second line concentration unit 54 are provided, and a plurality of joint driving units can receive control commands through the first line concentration unit 53 and the second line concentration unit 54.
In a preferred embodiment of the present invention, as shown in fig. 2, the driving module 6 further includes:
and the joint control unit 63 is connected with the first line concentration unit 53, the second line concentration unit 54 and the arm joint driving unit 61 respectively, and is used for outputting a first control instruction or a second control instruction to the arm joint driving unit 61, controlling the arm joint to stop or move and outputting a joint control result.
In a preferred embodiment of the present invention, the driving module 6 further includes:
and the neck driving unit 64 is arranged at the neck joint of the intelligent robot, one end of the neck control unit is connected with the first line concentration unit 53, and the other end of the neck control unit is connected with the joint control unit 63 and used for controlling the neck joint according to the first control instruction and outputting the first control instruction to the joint control unit 63.
Specifically, when the upper limb part of the intelligent robot is controlled to stop moving, in order to keep the motion consistency of the intelligent robot and avoid the intelligent robot from reaching the upper limit structure of kinematics, when the upper limb part stops moving, the neck part is required to stop moving along with the upper limb part, therefore, a neck driving unit 64 is provided, the neck driving unit 64 comprises a neck auxiliary electronic control 641 and a neck motor controller 642, one end of the neck driving unit is connected with the first line concentration unit 53, the other end of the neck unit comprises four output lines, a first output line 01, a second output line 02, a third output line 03 and a fourth output line 04, which are all connected with the joint control unit 63, and a first control command for controlling the arm part to stop is output to the joint control unit 63.
Specifically, the second hub unit 54 outputs the second control instruction to the joint control unit 63 through the fifth output line 05.
Further, the joint control unit 63 includes a motor controller 631 and an auxiliary electronic control unit 632, an input end of the motor controller 631 is connected to the second output line 02, the third output line 03, the fourth output line 04, and the fifth output line 05, respectively, and an input end of the auxiliary electronic control unit 632 is connected to the first output line 01, the second output line 02, and the fifth output line 05, respectively, for receiving the first control instruction and the second control instruction.
Further, the arm joint drive unit 61 includes: the electric arm joint control device comprises a motor 611, an increment encoder 612, a brake encoder 613, an absolute value encoder 614 and a current collecting ring 615, wherein the motor 611 is connected with a motor controller 631, the motor 611 is controlled to drive the arm joint to rotate according to instructions, the increment encoder 612 is also connected with an electric control controller and is used for controlling the motion angle of the arm part, the brake encoder 613 and the absolute value encoder 614 are both connected with an auxiliary electric control 632, the brake encoder 613 is used for controlling the arm part according to the control instructions, the absolute value encoder 614 is used for controlling the motion displacement of the hand part, and the current collecting ring 615 is used for connecting adjacent arm joints, so that each arm joint can continuously rotate, and the specific operation of the arm part cannot be influenced due to kinematic limitation.
In a preferred embodiment of the present invention, as shown in fig. 3, the processing module 5 further includes:
and the input end of the power supply unit 55 is connected with the first line concentration unit 53, and the output end of the power supply unit 55 is connected with the driving module 6 and used for supplying power to the driving module 6 according to the first instruction.
Specifically, the input end of the power supply unit 55 is connected to the first line concentration unit 53 through a command line 02, which includes an emergency stop control component 551, a high voltage power distribution component 52 and a low voltage power distribution component 553, the high voltage power distribution component 552 outputs a first power supply voltage to the motor controller 631 through a sixth output line 06, the low voltage power distribution component outputs a second power supply voltage and a third power supply voltage through a seventh output line 07 and an eighth output line 08, the motor controller 631 is connected to the sixth output line 06 and the seventh output line 07 respectively, and is configured to receive the second power supply voltage, the auxiliary electronic control 632 is connected to the seventh output line 07, when the emergency stop control component receives the first control command, the motor controller 631 no longer supplies power to the motor 611, the motor 611 stops rotating, and the second power supply voltage at this time allows the motor controller 631 and the auxiliary electronic control 632 to keep electrified, that is, the upper limb of the intelligent robot is electrified, but is stationary and does not move.
In a preferred embodiment of the present invention, the gripper driving unit 62 comprises:
the paw control units 621 are connected with the processing module 5 and the paws, and are used for controlling the paws according to the control instructions and outputting paw control results to the processing module 5;
a camera device 622, the camera device 622 is disposed on the gripper for obtaining the position information of the gripper and outputting to the processing module 5
And a force sensing device 623, wherein a force sensor is arranged on the paw, and is used for acquiring the acting force condition of the paw and outputting the acting force condition to the processing module 5.
Specifically, the paw driving unit 62 includes a paw control unit 621 for controlling the motion state of the paw according to the control command, such as the opening and closing of the paw, a camera device 622 is disposed in the middle of the paw to obtain the position information of the paw, and a force sensing device 623 is disposed on the paw to obtain the acting force condition of the paw, so as to precisely control the acting force between the upper limb portion and the outside.
Further, in the circuit structure design process, the gripper control unit 621, the camera device 622, and the force sensing device 623 of the gripper driving unit 62 are all connected to the eighth output circuit 08 of the power supply unit 55 to implement power supply, and the camera device 622 is connected to the transmission module 4, and the gripper control unit 621, the force sensing device 623 are connected to the seventh output circuit 07 to implement the control process.
In a preferred embodiment of the present invention, the driving module 6 further includes:
and the climbing hook 64 is arranged between the two arm joint driving units 61, is connected with the transmission module 4, the first line concentration unit 53 and the second line concentration unit 54 respectively, and is used for controlling the climbing hook 64 according to a control instruction.
Specifically, 8 arm joint drive units 61 are provided here, and a climbing hook 64 is provided between the seventh arm joint drive unit 61 and the 8 th arm joint drive unit 61, the climbing hook 64 including: the second motor 611 and a second motor controller 631 controlling the second motor 611, the climbing hook 64 is respectively connected with the ninth output line 09 of the transmission module 4, the second output line 02 and the third output line 03 of the first line concentration unit 53, and the fifth output line 05 of the second line concentration unit 54, and is used for controlling the climbing hook 64 according to the control instruction and outputting the control result to the transmission module 4.
In a preferred embodiment of the present invention, the driving module 6 further includes:
and the tail end sensing unit 65 is arranged on the arm joint corresponding to the tail end of the arm part, is respectively connected with the first line concentration unit 53 and the transmission module 4, is used for acquiring the motion state of the tail end joint, and outputs the motion state to the processing module 5 through the transmission module 4.
Specifically, the end sensing unit 65 acquires the motion state of the end joint, is respectively connected with the first output line 01 and the ninth output line 09 of the transmission module 4, receives the motion state of the end joint according to the control instruction, and is further connected with the eighth output line 08 to realize power supply to the module sensing unit.
Further, the third measurement unit 33 can implement the power distribution function, so that the output end of the third measurement unit 33 can be connected to the camera device 622 through a tenth output line 010 auxiliary electronic control 632, the second motor controller 631 and the camera device 622 to implement power supply.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (10)
1. The control system for the upper limb part of the intelligent robot is characterized by comprising a client and a processing end, wherein the client is used for sending an instruction, and the processing end is arranged on the intelligent robot, is remotely connected with the client, and is used for receiving the instruction and controlling the upper limb part according to the instruction;
the processing end comprises:
the receiving module is used for receiving the instruction sent by the client;
the measuring module is used for acquiring the space information of the intelligent robot;
the transmission module is respectively connected with the measurement module and the receiving module and is used for receiving and outputting the instruction and the environment information;
the processing module is connected with the transmission module and used for generating a control instruction for controlling the movement of the upper limb part according to the instruction and the environment information;
a driver module, said driver module connected to said processing module, comprising:
the arm joint driving units are respectively arranged on arm joints in the upper limb part and are sequentially connected, and are used for controlling the arm joints according to the control instruction and outputting arm joint control results to the processing module;
and the paw driving unit is arranged on the paw in the upper limb part and used for controlling the paw according to the control instruction and outputting a paw control result to the processing module.
2. A control system for an intelligent robotic arm portion as claimed in claim 1, wherein said measurement module includes therein:
the first measurement unit is used for acquiring environmental information of the intelligent robot;
the second measurement unit is used for acquiring the position information of the intelligent robot;
and the third measurement unit is used for acquiring the coordinate information of the intelligent robot in the three-axis accelerometer.
3. A control system for an intelligent robotic arm portion as claimed in claim 1, wherein said processing module includes therein:
the first processing unit is connected with the transmission module and used for generating a first control instruction for controlling the upper limb part to stop according to the spatial information;
and the second processing unit is connected with the transmission module and is used for generating a second control instruction for controlling the movement of the upper limb part according to the client information.
4. A control system for an intelligent robotic arm portion as claimed in claim 3, wherein said processing module includes therein:
the first line concentration unit is respectively connected with the first processing unit and the driving module and is used for transmitting the first control instruction for controlling the stop of the upper limb part;
and the second line concentration unit is respectively connected with the second processing unit and the driving module and is used for transmitting the second control instruction for controlling the movement of the upper limb part.
5. A control system for an intelligent robot arm section according to claim 4, wherein said drive module comprises:
and the joint control unit is respectively connected with the first line concentration unit, the second line concentration unit and the arm joint driving unit and is used for outputting the first control instruction or the second control instruction to the arm joint driving unit, controlling the arm joint to stop or move and outputting the joint control result.
6. A control system for an intelligent robotic arm portion as claimed in claim 5, further comprising in said drive module:
a neck drive unit, neck drive unit sets up intelligent robot's neck joint department, neck the one end of control unit with first line concentration unit connects, neck the other end of control unit with joint the control unit is connected, be used for the basis first control command control the neck joint, and will first control command output extremely joint the control unit.
7. A control system for an intelligent robotic arm portion as claimed in claim 4, wherein said processing module further comprises:
and the input end of the power supply unit is connected with the first line concentration unit, and the output end of the power supply unit is connected with the driving module and used for supplying power to the driving module according to the first control instruction.
8. A control system for an intelligent robot arm section according to claim 1, wherein said gripper drive unit comprises:
the paw control units are connected with the processing module and the paws and used for controlling the paws according to the control instructions and outputting paw control results to the processing module;
a camera device arranged on the paw for acquiring the position information of the paw and outputting the position information to the processing module
And the force sensor is arranged on the paw and used for acquiring the acting force condition of the paw and outputting the acting force condition to the processing module.
9. A control system for an intelligent robot arm section according to claim 4, further comprising in the drive module:
the climbing hook is arranged between the two arm joint driving units, is respectively connected with the transmission module, the first line concentration unit and the second line concentration unit, and is used for controlling the climbing hook according to the control command.
10. A control system for an intelligent robot arm section according to claim 4, further comprising in the drive module:
the tail end sensing unit is arranged on the arm joint corresponding to the tail end of the arm part, is respectively connected with the first line concentration unit and the transmission module, is used for acquiring the motion state of the tail end joint, and outputs the motion state to the processing module through the transmission module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111131889.3A CN113681569A (en) | 2021-09-26 | 2021-09-26 | Control system for upper limb part of intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111131889.3A CN113681569A (en) | 2021-09-26 | 2021-09-26 | Control system for upper limb part of intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113681569A true CN113681569A (en) | 2021-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111131889.3A Withdrawn CN113681569A (en) | 2021-09-26 | 2021-09-26 | Control system for upper limb part of intelligent robot |
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| Country | Link |
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| CN (1) | CN113681569A (en) |
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2021
- 2021-09-26 CN CN202111131889.3A patent/CN113681569A/en not_active Withdrawn
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Application publication date: 20211123 |