TWI416071B - System and method for controlling a biped robot through a mobile phone - Google Patents

Abstract

The present invention provides a method for controlling a biped robot through a mobile phone. The method includes: obtaining a route map of the biped robot; obtaining a current position of the biped robot on the route map through a global position system of the mobile phone; setting a destination position of the biped robot on the route map; computing a best path between the current position and the destination position; computing sole positions to be trodden by the biped robot on the best path; controlling the biped robot to tread on the sole positions until the biped robot moves to be destination position. A system for controlling a biped robot through a mobile phone is also provided.

Description

System and method for controlling biped robot using mobile phone

The present invention relates to a system and method for controlling a biped robot using a mobile phone.

A robot is an artificial machine that can perform tasks automatically. The robot can accept human command, execute pre-programmed programs, or act on principles outlined by artificial intelligence techniques. Robots perform actions that replace or assist humans, such as manufacturing, construction, or dangerous work.

For robots, their path planning is a primary concern for technicians in the robotics field. In particular, accurately walking along a predetermined path and smoothly and reliably achieving a transition between straight and curved paths is a capability that the robot must have. At present, humans have developed two types of walking robots, namely a wheeled robot that uses wheels to walk and a two-legged robot that walks with feet. For wheeled robots, the walking device is relatively simple, economical and easy to control. Therefore, wheeled robots are still widely used at present. For the two-legged robot, the current walking mode can only walk on the flat ground. For the rugged ground, it is easy for the two-legged robot to wrestle. Moreover, for current robots, control can only be performed at close range due to the limitation of the control signal.

In view of the above, it is necessary to provide a system and method for controlling a two-legged robot using a mobile phone, which can stably control the walking of a two-legged robot and can perform remote control.

A system for controlling a biped robot using a mobile phone, the mobile phone comprising a global positioning system, the system comprising: an acquisition module for acquiring a full map of a biped robot walking route, and acquiring a biped robot through a global positioning system a current location on the map of the whole process; a setting module, configured to set a destination location of the biped robot walking on the whole map, and a calculation module, configured to calculate a current location from the entire map according to the map The best walking path to the destination location, and calculate the position of all the feet that the biped robot should step on according to the optimal walking path; and the control module for controlling the position of the biped robot to the foot that has not yet been stepped down Until you reach the destination.

A method for controlling a biped robot by using a mobile phone, the method comprising the steps of: obtaining a full map of a biped robot walking route: obtaining a current position of the biped robot on the entire map through a global positioning system in the mobile phone Setting a destination position of the biped robot walking on the whole map; calculating an optimal walking path from the current position to the destination position according to the whole map; calculating a biped according to the optimal walking path All the foot positions that the robot should step on; and control the biped robot to the position of the foot that has not been stepped down until it reaches the destination position.

Compared with the prior art, the system and method for controlling a biped robot by using a mobile phone utilizes a built-in global positioning system of the mobile phone to stably control the walking of the biped robot, and can utilize the mobile wireless communication network at the remote workstation. Control the biped robot .

1‧‧‧Two-legged robot

2‧‧‧Network

3‧‧‧ Remote workstation

11‧‧‧Handheld

120‧‧‧Global Positioning System

130‧‧‧Photographing equipment

111‧‧‧Getting module

112‧‧‧Processing module

113‧‧‧Setup module

114‧‧‧Computation Module

115‧‧‧ Shooting module

116‧‧‧Control Module

117‧‧‧Judgement module

118‧‧‧Help Module

S11‧‧‧Get the full map of the biped robot walking route

S12‧‧‧Image digital processing of the acquired map

S13‧‧‧Get the current position of the biped robot

S14‧‧‧Set the destination location for the biped robot to walk

S15‧‧‧ Calculate the best walking path from the current position to the destination location

S16‧‧‧ Calculate all foot positions that the biped robot should step on

S17‧‧‧Topographical map of the next foot position where the biped robot has not yet stepped down

S18‧‧‧Image digital processing of the topographic map of the next foot position

S19‧‧‧ Calculate the angle at which the foot of the biped robot should be stepped on

S20‧‧‧Control the two-legged robot to the next foot position

S21‧‧‧Is it successful to go to the next foot position?

S22‧‧‧Whether to go to the destination

S23‧‧‧ sent a distress signal to the remote workstation for help

1 is a system architecture diagram of a preferred embodiment of a system for controlling a biped robot using a handset.

Figure 2 is a functional block diagram of the mobile phone of Figure 1.

3 is a flow chart of a preferred embodiment of a method for controlling a biped robot using a mobile phone according to the present invention.

Figure 4 is a schematic diagram of the processed full map.

Figure 5 is a schematic diagram of the current location and destination location in the full map.

Figure 6 is a schematic illustration of the optimal walking path.

1 is a system architecture diagram of a preferred embodiment of a system for controlling a biped robot using a handset. The system architecture includes a two-legged robot 1, a network 2 and a remote workstation 3. The two-legged robot 1 is equipped with a mobile phone 11 on its body. The handset 11 is interconnected with the remote workstation 3 via the network 2. The user can control the mobile phone 11 through the network 2 on the remote workstation 3, thereby controlling the walking of the biped robot 1, and acquiring information detected by the biped robot 1 through the mobile phone 11, such as live images, photos or Sound, etc.

The network 2 is a mobile phone wireless communication network, such as a global system for mobile communication (GSM) network or a code division multiple access (CDMA) network.

The remote workstation 3 can be any device capable of wirelessly communicating with the mobile phone 11, including a mobile phone, a computer, a personal digital assistant (PDA), and the like.

As shown in FIG. 2, it is a functional module diagram of the mobile phone in FIG. The mobile phone 11 includes a global position system (GPS) 120 and a photographing device 130. The GPS system 120 is used to locate the biped robot 1 to obtain the current position of the biped robot 1. The photographing device 130 is used to photograph the terrain of the walking path of the bipedal robot 1. In the preferred embodiment, the photographing device 130 can also be a photographing device that is provided by the two-legged robot 1 .

The mobile phone 11 further includes an acquisition module 111, a processing module 112, a setting module 113, a computing module 114, a shooting module 115, a control module 116, a determining module 117, and a help module 118.

The obtaining module 111 is configured to acquire a full map of the walking path of the biped robot 1 . The entire map can be stored in the memory of the mobile phone 11 in advance, and the corresponding acquisition module 111 directly obtains the full map from its memory 11. The acquisition module 111 can also obtain a schematic diagram of the required full map from the Internet through the network 2.

The processing module 112 is configured to perform image digit processing on the acquired global map. Performing image digital processing on the acquired global map includes: converting the acquired full map into black and white; dividing the map into columns according to the resolution of the whole map; taking each grid The inner level average is used as the level value of the grid. As shown in FIG. 4, it is a full map processed by the processing module 112.

The acquisition module 111 is further configured to acquire the current position of the bipedal robot 1 on the whole map through the GPS system 120. As shown in FIG. 5, it is a schematic diagram of the current location and the destination location in the entire map. Among them, point A is the current position of the bipedal robot 1 on the whole map, and point B is the destination position of the bipedal robot 1 walking on the whole map.

The setting module 113 is configured to set a destination position of the bipedal robot 1 to travel on the whole map.

The calculation module 114 is configured to calculate an optimal walking path from the current position to the destination position according to the whole map, and calculate all the feet that the bipedal robot 1 should step on according to the optimal walking path. position. In the preferred embodiment, the optimal walking path is calculated based on the gradation values of the grids on the entire map. As shown in FIG. 6, a schematic diagram of the optimal walking path calculated by the computing module 114. The optimal walking path is the shortest distance between the two points A and B, and among the grids including the optimal walking path, the gradation values between the adjacent two grids should be the closest. In the preferred embodiment, all of the foot positions are calculated according to the optimal walking path and the size of the foot of the bipedal robot 1, and the calculated position of each foot should be located in the optimal walking path. Within a certain range of the two sides, the left foot position and the right foot position, respectively, and the distance between the adjacent left foot position and the right foot position should be smaller than the maximum range that the two-legged robot 1 can span.

The shooting module 115 is configured to capture, by the photographing device 130, a topographic map of the position of the next foot that the bipedal robot 1 has not stepped on.

The processing module 112 is further configured to shadow the topographic map of the position of the next foot. Like digital processing. The image digital processing of the topographic map of the next foot position includes: converting the topographic map of the next foot position into black and white; dividing the topographic map of the foot position into a grid according to the resolution of the top position of the foot position. Form; takes the average of the gradations in each grid as the gradation value of the grid.

The calculation module 114 is further configured to calculate an angle at which the foot of the bipedal robot 1 should be stepped according to the topographic map of the position of the next foot. The angle at which the next step of the foot should be depressed is calculated according to the gradation value of each mesh in the topographic map of the position of the foot at the next step. For example, the calculation module 114 first calculates the average value of the gradation of each grid in the top half of the topographic map of the next foot position and the gradation average of the grids in the second half of the topographic map of the next foot position. Then, according to the calculated difference between the average value of the gradation of each grid in the first half and the gradation average of the grids in the second half, the inclination angle of the terrain of the foot is calculated, and then the next step is calculated according to the inclination angle. The angle of the step.

The control module 116 is configured to control the biped robot 1 to go to the next foot position according to the angle at which the foot should be depressed. In the preferred embodiment, the next foot position includes a left foot position and a right foot position. When the next foot position is the left foot position, the control module 116 controls the biped robot 1 to take the left foot to the next foot position; when the next foot position is the right foot position, the control module 116 Control the biped robot 1 to take the right foot and go to the next position of the foot. After the control module 116 controls the bipedal robot 1 to go to the next foot position, the remote workstation 3 can transmit the bipedal robot 1 through the mobile phone 11 to return on-site information, such as live images, photos or sounds, as needed.

The determining module 117 is configured to determine whether the biped robot 1 successfully goes to the next The step foot position and the judgment of whether the biped robot 1 goes to the destination position.

The help module 118 is configured to issue a distress signal to the remote workstation 3 for help when the biped robot 1 does not successfully go to the next foot position. For example, when the bipedal robot 1 is set for mine clearance, if the bipedal robot 1 steps on a mine, the bipedal robot 1 can transmit important on-site information back to the remote workstation 3 via the mobile phone 11. And a distress signal is sent to the remote workstation 3 through the help module 118.

As shown in FIG. 3, it is a flow chart of a preferred embodiment of the method for controlling a biped biped robot 1 using a mobile phone. First, in step S11, the acquisition module 111 acquires a full map of the walking path of the bipedal robot 1.

In step S12, the processing module 112 performs image digit processing on the acquired global map. In the preferred embodiment, performing image digital processing on the acquired global map includes the following steps: converting the acquired full map into black and white; and dividing the map into columns according to the resolution of the global map. Form; takes the average of the gradations in each grid as the gradation value of the grid.

In step S13, the acquisition module 111 acquires the current position of the bipedal robot 1 on the entire map through the GPS system 120.

In step S14, the setting module 113 sets the destination position of the biped robot 1 on the whole map.

In step S15, the calculation module 114 calculates an optimal walking path from the current position to the destination position according to the whole map. In the preferred embodiment, the optimal walking path is calculated based on the gradation values of the grids on the entire map.

In step S16, the calculation module 114 calculates all the foot positions that the bipedal robot 1 should step on according to the optimal walking path. In the preferred embodiment, all of the foot positions are calculated according to the optimal walking path and the size of the foot of the bipedal robot 1, and the calculated position of each foot should be located in the optimal walking path. Within a certain range of the two sides, the left foot position and the right foot position, respectively, and the distance between the adjacent left foot position and the right foot position should be smaller than the maximum range that the two-legged robot 1 can span.

In step S17, the photographing module 115 photographs, through the photographing device 130, a topographic map of the position of the next foot that the bipedal robot 1 has not stepped on.

In step S18, the processing module 112 performs image digital processing on the topographic map of the position of the next foot. In the preferred embodiment, the image digital processing of the topographic map of the next foot position includes the following steps: converting the topographic map of the next foot position into black and white; according to the resolution of the topographic map of the next foot position Divide it into a grid form by row and column; take the average of the gradation in each grid as the gradation value of the grid.

In step S19, the calculation module 114 calculates the angle at which the foot of the biped robot 1 should be stepped according to the topographic map of the position of the next foot. In the preferred embodiment, calculating the angle at which the sole foot should be depressed includes the following steps: calculating the average value of the gradation of each of the grids in the top half of the topographic map of the next step of the foot and the gradation of each grid in the latter half Average value; calculate the inclination angle of the terrain of the sole of the foot according to the calculated difference between the average value of the gradation of each grid in the first half and the gradation average of the grids in the second half; calculate the next step according to the inclination angle The angle of the step.

In step S20, the control module 116 controls the biped robot 1 to go to the next foot position according to the angle at which the foot should be depressed.

In step S21, the determination module 117 determines whether the bipedal robot 1 has successfully reached the next position of the foot.

In step S22, when the biped robot 1 successfully walks to the next foot position, the judging module 117 judges whether the biped robot 1 has reached the destination position.

In step S23, when the bipedal robot 1 does not successfully go to the next foot position, the help module 118 sends a distress signal to the remote workstation 3 for help, and ends the process.

In step S22, when the bipedal robot 1 does not go to the destination position, it returns to step S17 to retake the topographic map of the next foot position that the bipedal robot 1 has not stepped on; when the bipedal robot 1 goes When the location is reached, the process ends.

The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to be limiting, and the present invention will be described in detail with reference to the preferred embodiments thereof, and those skilled in the art should understand that the technical solutions of the present invention may be modified or substituted. Neither should the spirit and scope of the technical solutions of the present invention be deviated.

S11‧‧‧Get the full map of the biped robot walking route

S12‧‧‧. Image digital processing of the acquired map

S13‧‧‧Get the current position of the biped robot

S14‧‧‧Set the destination location for the biped robot to walk

S15‧‧‧ Calculate the best walking path from the current position to the destination location

S16‧‧‧ Calculate all foot positions that the biped robot should step on

S17‧‧‧Topographical map of the next foot position where the biped robot has not yet stepped down

S18‧‧‧Image digital processing of the topographic map of the next foot position

S19‧‧‧ Calculate the angle at which the foot of the biped robot should be stepped on

S20‧‧‧Control the two-legged robot to the next foot position

S21‧‧‧Is it successful to go to the next foot position?

S22‧‧‧Whether to go to the destination

S23‧‧‧ sent a distress signal to the remote workstation for help

Claims (7)

A system for controlling a biped robot using a mobile phone, the system comprising: an acquisition module for acquiring a full map of a biped robot walking route, and acquiring a biped robot through the global positioning system in the mobile phone a current position on the map; a setting module, configured to set a destination position of the biped robot walking on the whole map, and a calculation module, configured to calculate from the current position to the destination according to the whole map calculation The optimal walking path of the position, and calculating all the foot positions that the biped robot should step on according to the optimal walking path; the shooting module is used for photographing the topographic map of the next foot position that the biped robot has not stepped on; The processing module is configured to perform image digital processing on the topographic map of the position of the next foot; the calculation module is further configured to calculate the foot of the biped robot according to the topographic map of the position of the next foot. Angle; and a control module for controlling the biped robot to go to the next foot position according to the angle at which the sole foot should be stepped down Until you go to the destination location. The system for controlling a biped robot using a mobile phone according to the first aspect of the patent application, wherein the processing module is further configured to perform image digital processing on the acquired full map. A system for controlling a biped robot using a mobile phone as described in claim 1 The image digital processing performed by the processing module on the topographic map of the next foot position includes: converting the topographic map of the next foot position into black and white; according to the resolution of the topographic map of the next foot position Dividing into rows according to rows and columns; and taking the average of the gradations in each grid as the gradation value of the grid. The system for controlling a biped robot using a mobile phone according to claim 3, wherein the calculating of the angle at which the computing module should step on the next step comprises: calculating a topographic map of the position of the next step of the foot. The average of the gradation of each grid in the first half and the gradation average of the grids in the second half; according to the calculated average of the gradation of each grid in the first half and the gradation of the gradation of the grid in the second half The degree of difference is used to calculate the tilt angle of the terrain of the sole of the foot; and the angle at which the sole foot should be depressed is calculated according to the tilt angle. A method for controlling a biped robot by using a mobile phone, the method comprising the steps of: obtaining a full map of a biped robot walking route; and obtaining a current position of the biped robot on the entire map through a global positioning system in the mobile phone; Setting a destination position of the biped robot walking on the whole map; calculating an optimal walking path from the current position to the destination position according to the whole map; calculating a biped according to the optimal walking path The position of all the feet that the robot should step on; take a topographic map of the position of the next foot that the biped robot has not stepped on; perform image digital processing on the topographic map of the position of the next foot; calculate the topographic map according to the position of the next foot The angle at which the foot of the two-legged robot should be stepped on; and the control of the two-legged robot to the next step according to the angle at which the foot should be stepped on. Position the palm until it reaches the destination. The method for controlling a biped robot by using a mobile phone according to claim 5, wherein the step of performing image digital processing on the topographic map of the next foot position further comprises: topographical map of the position of the next foot Converted to black and white; according to the resolution of the topographic map of the next foot position, it is divided into grids according to rows and columns; and the average of the gradations in each grid is taken as the gradation value of the grid. The method for controlling a biped robot by using a mobile phone according to the sixth aspect of the patent application, wherein the step of calculating the angle at which the foot of the biped robot should be stepped according to the topographic map of the position of the next foot is further calculated. The method includes: calculating a gradation average value of each grid in the first half of the topographic map of the next foot position and a gradation average value of each grid in the second half; according to the calculated gradation average and the second half of each grid of the first half The degree of difference between the average values of the gradation of each of the grids is used to calculate the inclination angle of the terrain of the sole of the foot; and the angle at which the sole foot should be depressed is calculated according to the inclination angle.