TWI776214B - Robot arm control system and control method thereof - Google Patents

Abstract

The present invention provides a robotic arm control system, comprising: a robotic arm, comprising: an arm body, including: a plurality of joints and a plurality of signal receivers, the plurality of signal receivers are used for receiving control signals to control the plurality of joints; a plurality of joints; an image sensor, which captures an image of the object to be processed and outputs the image data; and a gripping mechanism for gripping the object to be processed; and a control module, which is electrically connected to and controls the robotic arm, Including: a pseudo-control arm, which includes: a pseudo-control arm body, which includes a plurality of joints and a plurality of electronic sensing elements, wherein the plurality of electronic sensing elements are used to sense the plurality of joints; a control handle, which A plurality of buttons are located at the front end of the body to be controlled and are used to control the robotic arm; a data processing module receives the attitude information and is used to generate and transmit control signals to control the robotic arm.

Description

Robot arm control system and control method thereof

The present invention relates to a robotic arm control system and a control method thereof, and particularly relates to an explosion-proof robotic arm control system and a control method thereof.

At present, most of the common explosion-proof processing robots have a crawler-type mobile platform on which a multi-axis robot arm is erected. The control method of the multi-axis robot arm is individual joint control, that is, the posture of each joint of the robot arm is controlled by multiple buttons. After adjusting one by one, the ideal position of the operator can be achieved. Although this control method is simple, it is not intuitive for the operator. Once the posture of a joint of the robot arm changes, other joints may need to be readjusted, which will take a lot of time.

The technological development trend of robotic arm control is automation and precision, but these two technologies are not yet fully applicable to the handling of explosives. Because the environments in which explosives may be placed are too diverse, the spatial coordinates are difficult to locate, and they cannot be used at present. Fully automated robot processing requires human operation; in this case, the robot arm does not need extremely high precision, but pays more attention to stability and speed. Although the general joint control methods can achieve sufficient stability The degree is fixed, but there is still a lot of room for improvement in the intuitiveness of the operation and the time required.

In view of the shortcomings of the above-mentioned conventional technologies, the main purpose of the present invention is to provide a robotic arm control system, which enables intuitive operation to control the robotic arm, and can achieve the effect of shortening the operation time by operating multiple joints at the same time .

Another object of the present invention is to provide a control system for a multi-axis robotic arm suitable for explosion-proof treatment. The button of the control system has the function of a safety lock to increase the stability of the robotic arm. It will act according to the posture of the artificial control arm. This method can avoid accidental accidents on the scene caused by the unexpected movement of the robot arm caused by accidentally touching the artificial control arm during the EOD operation.

In order to achieve the above object, a robotic arm control system according to the present invention includes: a robotic arm, including: an arm body, including: a plurality of joints and a plurality of signal receivers, the plurality of signal receivers are used for receiving control signals to control the plurality of joints; an image sensor, which captures an image of an object to be processed and outputs image data; and a clamping mechanism for clamping the object to be processed; and a control module, which is electrically connected to and controlling the robotic arm, including: a pseudo-control arm, including: a pseudo-control arm body, which includes a plurality of joints and a plurality of electronic sensing elements, wherein the plurality of electronic sensing elements are used for sensing the plurality of joints; a control handle, which is located at the front end of the body of the simulated control arm and has a There are a plurality of buttons for controlling the robotic arm; a data processing module receives a plurality of posture information for generating and transmitting control signals to control the robotic arm.

In the above, wherein the data processing module further includes a processor, which receives the posture information, and is used for generating control signals to control the robotic arm; a communication device, which is electrically connected to the processor, for transmitting the control signals; A screen is electrically connected to the processor and the communication device for receiving and displaying the image data.

In the above, the clamping mechanism further includes a plurality of pressure sensing elements for sensing the pressure of the clamping mechanism to clamp the object to be processed.

In the above, one of the plurality of buttons is a switch button for controlling the communication device to transmit the control signals; one of the plurality of buttons is a button for controlling the clamping mechanism.

Among the above, the optimal distance between the control device and the robot arm is more than 50 meters.

In order to achieve the above object, according to the control method of a robotic arm control system proposed by the present invention, the robotic arm system includes a robotic arm and a control module, and the control module includes a pseudo-controlled arm and an information processing device, The control method includes the following steps: (A) the operator operates the pseudo-controlled arm; (B) the pseudo-controlled arm detects the current posture and generates the posture information; (C) the information processing device generates according to the posture data control signal; (D) transmit the control signal to control the robot arm; (E) the operator judges the robot arm Check whether the relative position of the object to be processed is correct, if so, go to step (F), if not, go to step (G); (F) stop control or perform other actions; (G) repeat steps (A) to (E) ).

In the above, the other action performed in step (F) is to use the robot arm to grip the object to be processed.

In the above, in step (A), the operator judges and operates the pseudo-controlled arm according to the image data.

The above overview and the following detailed description and accompanying drawings are all for the purpose of further illustrating the ways, means and effects adopted by the present creation to achieve the predetermined purpose. The other purposes and advantages of the present creation will be explained in the subsequent descriptions and drawings.

1: Robot arm

11: Arm body

111: Image sensor

13: Clamping mechanism

2: Control module

21: Pseudo-controlled arm

211: Pseudo-controlled arm body

213: Control handle

2131: button

2132: button

215: Base

23: Data processing module

231: Processor

233: Communication Device

3: to be processed

J1~J8: Joints

A1~A4: Signal receiver

S1~S4: Electronic sensing element

M: Attitude information

C: Control signal

I: video data

(A)~(G): Steps

The first diagram is a schematic diagram of the control system of the robotic arm of the present invention; the second diagram is a schematic diagram of the proposed control arm of the present invention; the third diagram is a schematic diagram of the rotation direction of each joint of the proposed control arm of the present invention; the fourth diagram is the robotic arm of the present invention The block diagram of the control method of the control system.

The following describes the embodiments of the present invention with specific examples, and those skilled in the art can easily understand the advantages and effects of the present invention from the contents disclosed in this specification.

The present invention provides a robot arm control system, please refer to the first and second figures, the first figure is a schematic diagram of the robot arm control system of the present invention, and the second figure is a schematic diagram of the proposed control arm of the present invention.

As shown in the first and second figures, a control system 100 with a robotic arm includes a robotic arm 1 and a control module 2 .

The robot arm 1 has an arm body 11 and a gripping mechanism 13 . The gripping mechanism 13 may be located at the front end of the arm body 11 and connected to the arm body 11 , but is not limited thereto.

The arm body 11 has a plurality of joints J1~J4 and a plurality of signal receivers A1~A4. The plurality of signal receivers A1~A4 are used for receiving the control signal C to control the movement of the plurality of joints J1~J4. The plurality of signal receivers A1~A4 It can be located in multiple joints J1~J4, but not limited to this.

The arm body 11 further includes an image sensor 111, which captures the image of the object to be processed 3 and outputs the image data I to the control module 2, wherein the image sensor 111 can be one or more than one, and the object 3 is processed. Can be explosives or other dangerous substances, but not limited to this.

The gripping mechanism 13 is used to grip the object to be processed 3 . The gripping mechanism 13 is, for example, a gripper, but not limited thereto.

The robot arm 1 can be placed on a movable device (not shown), and the movable device is controlled by the control module 2, for example, the control handle 213 is used to control the forward and backward of the mobile device, and the control button is used to control the turning of the mobile device. .

The control module 2 is electrically connected and controls the robot arm 1, and the control module 2 It further includes a pseudo-control arm 21 and a data processing module 23 , wherein the pseudo-control arm 21 is electrically connected to the data processing module 23 .

The pseudo-control arm 21 includes a pseudo-control arm body 211 and a control handle 213 , the control handle 213 is connected to the pseudo-control arm body 211 , and the pseudo-control arm 21 is a multi-axis pseudo-control arm that is proportionally reduced according to the robot arm 1 . For the convenience of operation, the pseudo-control arm 21 is a multi-axis pseudo-control arm that is proportionally reduced to less than 60 cm in total length according to the robot arm 1. The arm and the handle are the maximum side length of the part that will be held by the hand during operation. It should be less than 5 cm, but not limited to this. In addition, the to-be-controlled arm 21 includes a plurality of joints J5~J8 and a plurality of electronic sensing elements S1~S4, and the plurality of joints J5~J8 correspond to the plurality of joints J1~J1~ J4 is provided, wherein a plurality of electronic sensing elements S1-S4 are used to sense the rotation angles of the plurality of joints J4-J6 to form attitude information M, and then the attitude information M will be converted into a control signal C through the data processing module 23 for transmission The signal receivers A1~A3 to the robot arm 1 are used to control the robot arm 1, so that the corresponding joints J1~J4 in the robot arm 1 rotate to the same angle, and then assume the same posture, which can sense the current position or angle change electronic components, such as encoders, variable resistors, IMUs, etc.

The control handle 213 has a button 2131 and a button 2132, which are used to control the gripping mechanism 13 of the robotic arm 1. The control handle 213 can be located at the front end of the arm body 211 to be controlled, and pressing the button 2131 can control the gripping mechanism 13, such as a gripping mechanism 13. Claw rotation, gripping and other actions; the operator can confirm and control the rotation angle of the front-end gripper with the button 2132 according to the image data I returned by the image sensor 111 .

A pressure sensor may be provided on the clamping jaw of the clamping mechanism 13 (not shown in the figure), when the IED is clamped during the detonation operation, the pressure sensor senses and transmits the pressure value, and the operator can control the closing force of the clamping jaw by long pressing or loosening the control button 2131 according to the pressure value. In addition, the jaws are also provided with joints, which are controlled by the control handle 213 and both or one of the buttons 2131 and 2132 .

In the above, the operator can also confirm according to the image data I returned by the image sensor 111 and use the button 2131 to control the rotation angle of the front gripper

There may also be reserved buttons in the control handle 213, which can be used for the control of the external module of the robot arm, such as the shooting button for adding a water cannon weapon.

The button 2132 has the function of a safety lock. When the button 2132 is pressed, the arm body 11 will follow the posture of the pseudo-controlled arm body 211. This method can avoid the accidental touch of the pseudo-controlled arm body 211 during the EOD operation. The unexpected action of the arm body 11 causes an accident on site. The operator can control the movement of the arm body 11 by holding the control handle 213 with one hand and pressing the safety lock button of the button 2132 with a finger, or by placing the control arm body 211 in position and then pressing the safety lock button 2132.

The information of the control arm 21 is also transmitted to the data processing module 23 through the joint base 215 , which is internally integrated and converted into a control signal C and then transmitted to the robot arm 1 , so as to achieve the simultaneous movement of the two.

The data processing module 23 receives the complex posture information M, and is used to generate and transmit the complex control signal C to control the robot arm 1. The data processing module 23 further includes a processor 231, which receives the complex posture information M and is used to generate A plurality of control signals C are used to control the robot arm 1; the data processing module 23 further includes The communication device 233, which is electrically connected to the processor 231, is used to transmit the control signals C. The communication device 233, such as WIFI, RF, Bluetooth, etc., has a shortest transmission distance of more than 50 meters, or is Wired transmission, such as signal line, optical fiber, etc., the transmission distance depends on the length of the line.

The data processing module 23 may also include a display screen (not shown in the figure), which is used to display the image data I, so that the operator can judge the relative position of the robot arm 1 and the object to be processed 3, for example: on the robot arm 1 There are two or more image sensors 111 installed, which can transmit the image data I to the control module 2 and display it on the operation screen. The two or more image sensors 111 can generate stereoscopic vision, and the user can follow the transmission back. The image of the camera determines the relative position of the current gripper and the target in the three-dimensional space, so as to adjust the gripper to reach the correct position. For example, if a water cannon is installed on the arm, the position of the target point can be confirmed by using multiple lenses, and the shooting can be accurately aimed.

Operation of Robot Arm Control System

Example 1

The operator holds the control handle 213 with his hand and presses the button 2132 with his fingers, and then controls the pseudo-controlled arm 21 according to the image data 1 or the relative position of the visual robot arm 1 and the object to be processed 3, and moves the joints J5 on the pseudo-controlled arm body 211. After ~J8 is placed in the desired position, the button 2131 and the control handle 213 are used to adjust the position of the gripping mechanism 13 and grip the object 3 to be processed.

Example 2

The operator holds the control handle 213 with his hand, and then controls the pseudo-control arm 21 according to the image data 1 or the relative position of the visual robot arm 1 and the object to be processed 3, and controls the pseudo-control arm 21. The joints J5-J8 on the arm body 211 are placed at the required positions, and then the button 2132 is pressed with fingers to activate the switch button for transmitting the posture information M, and then the button 2131 and the control handle 213 are used to adjust the position of the gripping mechanism 13 and Grasp the object to be treated 3 .

Please refer to the third figure. The third figure is a schematic diagram of the rotation direction of each joint of the arm to be controlled according to the present invention. In the figure, the J5 joint rotation direction is the y-axis direction, the J6 joint is the rotation direction of the x-axis direction, and the J7 joint rotation direction is the x-axis direction. , the rotation direction of the J8 joint is the x-axis direction.

The present invention provides a control method of a robotic arm control system. Please refer to FIG. 4 , which is a block schematic diagram of the control method of the robotic arm control system of the present invention. As shown in the fourth figure, a control method of a robotic arm control system, wherein the robotic arm system includes a robotic arm and a control module, the control module includes a pseudo-controlled arm and an information processing device, and the control method includes The following steps: (A) the operator operates the pseudo-controlled arm; (B) the pseudo-controlled arm detects the current posture and generates posture information; (C) the information processing device generates a control signal according to the posture information; (D) ) to transmit the control signal to control the robotic arm; (E) the operator judges whether the relative position of the robotic arm and an object to be processed is correct, if so, proceed to step (F), otherwise proceed to step (G); (F) Stop control or perform other actions; (G) Repeat steps (A) to (E).

In the above, other actions performed in step (F) are to use the robot arm to grip the object to be processed.

In the above, in step (A), the operator judges and operates the pseudo-controlled arm according to the image data.

In the above, in step (D), the operator sends the control signal to control the robotic arm after confirming that the posture of the to-be-controlled arm is correct.

The present invention is a control system of a multi-axis robotic arm suitable for explosion-proof treatment. In the system, there is a multi-axis pseudo-controlled arm that is scaled down according to the actual robotic arm. The pseudo-controlled arm and the actual robotic arm are in a synchronous relationship. The operator can control the robot arm to achieve the same posture by changing the posture of the artificial arm. A controller with buttons is installed at the front of the simulated arm. When operating the arm, the operator can use the buttons on the controller to control actions other than the arm joints, such as gripper rotation, gripping or external equipment of the robotic arm, such as water Artillery weapon control and detection modules: poison gas, nuclear pollution environment detection or exploration. This control method increases the intuitiveness of the operator and also reduces the time required for control.

The present invention is a control system of a multi-axis robot arm suitable for explosion-proof treatment. The stability of the robot arm is very required during the explosion-proof operation. Therefore, the control button of the artificial control arm has the function of a safety lock. The robot arm will follow the posture of the pseudo-controlled arm. This method can avoid accidentally touching the pseudo-controlled arm during the EOD operation, resulting in unexpected movements of the robotic arm and accidents on site.

The above-mentioned embodiments are only illustrative of the features and It is not intended to limit the scope of the substantial technical content of this creation. Anyone skilled in the art can modify and change the above-mentioned embodiments without departing from the spirit and scope of creation. Therefore, the protection scope of the rights of this creation should be listed in the patent application scope described later.

1: Robot arm

11: Arm body

111: Image sensor

13: Clamping mechanism

2: Control module

21: Pseudo-controlled arm

211: Pseudo-controlled arm body

213: Control handle

2131: button

2132: button

23: Data processing module

3: to be processed

J1~J8: Joints

A1~A4: Signal receiver

S1~S4: Electronic sensing element

S1~S4: Electronic sensing element

M: Attitude information

C: Control signal

I: video data

Claims (9)

A robotic arm control system, comprising: a robotic arm placed on a movable device, including: an arm body, including: a plurality of joints and a plurality of signal receivers, the plurality of signal receivers are used to receive a plurality of control signals to control the plurality of joints; an image sensor that captures an image of an object to be processed and outputs image data, wherein the object to be processed is an explosive; and a clamping mechanism, wherein the clamping mechanism rotates to a specific and a control module, which is electrically connected to and controls the robotic arm and the movable device, including: a pseudo-controlled arm, wherein the pseudo-controlled arm is based on the robotic arm A multi-axis arm that is proportionally reduced to a full length of less than 60 cm, including: a pseudo-control arm body, which includes a plurality of joints and a plurality of electronic sensing elements, wherein the plurality of electronic sensing elements are used for sensing the plurality of joints to Form and output plural posture information; a control handle, which is located at the front end of the pseudo-control arm body and has a plurality of buttons for controlling the robotic arm, wherein one of the plurality of buttons is located at the front end of the control handle to control the communication The device transmits the switch buttons of the control signals, wherein one of the buttons is used to control the rotation angle of the clamping mechanism, and one of the buttons is used to control the clamping action of the clamping mechanism; a joint base located at the rear end of the pseudo-controlled arm body; a data processing module connected to the pseudo-controlled arm body through the joint base, wherein the data processing module receives the plurality of posture information for generating and transmitting the plurality of pieces control signal to control the robot arm. The robotic arm control system according to claim 1, wherein the data processing module further comprises a processor for receiving the attitude information for generating control signals to control the robotic arm. The robot arm control system as claimed in claim 2, wherein the data processing module further comprises a communication device electrically connected to the processor for transmitting the control signals. The robotic arm control system according to claim 3, wherein the data processing module further comprises a screen electrically connected to the processor and the communication device for receiving and displaying the image data. The robot arm control system according to claim 1, wherein the gripping mechanism further comprises a plurality of pressure sensing elements for sensing the pressure of the gripping mechanism gripping the object to be processed. The robot arm control system according to claim 1, wherein one of the plurality of buttons is a button for controlling the gripping mechanism. A control method of a robotic arm control system as claimed in claim 1, the control method comprising the following steps: (A) an operator operates the pseudo-controlled arm; (B) the pseudo-controlled arm detects a current posture and generates a posture News; (C) The information processing device generates a control signal according to the attitude data; (D) Sends the control signal to control the robotic arm; (E) The operator judges whether the relative position of the robotic arm and an object to be processed is correct, if so Go to step (F), otherwise go to step (G); (F) stop control or perform other actions; (G) repeat step (A) to step (E). The control method according to claim 7, wherein the other action in step (F) is to use the robot arm to grip the object to be processed. The control method according to claim 7, wherein in step (A), the operator judges and operates the pseudo-controlled arm according to the image data.

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