CN105608957A - Offline robot action compiling method - Google Patents
Offline robot action compiling method Download PDFInfo
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- CN105608957A CN105608957A CN201610168616.9A CN201610168616A CN105608957A CN 105608957 A CN105608957 A CN 105608957A CN 201610168616 A CN201610168616 A CN 201610168616A CN 105608957 A CN105608957 A CN 105608957A
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- robot
- remote controller
- panel
- data group
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B19/00—Teaching not covered by other main groups of this subclass
- G09B19/003—Repetitive work cycles; Sequence of movements
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an offline robot action compiling method. Action compiling of a robot is realized by operating keys of a remote controller. Specifically, the method comprises the following steps: operating a plurality of step motors to enter respective first positions by using the keys of the remote controller, and storing the respective first positions of the plurality of step motors into the remote controller as a first data set; repeating the previous step, operating the plurality of step motors to enter respective second positions till N positions, and storing the respective second positions to N positions of the plurality of step motors into the remote controller as a second data set to an Nth data set; and storing the first data set to the Nth data set as a data array to obtain an action packet of the robot, thus accomplishing action compiling of the robot. By using the technical solution, actions of the robot can be compiled intuitively, simply and easily.
Description
Technical field
The present invention relates to a kind of Robot Control Technology field, more specifically, relate to a kind of off-line robot motion write method.
Background technology
Robot, particularly anthropomorphic robot are the hot products of toy development field always, and it becomes the toy that children and adolescents is liked natively. On the other hand, in teenagers' education field, robot can be used as a kind of teaching aid, teach the scientific knowledge about machinery, electronics aspect by the mode of visual illustration, the practical operation course that can also offer with the artificial basis of machine manual practice class, operation principle and the manufacturing process of professor robot, can popularize science on the one hand by this course, the practical operative ability that can temper on the one hand student, facts have proved that such course has good Social Acceptability. Designer of the present invention has the experience of mechanical automation research and development, and be engaged in educational undertaking for many years, more and more recognize that robot is a kind of carrier of well teaching through lively activities, should give full play to its education, amusement effect, the present invention launches based on such background just.
The action that existing robot toy or teaching aid can be realized is comparatively single, conventionally only can realize limited action, and, the action that robot can realize is preset at while dispatching from the factory in robot in the memory of robot, the people of manipulation robot is difficult to it to change, thereby operating personnel are limited to the manipulation of robot, in the time that this robot uses as teaching aid, between robot and student mutual not.
In prior art, there is the technology that can write the action of robot, but these Technology Needs are in conjunction with a large amount of control and kinematics knowledge, and need in realization robot to be connected with computer, by computer, the action of writing is write to robot, thereby realize in principle or technical operation on all far exceed the scope that students in middle and primary schools can receive, more difficult systematic like this action Compiling Technique is imparted to student by practical operation course.
Based on this, a kind of method that needs action that can realize simply robot to write.
Summary of the invention
To the object of the invention is provide a kind of off-line robot motion write method for the problems referred to above, and described method is intuitively and easy easy operating.
Another object of the present invention is to provide a kind of off-line robot motion write method, can surmount by described method the amount of action that robot pre-sets, and realizes more, more complicated action.
A further object of the present invention is to provide a kind of off-line robot motion write method, and described method does not need to connect application program (being off-line) on computer and can realize action and write.
For achieving the above object, the invention provides a kind of off-line robot motion write method, realize the action of robot by the button of remote controller and write.
According to a preferred embodiment of the present invention, described method comprises the steps:
Robot is provided, and described robot comprises wireless communication module and multiple stepper motor, and wherein said multiple stepper motors are for multiple frees degree of control;
Remote controller is provided, and described remote controller comprises wireless communication module and multiple button, and the wireless communication module of described remote controller is configured to carry out communication with the wireless communication module of described robot, thereby realizes the signal exchange of robot and remote controller;
Open robot and remote controller, make the wireless communication module of described robot and the wireless communication module of described remote controller set up communication and be connected;
The multiple stepper motors that utilize the button of remote controller to handle described robot are all got back to initial position;
Utilize the button of remote controller to handle multiple stepper motors and enter primary importance separately, and the primary importance separately of multiple stepper motors is stored in remote controller as the first data group;
Repeat previous step, handle multiple stepper motors and enter the second place to the N position separately, and the second place to the N position separately of multiple stepper motors is stored in remote controller as the second data group to the N data group respectively;
The first data group to the N data group is stored as to the action bag of robot as data array, thereby the action that completes robot is write.
According to a preferred embodiment of the present invention, the button of described remote controller at least comprises stepper motor switch key, the positive turn key of motor and motor reversal key, described stepper motor switch key is for switching the control to each stepper motor, the positive turn key of described motor is used for making controlled motor forward, described motor reversal key is used for making controlled motor reversal, wherein handles multiple stepper motors and enters primary importance, the second place separately ... or the step of N position also comprises and presses stepper motor switch key to control the different stepper motor in multiple stepper motors.
According to a preferred embodiment of the present invention, described the first data group, the second data group ... data in each data group in N data group correspond respectively to each stepper motor in multiple stepper motors anglec of rotation with respect to initial position.
According to a preferred embodiment of the present invention, described method also comprises data check step, described data check step relatively after the difference of a data group and the corresponding data in last data group.
According to a preferred embodiment of the present invention, described method also comprises early warning step, when in described data check step, when a rear data group is greater than predetermined threshold value with the difference of the corresponding data in last data group, the remote controller sound that gives the alarm, after prompting user, a data group can not be stored.
According to a preferred embodiment of the present invention, the state of standing of attentioning of robot is set to the initial position of multiple stepper motors.
According to a preferred embodiment of the present invention, artificial ten degree of freedom robot of described machine, described multiple stepper motors are ten stepper motors.
According to a preferred embodiment of the present invention, described remote controller comprises:
Upper panel, described upper panel is provided with key hole and switch hole, is also provided with screw hole in described upper panel;
Centre panel;
Lower panel;
Multiple cushion blocks, described cushion block is arranged between upper panel and centre panel and between centre panel and lower panel,
Wherein, in described centre panel and described lower panel, be respectively equipped with the screw hole equating with the screw hole quantity in described upper panel, screw is through upper panel, centre panel and lower panel and through the cushion block upper panel and centre panel and the cushion block between centre panel and lower panel, thereby upper panel, centre panel and lower panel are connected and fixed
Described remote controller also comprises control circuit board and switch, described control circuit board is fixedly installed between upper panel and centre panel, described button is arranged in the key hole in described upper panel, described switch is arranged in the switch hole in described upper panel, and button and switch are electrically connected with control circuit board respectively.
According to a preferred embodiment of the present invention, described remote controller have that action is write simultaneously, remote control, reset motor and to frequency function.
The invention provides a kind of off-line robot motion write method, it can be intuitively, the action that realizes robot is write easy operating, and can expand or the alternative action setting in advance in the memory device of robot by described method, can write arbitrarily robot motion according to operator's wish, thereby realize more, more complicated action, most important ground, this off-line robot write method does not need to be connected with computer, only can realize action by hand-held remote controller writes, action compiling procedure is completely visual, the final action of the action Ji Shi robot that robot reflects in compiling procedure, therefore robot and operating personnel's is mutual better.
Comprehensive above-mentioned advantage is visible, and the present invention is suitable in teaching application and toy market universal.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram of the remote controller for realizing off-line robot motion write method;
Fig. 2 is the flow chart of off-line robot motion write method according to an embodiment of the invention.
Detailed description of the invention
Describe exemplary embodiment of the present invention in detail below in conjunction with accompanying drawing, wherein same or analogous label represents same or analogous element. In addition, in the following detailed description, for ease of explaining, many concrete details have been set forth so that the complete understanding to this disclosure embodiment to be provided. But significantly, one or more embodiment also can be implemented in the situation that there is no these details. In other cases, known construction and device embodies to simplify accompanying drawing in illustrated mode.
The design generally according to the present invention, the invention provides a kind of off-line robot motion write method, realizes the action of robot write by the button of remote controller.
First describe the remote controller for realizing off-line robot motion write method below, as shown in Figure 1, provide a kind of remote controller for robot, described remote controller comprises:
Upper panel 21, described upper panel 21 is provided with key hole and switch hole, in described upper panel 21, is also provided with screw hole 25;
Centre panel 22;
Lower panel 23;
Multiple cushion blocks 24, described cushion block 24 is arranged between upper panel 21 and centre panel 22 and between centre panel 22 and lower panel 23,
Wherein, in described centre panel 22 and described lower panel 23, be respectively equipped with the screw hole 25 equating with screw hole 25 quantity in described upper panel 21, screw is through upper panel 21, centre panel 22 and lower panel 23 and through the cushion block 24 upper panel 21 and centre panel 22 and the cushion block 24 between centre panel 22 and lower panel 23, thereby upper panel 21, centre panel 22 and lower panel 23 are connected and fixed
Described remote controller also comprises control circuit board, button and switch 11, described control circuit board is fixedly installed between upper panel 21 and centre panel 22, described button is arranged in the key hole in described upper panel 21, described switch 11 is arranged in the switch hole in described upper panel 21, and button and switch 11 are electrically connected with control circuit board respectively.
The present invention consists of the housing of remote controllers three panels, three panels have identical flat shape, thereby simple in structure, and identical flat shape for example can cut by line, thereby has avoided using complicated mould, thereby has lowered cost. Preferably, three panels and position, hole above by student in teaching practice process by using wire cutting machine to obtain voluntarily, this course and follow-up robot teaching form serial course, and this has enriched the content of courses and has saved the cost of labor of making remote controller.
In a preferred embodiment, described remote controller also comprises wireless communication module 12, and in described upper panel 21, be also provided with fairlead, described wireless communication module 12 is arranged in described upper panel 21 and by the fairlead in described upper panel 21 and control circuit board electrical connection. Utilize wireless communication module can realize remote controller and be connected with the wireless telecommunications of robot, control action signal is transferred to robot and accepts the signal that machine human hair is sent.
In a preferred embodiment, the quantity of described multiple cushion blocks 24 is 8, and has respectively four screw holes 25 in described upper panel 21, described centre panel 22 and described lower panel 23.
Preferably, described button comprises action key and function button. Further preferably, the quantity of described action key is 8, and the quantity of described function button is 2. In a specific embodiment, action key comprises the action key 1, action key 2, action key 3, action key 4, action key 5, action key 6, action key 7, the action key 8 that are represented by Reference numeral 1-8 respectively, and they are for realizing difference action or the combination of actions of robot. Function button comprises the function button 1, the function button 2 that are represented by Reference numeral 9 and 10.
In further preferred embodiment, described upper panel 21, described centre panel 22 and described lower panel 23 have identical flat shape. Described flat shape is selected from the one in ellipse, circle and quadrangle. Alternatively or additionally, the circumference of described flat shape is streamlined and grips described remote controller to be suitable for operator, as shown in Figure 1. Alternatively or additionally, the circumference of described flat shape has smooth edge, to avoid the burr edge after line cutting to stab staff, this smooth edge can obtain by polishing.
Further, described wireless communication module 12 is arranged in the symmetrical center line of described flat shape.
By remote controller of the present invention, between three panels, there is gap, can see by gap the annexation panel transparent material such as be glass (particularly when) of control circuit board and button, switch etc., thereby the internal structure and the course of work that are conducive to student and understand remote controller, excite student to explore the interest of control principle. Due to the simple structure of remote controller, in the time of assembling, only need the electronic unit of remote controller installation in position in upper panel, by screw, cushion block, upper panel, centre panel and lower panel are spirally connected fixing, and do not need complicated assembling process, thereby be very suitable for using in teaching application.
Off-line robot motion write method according to an embodiment of the invention, as shown in Figure 2, described method comprises the steps:
Robot is provided, and described robot comprises wireless communication module and multiple stepper motor, and wherein said multiple stepper motors are for multiple frees degree of control;
Remote controller is provided, and described remote controller comprises wireless communication module and multiple button, and the wireless communication module of described remote controller is configured to carry out communication with the wireless communication module of described robot, thereby realizes the signal exchange of robot and remote controller;
Open robot and remote controller, make the wireless communication module of described robot and the wireless communication module of described remote controller set up communication and be connected;
The multiple stepper motors that utilize the button of remote controller to handle described robot are all got back to initial position;
Utilize the button of remote controller to handle multiple stepper motors and enter primary importance separately, and the primary importance separately of multiple stepper motors is stored in remote controller as the first data group;
Repeat previous step, handle multiple stepper motors and enter the second place to the N position separately, and the second place to the N position separately of multiple stepper motors is stored in remote controller as the second data group to the N data group respectively;
The first data group to the N data group is stored as to the action bag of robot as data array, thereby the action that completes robot is write.
Preferably, the button of described remote controller at least comprises stepper motor switch key, the positive turn key of motor and motor reversal key, described stepper motor switch key is for switching the control to each stepper motor, the positive turn key of described motor is used for making controlled motor forward, described motor reversal key is used for making controlled motor reversal, wherein handles multiple stepper motors and enters primary importance, the second place separately ... or the step of N position also comprises and presses stepper motor switch key to control the different stepper motor in multiple stepper motors. Here, for example function button 1 can be used as motor switch key, alternatively, action key 2, action key 4, action key 6 and the action key 8 different stepper motors of control respectively, for example, in the time of artificial ten degree of freedom robot of machine of the present invention, can usage operation button 2, action key 4, action key 6 and action key 8 control four stepper motors, when pressing after function button 1, action key 2, action key 4, action key 6 and action key 8 switch to controls another four stepper motors, by that analogy. And action key 1, action key 3 can be respectively as the positive turn key of motor and motor reversal key, be constructed to control the rotating and reverse of stepper motor (motors of for example action key 2 and action key 4 correspondences) of instantly controlling, similarly, action key 5, action key 7 can be respectively as the positive turn key of motor and motor reversal keys, are constructed to control the rotating and reverse of stepper motor (motors of for example action key 6 and action key 8 correspondences) of instantly controlling. Here function button 2 can be used as storage button, and for storing robot when data group corresponding to upper/lower positions, each stepper motor is with respect to the anglec of rotation of initial position.
Particularly, described the first data group, the second data group ... data in each data group in N data group correspond respectively to each stepper motor in multiple stepper motors anglec of rotation with respect to initial position.
As a preferred embodiment of the present invention, described method also comprises data check step, described data check step relatively after the difference of a data group and the corresponding data in last data group; Further, described method also comprises early warning step, when in described data check step, and when a rear data group is greater than predetermined threshold value with the difference of the corresponding data in last data group, the remote controller sound that gives the alarm, after prompting user, a data group can not be stored.
It should be noted that, the state that the attentioning of robot stood is set to the initial position of multiple stepper motors, but the present invention is not limited to this, also can be set to initial position by other state. Preferably, artificial ten degree of freedom robot of described machine, described multiple stepper motors are ten stepper motors; Described remote controller has that action is write simultaneously, remote control, reset motor and to frequency function.
By off-line robot motion write method provided by the invention, action that can be intuitively, realize robot is write easy operating, because described method can be expanded or the alternative action setting in advance in the memory device of robot, therefore can write arbitrarily robot motion according to operator's wish, realize thus more, more complicated action. Most important ground, this off-line robot write method does not need to be connected with computer, only can realize action by hand-held remote controller writes, action compiling procedure is completely visual, the final action of the action Ji Shi robot that robot reflects in compiling procedure, therefore robot and operating personnel's is mutual better.
Comprehensive above-mentioned advantage is visible, and the present invention is suitable in teaching application and toy market universal.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can change these embodiment. The scope of application of the present invention is limited by claims and equivalent thereof.
Reference numerals list:
1 action key 1
2 action key 2
3 action key 3
4 action key 4
5 action key 5
6 action key 6
7 action key 7
8 action key 8
9 function buttons 1
10 function buttons 2
11 switches
12 wireless communication modules
21 upper panel
22 central panel
23 lower panel
24 cushion blocks
25 screw holes.
Claims (10)
1. an off-line robot motion write method, is characterized in that, by pressing of remote controllerKey is realized the action of robot and is write.
2. off-line robot motion write method according to claim 1, is characterized in that instituteThe method of stating comprises the steps:
Robot is provided, and described robot comprises wireless communication module and multiple stepper motor, Qi ZhongsuoState the multiple frees degree of multiple stepper motors for control;
Remote controller is provided, and described remote controller comprises wireless communication module and multiple button, described remote controllerWireless communication module be configured to carry out communication with the wireless communication module of described robot, thereby realThe signal exchange of existing robot and remote controller;
Open robot and remote controller, make the wireless communication module of described robot and described remote controllerWireless communication module is set up communication and is connected;
The multiple stepper motors that utilize the button of remote controller to handle described robot are all got back to initial position;
Utilize the button of remote controller to handle multiple stepper motors and enter primary importance separately, and by multipleThe primary importance separately of stepper motor is stored in remote controller as the first data group;
Repeat previous step, handle multiple stepper motors and enter the second place to the N position separately,And using the second place to the N position separately of multiple stepper motors respectively as the second data group to the NData group is stored in remote controller;
Be stored as the action bag of robot using the first data group to the N data group as data array, fromAnd the action that completes robot is write.
3. off-line robot motion write method according to claim 2, is characterized in that:
The button of described remote controller at least comprises stepper motor switch key, the positive turn key of motor and motor reversalKey, described stepper motor switch key is for switching the control to each stepper motor, described motor forwardKey is used for making controlled motor forward, and described motor reversal key is used for making controlled motor reversal,Wherein handle multiple stepper motors and enter primary importance, the second place separately ... or N positionStep also comprises presses stepper motor switch key to control the different stepping electricity in multiple stepper motorsMachine.
4. off-line robot motion write method according to claim 3, is characterized in that:
Described the first data group, the second data group ... in each data group in N data groupData correspond respectively to the rotation with respect to initial position of each stepper motor in multiple stepper motorsAngle.
5. off-line robot motion write method according to claim 4, is characterized in that:
Described method also comprises data check step, described data check step relatively after a data group withThe difference of the corresponding data in last data group.
6. off-line robot motion write method according to claim 5, is characterized in that:
Described method also comprises early warning step, when in described data check step, a rear data group withWhen the difference of the corresponding data in last data group is greater than predetermined threshold value, the remote controller sound that gives the alarm,After prompting user, a data group can not be stored.
7. off-line robot motion write method according to claim 6, is characterized in that:
The state that the attentioning of robot stood is set to the initial position of multiple stepper motors.
8. off-line robot motion write method according to claim 7, is characterized in that:
Artificial ten degree of freedom robot of described machine, described multiple stepper motors are ten stepper motors.
9. off-line robot motion write method according to claim 8, is characterized in that instituteStating remote controller comprises:
Upper panel (21), described upper panel (21) is provided with key hole and switch hole, described onOn portion's panel (21), be also provided with screw hole (25);
Centre panel (22);
Lower panel (23);
Multiple cushion blocks (24), described cushion block (24) is arranged on upper panel (21) and centre panel (22)Between and between centre panel (22) and lower panel (23),
Wherein, in described centre panel (22) and described lower panel (23), be respectively equipped with describedThe equal screw hole (25) of screw hole (25) quantity in upper panel (21), screw is through topPanel (21), centre panel (22) and lower panel (23) and through being positioned at upper panel (21)And the cushion block (24) between centre panel (22) and be positioned at centre panel (22) and lower panel(23) cushion block (24) between, thereby by upper panel (21), centre panel (22) and bottomPanel (23) is connected and fixed,
Described remote controller also comprises control circuit board and switch (11), and described control circuit board is fixedly installedBetween upper panel (21) and centre panel (22), described button is positioned at described upper panel (21)On key hole in, described switch (11) is arranged in the switch hole in described upper panel (21),And button and switch (11) are electrically connected with control circuit board respectively.
10. off-line robot motion write method according to claim 9, is characterized in that:
Described remote controller has that action is write simultaneously, remote control, reset motor and to frequency function.
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| CN201610168616.9A CN105608957A (en) | 2016-03-23 | 2016-03-23 | Offline robot action compiling method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610168616.9A CN105608957A (en) | 2016-03-23 | 2016-03-23 | Offline robot action compiling method |
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| CN105608957A true CN105608957A (en) | 2016-05-25 |
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|---|---|---|---|---|
| JPH0844280A (en) * | 1994-08-04 | 1996-02-16 | Matsushita Electric Ind Co Ltd | Learning/apparatus operating device |
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| CN101623865A (en) * | 2009-07-08 | 2010-01-13 | 北京工业大学 | One-wheel robot system and control method thereof |
| CN102109873A (en) * | 2009-12-29 | 2011-06-29 | 机器时代(北京)科技有限公司 | Remote-control programming handle of movable model |
| CN103492133A (en) * | 2011-04-19 | 2014-01-01 | Abb研究有限公司 | An industrial robot having a kinematically redundant arm and a method for controlling the robot |
| CN104699122A (en) * | 2015-02-12 | 2015-06-10 | 哈尔滨工业大学 | Robot motion control system |
| CN105215996A (en) * | 2015-11-11 | 2016-01-06 | 北京格物明理教育咨询有限公司 | Ten degree of freedom robot |
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2016
- 2016-03-23 CN CN201610168616.9A patent/CN105608957A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0844280A (en) * | 1994-08-04 | 1996-02-16 | Matsushita Electric Ind Co Ltd | Learning/apparatus operating device |
| CN101259614A (en) * | 2008-04-11 | 2008-09-10 | 上海中为智能机器人有限公司 | Portable multiple freedom small-sized explosive process intelligent mobile robot system |
| CN101623865A (en) * | 2009-07-08 | 2010-01-13 | 北京工业大学 | One-wheel robot system and control method thereof |
| CN102109873A (en) * | 2009-12-29 | 2011-06-29 | 机器时代(北京)科技有限公司 | Remote-control programming handle of movable model |
| CN103492133A (en) * | 2011-04-19 | 2014-01-01 | Abb研究有限公司 | An industrial robot having a kinematically redundant arm and a method for controlling the robot |
| CN104699122A (en) * | 2015-02-12 | 2015-06-10 | 哈尔滨工业大学 | Robot motion control system |
| CN105215996A (en) * | 2015-11-11 | 2016-01-06 | 北京格物明理教育咨询有限公司 | Ten degree of freedom robot |
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Application publication date: 20160525 |