CN108312143A - Robot mechanical arm control method, apparatus and system - Google Patents
Robot mechanical arm control method, apparatus and system Download PDFInfo
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- CN108312143A CN108312143A CN201711375824.7A CN201711375824A CN108312143A CN 108312143 A CN108312143 A CN 108312143A CN 201711375824 A CN201711375824 A CN 201711375824A CN 108312143 A CN108312143 A CN 108312143A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses robot mechanical arm control method, apparatus and systems, it can identify, track target device, carry out the three-dimensional reconstruction of current environment, obtain the posture and relative coordinate of target device, manipulator is controlled in conjunction with threedimensional model and real-time panoramic video, after obtaining force feedback data, the control to manipulator is adjusted according to force feedback data.The present invention can adapt to the operative scenario of hot line robot, improve its Stability and dependability, improve operating efficiency and safety；By environmental data feedback with the reduction of force feedback double shield due to the generation of hot line robot failure or the second accident of violation operation generation；It is easy operator training, operation and the force data of various situations can be simulated in experimental site, force data table range is formulated, has directive function to operating personnel.
Description
Technical field
The present invention relates to hot line robot, the technical field of telemanipulator robot more particularly to machine are man-machine
Tool hand controls method, apparatus and system.
Background technology
At present in high-voltage electric power system, there are very high security risk, the livewire work of China's research and development for livewire work
The wired upper non-contact maintenance of dependence staff of robot research and three general orientation of remote maintaining and independence maintenance under line, but line
Upper staff is non-, and the pattern that connects presses through closely from height, stringent to the protection and shielding requirements of artificial high-voltage hot-line work, is easy to cause
Safety accident.And remote control mode requires the technology of operating personnel carelessness or tired that is very high, and being easy initiation people under ordinary lines
Labor mistake, consequence are also very serious.
Although autonomous mode is increasingly ripe by vision algorithm autokinetic movement at present, in robot for high-voltage hot-line work
Aspect cannot reach high stability and reliability, and causing once to slip up is easy for becoming major accident.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide robot mechanical arm control method, devices
And system, it is intended to solve under the prior art manual work and be easy to cause under safety accident, ordinary lines remote operation to operating personnel
Technology requires high, AUTONOMOUS TASK to be not sufficiently stable reliable problem.
The purpose of the present invention is realized using following technical scheme：
A kind of robot mechanical arm control method, including：
Video acquisition analytical procedure：
Binocular video is obtained by binocular camera；
Target device is identified in binocular video and target device is carried out, from motion tracking, to establish the three-dimensional mould of current environment
Type obtains the posture of target device and the relative coordinate of target device and manipulator；
Obtain the panoramic video of current environment in real time by full-view camera；
Force-feedback control step：
According to the threedimensional model of current environment, the panoramic video of current environment, the posture of target device and target device
With the relative coordinate of manipulator, the movement of manipulator is controlled by force-feedback control device；
The force feedback data of manipulator is obtained by force-feedback control device；
According to force feedback data, the movement of manipulator is controlled by force-feedback control device.
On the basis of the above embodiments, it is preferred that described target device to be identified in binocular video and to target device
It carries out, from motion tracking, establishing the threedimensional model of current environment, obtains the posture and target device and manipulator of target device
The step of relative coordinate, specially：
Target device is identified in binocular video and target device is carried out from motion tracking；
Position the key point of target device；
Rebuild position of the key point in camera coordinates system；
According to point cloud information of the front and back several frame key points in camera coordinates system in binocular video, restore robot movement
Position and posture；
According to the position of position and robot movement of the key point in camera coordinates system and posture, current environment is established
Threedimensional model, obtain the posture of target device and the relative coordinate of target device and manipulator.
On the basis of above-mentioned any embodiment, it is preferred that identify that the mode of target device is template matches, characteristic point
With with it is one or more in machine learning.
A kind of robot mechanical arm control device, including：
Video acquisition analysis module, is used for：
Binocular video is obtained by binocular camera；
Target device is identified in binocular video and target device is carried out, from motion tracking, to establish the three-dimensional mould of current environment
Type obtains the posture of target device and the relative coordinate of target device and manipulator；
Obtain the panoramic video of current environment in real time by full-view camera；
Force-feedback control module, is used for：
According to the threedimensional model of current environment, the panoramic video of current environment, the posture of target device and target device
With the relative coordinate of manipulator, the movement of manipulator is controlled by force-feedback control device；
The force feedback data of manipulator is obtained by force-feedback control device；
According to force feedback data, the movement of manipulator is controlled by force-feedback control device.
On the basis of the above embodiments, it is preferred that the video acquisition analysis module is used for：
Target device is identified in binocular video and target device is carried out from motion tracking；
Position the key point of target device；
Rebuild position of the key point in camera coordinates system；
According to point cloud information of the front and back several frame key points in camera coordinates system in binocular video, restore robot movement
Position and posture；
According to the position of position and robot movement of the key point in camera coordinates system and posture, current environment is established
Threedimensional model, obtain the posture of target device and the relative coordinate of target device and manipulator.
A kind of robot mechanical arm control system, including：
Robot mechanical arm control device in any of the above-described embodiment；
Binocular camera, for obtaining binocular video；
Full-view camera, the panoramic video for obtaining current environment in real time；
Force-feedback control device, the force feedback data for obtaining manipulator, and the movement of manipulator is controlled.
On the basis of the above embodiments, it is preferred that the force-feedback control device includes mechanical hand-power detection mould on line
Module is realized in force feedback under block, communication module, manual operation module and line；
Mechanical hand-power detection module obtains the force feedback data of manipulator on line, and it is man-machine to be sent to machine by communication module
Tool hand control device；
Robot mechanical arm control device realizes module by force feedback under manual operation module control line, realizes to machinery
The control of hands movement.
On the basis of the above embodiments, it is preferred that mechanical hand-power detection module is full-bridge, multi-dimensional force sensing on the line
It is one or more in device and encoder.
Or, it is preferred that the manual operation module is that rotation waves, is in control lever and manipulator one or more.
Or, it is preferred that force feedback realizes that module is that electric cylinders realize that module, hydraulic pressure realize module, electromagnetic force under the line
Realize that module and vibrations realize that mould is in the block one or more.
Compared with prior art, the beneficial effects of the present invention are：
The invention discloses robot mechanical arm control method, apparatus and systems, can identify, track target device, into
The three-dimensional reconstruction of row current environment obtains the posture and relative coordinate of target device, is regarded in conjunction with threedimensional model and real time panoramic
Frequency controls manipulator, and after obtaining force feedback data, the control to manipulator is adjusted according to force feedback data.Energy of the present invention
The operative scenario for enough adapting to hot line robot, improves its Stability and dependability, improves operating efficiency and safety；Pass through
Environmental data feeds back the secondary thing reduced with force feedback double shield due to hot line robot failure or violation operation generation
Therefore generation；It is easy operator training, operation and the force data of various situations can be simulated in experimental site, formulates force data
Table range has directive function to operating personnel.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 shows a kind of flow diagram of robot mechanical arm control method provided in an embodiment of the present invention；
Fig. 2 shows a kind of structural schematic diagrams of robot mechanical arm control device provided in an embodiment of the present invention；
Fig. 3 shows a kind of structural schematic diagram of robot mechanical arm control system provided in an embodiment of the present invention；
Fig. 4 shows a kind of structural schematic diagram of force-feedback control device provided in an embodiment of the present invention.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further, it should be noted that not
Under the premise of conflicting, new implementation can be formed between various embodiments described below or between each technical characteristic in any combination
Example.
Specific embodiment one
As shown in Figure 1, an embodiment of the present invention provides a kind of robot mechanical arm control methods, including：
Video acquisition analytical procedure S101：
Binocular video is obtained by binocular camera；
Target device is identified in binocular video and target device is carried out, from motion tracking, to establish the three-dimensional mould of current environment
Type obtains the posture of target device and the relative coordinate of target device and manipulator；
Obtain the panoramic video of current environment in real time by full-view camera；
Force-feedback control step S102：
According to the threedimensional model of current environment, the panoramic video of current environment, the posture of target device and target device
With the relative coordinate of manipulator, the movement of manipulator is controlled by force-feedback control device；
The force feedback data of manipulator is obtained by force-feedback control device；
According to force feedback data, the movement of manipulator is controlled by force-feedback control device.
Preferably, described to identify target device in binocular video and target device from motion tracking, establish current
The threedimensional model of environment, can have the step of obtaining the posture and the relative coordinate of target device and manipulator of target device
Body is：Target device is identified in binocular video and target device is carried out from motion tracking；Position the key point of target device；Weight
Build position of the key point in camera coordinates system；According to point of the front and back several frame key points in camera coordinates system in binocular video
Cloud information restores position and the posture of robot movement；According to position of the key point in camera coordinates system and manipulator fortune
Dynamic position and posture, establishes the threedimensional model of current environment, obtains the posture and target device and manipulator of target device
Relative coordinate.
The embodiment of the present invention can identify, track target device, carry out the three-dimensional reconstruction of current environment, obtain target device
Posture and relative coordinate, manipulator is controlled in conjunction with threedimensional model and real-time panoramic video, obtain force feedback data
Afterwards, the control to manipulator is adjusted according to force feedback data.The embodiment of the present invention can adapt to the work of hot line robot
Scene improves its Stability and dependability, improves operating efficiency and safety；Pass through environmental data feedback and the dual guarantor of force feedback
Barrier reduces the generation of the second accident due to hot line robot failure or violation operation generation；Operator training is easy,
Operation and the force data of various situations can be simulated in experimental site, formulates force data table range, have guidance to make operating personnel
With.
The embodiment of the present invention is to identifying that the mode of target device does not limit, it is preferred that identifies that the mode of target device can
Think one or more in template matches, Feature Points Matching and machine learning.Wherein, Feature Points Matching can be SIFT,
SURF or ORB matchings；Machine learning can be Adaboost, SVM or CNN.
The embodiment of the present invention does not limit the algorithm for tracking target device, it is preferred that optical flow method realization pair may be used
Target device from motion tracking.
The embodiment of the present invention does not limit the control algolithm of manipulator, it is preferred that can first establish the movement of manipulator
Governing equation；Further according to position, the feedback of posture, using PID controller or other control strategies come control machinery hands movement
To designated position.
In above-mentioned specific embodiment one, robot mechanical arm control method, corresponding, the application are provided
Robot mechanical arm control device is also provided.Since device embodiment is substantially similar to embodiment of the method, so describing to compare
Simply, the relevent part can refer to the partial explaination of embodiments of method.Device embodiment described below is only schematical.
Specific embodiment two
As shown in Fig. 2, an embodiment of the present invention provides a kind of robot mechanical arm control devices, including：
Video acquisition analysis module 201, is used for：
Binocular video is obtained by binocular camera；
Target device is identified in binocular video and target device is carried out, from motion tracking, to establish the three-dimensional mould of current environment
Type obtains the posture of target device and the relative coordinate of target device and manipulator；
Obtain the panoramic video of current environment in real time by full-view camera；
Force-feedback control module 202, is used for：
According to the threedimensional model of current environment, the panoramic video of current environment, the posture of target device and target device
With the relative coordinate of manipulator, the movement of manipulator is controlled by force-feedback control device；
The force feedback data of manipulator is obtained by force-feedback control device；
According to force feedback data, the movement of manipulator is controlled by force-feedback control device.
Preferably, the video acquisition analysis module 201 can be used for：Target device is identified in binocular video and to mesh
Marking device is carried out from motion tracking；Position the key point of target device；Rebuild position of the key point in camera coordinates system；According to double
Point cloud information of the front and back several frame key points in camera coordinates system in visual frequency, restores position and the posture of robot movement；
According to the position of position and robot movement of the key point in camera coordinates system and posture, the three-dimensional mould of current environment is established
Type obtains the posture of target device and the relative coordinate of target device and manipulator.
The embodiment of the present invention can identify, track target device, carry out the three-dimensional reconstruction of current environment, obtain target device
Posture and relative coordinate, manipulator is controlled in conjunction with threedimensional model and real-time panoramic video, obtain force feedback data
Afterwards, the control to manipulator is adjusted according to force feedback data.The embodiment of the present invention can adapt to the work of hot line robot
Scene improves its Stability and dependability, improves operating efficiency and safety；Pass through environmental data feedback and the dual guarantor of force feedback
Barrier reduces the generation of the second accident due to hot line robot failure or violation operation generation；Operator training is easy,
Operation and the force data of various situations can be simulated in experimental site, formulates force data table range, have guidance to make operating personnel
With.
Specific embodiment three
As shown in figure 3, an embodiment of the present invention provides a kind of robot mechanical arm control systems, including：
Robot mechanical arm control device 301 in specific embodiment two；
Binocular camera 302, for obtaining binocular video；
Full-view camera 303, the panoramic video for obtaining current environment in real time；
Force-feedback control device 304, the force feedback data for obtaining manipulator, and the movement of manipulator is controlled
System.
Binocular camera 302 may be mounted in robot；Full-view camera 303 can be fixedly mounted on certain of current environment
A position；Force-feedback control device 304 may be mounted in robot.
Preferably, as shown in figure 4, the force-feedback control device 304 may include mechanical hand-power detection module on line, lead to
Module is realized in force feedback under letter module, manual operation module and line；The power that mechanical hand-power detection module obtains manipulator on line is anti-
Data are presented, robot mechanical arm control device 301 is sent to by communication module；Robot mechanical arm control device 301 passes through
Module is realized in force feedback under manual operation module control line, realizes the control to robot movement.
Preferably, the force-feedback control device 304 can also include alarm module, for mechanical hand-power detection on line
The force feedback data that module detects is alarmed when exceeding predetermined value range.
The embodiment of the present invention does not limit mechanical hand-power detection module on line, it is preferred that mechanical hand-power inspection on the line
It can be one or more in full-bridge, multi-dimension force sensor and encoder to survey module.
The embodiment of the present invention does not limit manual operation module, it is preferred that the manual operation module can be rotation
It waves, is in control lever and manipulator one or more.
The embodiment of the present invention realizes that module does not limit to force feedback under line, it is preferred that mould is realized in force feedback under the line
Block can be that electric cylinders realize that module, hydraulic pressure realize that module, electromagnetic force realize that module and vibrations realize that mould is in the block one or more,
The control to robot movement is realized by electric cylinders, hydraulic pressure, electromagnetic force or vibrations principle.
The embodiment of the present invention can identify, track target device, carry out the three-dimensional reconstruction of current environment, obtain target device
Posture and relative coordinate, manipulator is controlled in conjunction with threedimensional model and real-time panoramic video, obtain force feedback data
Afterwards, the control to manipulator is adjusted according to force feedback data.The embodiment of the present invention can adapt to the work of hot line robot
Scene improves its Stability and dependability, improves operating efficiency and safety；Pass through environmental data feedback and the dual guarantor of force feedback
Barrier reduces the generation of the second accident due to hot line robot failure or violation operation generation；Operator training is easy,
Operation and the force data of various situations can be simulated in experimental site, formulates force data table range, have guidance to make operating personnel
With.
The present invention is from using in purpose, and in efficiency, the viewpoints such as progress and novelty are illustrated, the practicality progress having
Property, oneself meets the function that Patent Law emphasized and promotes and use important document, the explanation more than present invention and attached drawing, only of the invention
Preferred embodiment and oneself, the present invention is not limited to this, therefore, it is all constructed with the present invention, device such as waits levying at approximations, the thunder
With, i.e., all according to equivalent replacement or modification etc. made by present patent application range, the patent application that should all belong to the present invention is protected
Within the scope of shield.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.Although present invention has been a degree of descriptions, it will be apparent that, in the item for not departing from the spirit and scope of the present invention
Under part, the appropriate variation of each condition can be carried out.It is appreciated that the present invention is not limited to the embodiments, and it is attributed to right and wants
The range asked comprising the equivalent replacement of each factor.It will be apparent to those skilled in the art that can be as described above
Various other corresponding changes and deformation are made in technical solution and design, and all these change and deformation is all answered
This belongs within the protection domain of the claims in the present invention.
Claims (10)
1. a kind of robot mechanical arm control method, which is characterized in that including：
Video acquisition analytical procedure：
Binocular video is obtained by binocular camera；
Target device is identified in binocular video and target device is carried out, from motion tracking, to establish the threedimensional model of current environment,
Obtain the posture of target device and the relative coordinate of target device and manipulator；
Obtain the panoramic video of current environment in real time by full-view camera；
Force-feedback control step：
According to the threedimensional model of current environment, the panoramic video of current environment, the posture of target device and target device and machine
The relative coordinate of tool hand controls the movement of manipulator by force-feedback control device；
The force feedback data of manipulator is obtained by force-feedback control device；
According to force feedback data, the movement of manipulator is controlled by force-feedback control device.
2. robot mechanical arm control method according to claim 1, which is characterized in that described to be identified in binocular video
Target device simultaneously to target device from motion tracking, establish the threedimensional model of current environment, obtain the posture of target device, with
And the step of relative coordinate of target device and manipulator, specially：
Target device is identified in binocular video and target device is carried out from motion tracking；
Position the key point of target device；
Rebuild position of the key point in camera coordinates system；
According to point cloud information of the front and back several frame key points in camera coordinates system in binocular video, restore the position of robot movement
It sets and posture；
According to the position of position and robot movement of the key point in camera coordinates system and posture, the three of current environment are established
Dimension module obtains the posture of target device and the relative coordinate of target device and manipulator.
3. robot mechanical arm control method according to claim 1 or 2, which is characterized in that identify the side of target device
Formula is one or more in template matches, Feature Points Matching and machine learning.
4. a kind of robot mechanical arm control device, which is characterized in that including：
Video acquisition analysis module, is used for：
Binocular video is obtained by binocular camera；
Target device is identified in binocular video and target device is carried out, from motion tracking, to establish the threedimensional model of current environment,
Obtain the posture of target device and the relative coordinate of target device and manipulator；
Obtain the panoramic video of current environment in real time by full-view camera；
Force-feedback control module, is used for：
According to the threedimensional model of current environment, the panoramic video of current environment, the posture of target device and target device and machine
The relative coordinate of tool hand controls the movement of manipulator by force-feedback control device；
The force feedback data of manipulator is obtained by force-feedback control device；
According to force feedback data, the movement of manipulator is controlled by force-feedback control device.
5. robot mechanical arm control device according to claim 4, which is characterized in that the video acquisition analysis module
For：
Target device is identified in binocular video and target device is carried out from motion tracking；
Position the key point of target device；
Rebuild position of the key point in camera coordinates system；
According to point cloud information of the front and back several frame key points in camera coordinates system in binocular video, restore the position of robot movement
It sets and posture；
According to the position of position and robot movement of the key point in camera coordinates system and posture, the three of current environment are established
Dimension module obtains the posture of target device and the relative coordinate of target device and manipulator.
6. a kind of robot mechanical arm control system, which is characterized in that including：
Robot mechanical arm control device described in claim 4 or 5；
Binocular camera, for obtaining binocular video；
Full-view camera, the panoramic video for obtaining current environment in real time；
Force-feedback control device, the force feedback data for obtaining manipulator, and the movement of manipulator is controlled.
7. robot mechanical arm control system according to claim 6, which is characterized in that the force-feedback control device packet
It includes on line force feedback under mechanical hand-power detection module, communication module, manual operation module and line and realizes module；
Mechanical hand-power detection module obtains the force feedback data of manipulator on line, and robot mechanical arm is sent to by communication module
Control device；
Robot mechanical arm control device realizes module by force feedback under manual operation module control line, realizes and is transported to manipulator
Dynamic control.
8. robot mechanical arm control system according to claim 7, which is characterized in that mechanical hand-power detection on the line
Module is one or more in full-bridge, multi-dimension force sensor and encoder.
9. robot mechanical arm control system according to claim 7, which is characterized in that the manual operation module is rotation
It is one or more in switch hand, control lever and manipulator.
10. robot mechanical arm control system according to claim 7, which is characterized in that force feedback is realized under the line
Module is that electric cylinders realize that module, hydraulic pressure realize that module, electromagnetic force realize that module and vibrations realize that mould is in the block one or more.
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| CN111477041A (en) * | 2020-05-22 | 2020-07-31 | 安徽师范大学 | Physical experiment demonstration system and method based on Internet of things communication technology |
| CN111552269A (en) * | 2020-04-27 | 2020-08-18 | 武汉工程大学 | Multi-robot safety detection method and system based on attitude estimation |
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| CN113103230A (en) * | 2021-03-30 | 2021-07-13 | 山东大学 | Human-computer interaction system and method based on remote operation of treatment robot |
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Application publication date: 20180724 |