CN108839018A - A kind of robot control operating method and device - Google Patents
A kind of robot control operating method and device Download PDFInfo
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- CN108839018A CN108839018A CN201810659510.8A CN201810659510A CN108839018A CN 108839018 A CN108839018 A CN 108839018A CN 201810659510 A CN201810659510 A CN 201810659510A CN 108839018 A CN108839018 A CN 108839018A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
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Abstract
A kind of robot control operating method of the present invention and device, controlling operating device includes monitoring terminal system, controller, driving motor, kinetic control system, data conversion module, automated graphics simulate maker module, laser tracking module and voice broadcast module, kinetic control system includes location information collection module, vision collecting module, three-dimensional image acquisition module and ranging sensing module, controller is communicated with monitoring terminal system, location information collection module and vision collecting module are connected with data conversion module and automated graphics simulation maker module respectively, controller and three-dimensional image acquisition module, ranging sensing module, data conversion module, automated graphics simulate maker module, driving motor is connected with voice broadcast module.Robot control operating method provided by the invention and device, control robot by monitoring terminal system and respond by operational order, can display real-time position and the spatial scene figure of robot, and energy voice broadcast improves man-machine interaction.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of robot control operating method and device.
Background technique
The appearance of intelligent concept has pushed the fast development of robot technology, replaces traditional artificial labour using robot
As a kind of development trend, working efficiency can not only be improved, is reduced old artificial, moreover it is possible to improve homework precision, replace artificial
Complete some hot missions.But current robot manipulation still needs to be excavated in terms of realizing long-range monitoring, man-machine interaction
It is to be improved.
Summary of the invention
Technical problem to be solved by the present invention lies in provide a kind of robot control operation in view of the above technical problems
Method and device.
The technical problems to be solved by the invention can be achieved through the following technical solutions：
A kind of robot control operating method, includes the following steps：
Step 1: sending operational order by controller of the monitoring terminal system in robot, controller receives operational order
And kinetic control system is driven to make a response, worked as by the location information collection module real-time collecting robot of kinetic control system
Preceding affiliated azimuth information simultaneously feeds back to data conversion module, by the vision collecting module of kinetic control system respectively to machine
The object or product occurred in people's local environment scene and current scene carries out Image Acquisition, is uploaded to image processing module processing
After be resent to automated graphics simulation maker module and laser tracking module；
Step 2: data conversion module receives the current azimuth information of robot and generates corresponding latitude coordinates, automated graphics
It simulates the image information that maker module receiving step one obtains and simulates generation and the consistent spatial scene of actual environment scene
Figure, then, latitude coordinates and spatial scene figure are uploaded to controller, and the display module in controller driving robot is shown
Latitude coordinates and spatial scene figure；
Step 3, controller starting laser tracking module are analyzed and are sentenced to the image information that image processing module is handled
It is disconnected, it whether searches in local environment comprising being tracked object；
Step 4: to be sought to after being tracked object, by the three-dimensional image acquisition module of kinetic control system to tracked object into
Row three-dimensional image acquisition obtains being tracked the three-dimensional image information of object and is uploaded to controller, and controller is by the three of tracked object
Dimension image information is uploaded to monitoring terminal system, meanwhile, pass through the location information collection module real-time collecting of kinetic control system
The current affiliated azimuth information of robot simultaneously feeds back to data conversion module, and the ranging sensing module for passing through kinetic control system is real
When collecting robot people and tracked object between actual range and feed back to controller；
Step 5: robot current location information obtained in data conversion module receiving step four and generating corresponding longitude and latitude and sitting
Mark, then it is uploaded to controller, controller receives the actual range between latitude coordinates and robot and tracked object, driving display
Module carries out real-time display latitude coordinates and actual distance value, while being uploaded to monitoring terminal system by controller.
Further, in step 1, operational order includes position acquisition instruction and image capture instruction, passes through monitor terminal
Controller of the system in robot sends position acquisition instruction and image capture instruction, controller receive and drive motion control
The location information collection module and vision collecting module of system start and work.
Further, in step 3, if not searching tracked object, controller unsuccessfully refers to monitoring terminal system transmission
It enables, monitoring terminal system reception failure instruction, meanwhile, controller controls robot and advances, step 1 is repeated to step 3, until
Until searching tracked object, operated according still further to step 4 to step 5.
Further, in step 5, controller drives the voice broadcast module in robot to carry out sounding and broadcasts current institute
Locate latitude coordinates and actual range.
Further, including monitoring terminal system, controller, driving motor, kinetic control system, data conversion module,
Automated graphics simulate maker module, laser tracking module and voice broadcast module, and the kinetic control system includes position letter
Cease collection module, vision collecting module, image processing module, three-dimensional image acquisition module and ranging sensing module, controller with
Monitoring terminal system two-way communication, location information collection module are connected with data conversion module, and vision collecting module connects image
Processing module reconnects automated graphics and simulates maker module, latitude coordinates is generated by data conversion module, by from cardon
As simulation maker module simulation generation spatial scene figure, controller input terminal and three-dimensional image acquisition module, ranging sense mould
Block, data conversion module are connected with automated graphics simulation maker module, controller output end and laser tracking module, driving electricity
Machine is connected with voice broadcast module, drives robot to advance by driving motor.
Further, the controller, driving motor, kinetic control system and voice broadcast module are mounted on robot
On, monitoring terminal system is smart phone or computer, and monitoring terminal system passes through WIFI module and controller two-way communication.
Compared with prior art, beneficial effects of the present invention are：
The invention discloses a kind of robot control operating method and device, control operating device includes monitoring terminal system, control
Device processed, driving motor, kinetic control system, data conversion module, automated graphics simulation maker module, laser tracking module and
Voice broadcast module, kinetic control system include location information collection module, vision collecting module, image processing module, three-dimensional
Image capture module and ranging sensing module, controller and monitoring terminal system two-way communication, location information collection module and view
Feel that acquisition module is connected with data conversion module and automated graphics simulation maker module respectively, is generated by data conversion module
Latitude coordinates simulate maker module simulation by automated graphics and generate spatial scene figure, controller input terminal and 3-D image
Acquisition module, ranging sensing module, data conversion module and automated graphics simulation maker module be connected, controller output end and
Laser tracking module, driving motor are connected with voice broadcast module, drive robot to advance by driving motor.The present invention provides
Robot control operating method and device, robot is controlled by monitoring terminal system and is responded by operational order, can be real
When show the latitude coordinates of robot, analog generates the spatial scene figure consistent with actual environment, image three-dimensionalization presentation,
It is three-dimensional, intuitive, moreover it is possible to which that voice broadcast latitude coordinates and actual range, functional diversities improve man-machine interaction, operating procedure letter
Just, it has a extensive future.
Detailed description of the invention
Fig. 1 is structural block diagram of the invention.
Specific embodiment
Technical solution of the present invention is described in detail below by specific embodiment.
As shown in Figure 1, a kind of robot controls operating method, include the following steps：
Step 1: sending operational order by controller of the monitoring terminal system in robot, controller receives operational order
And kinetic control system is driven to make a response, worked as by the location information collection module real-time collecting robot of kinetic control system
Preceding affiliated azimuth information simultaneously feeds back to data conversion module, by the vision collecting module of kinetic control system respectively to machine
The object or product occurred in people's local environment scene and current scene carries out Image Acquisition and is uploaded to image processing module, passes through
Automated graphics simulation maker module and laser tracking module are uploaded to after image processing module processing；
Step 2: data conversion module receives the current azimuth information of robot and generates corresponding latitude coordinates, automated graphics
It simulates the image information that maker module receiving step one obtains and simulates generation and the consistent three-dimensional space of actual environment scene
Scene figure, then, latitude coordinates and spatial scene figure are uploaded to controller, and controller drives the display module in robot to carry out
Real-time display latitude coordinates and spatial scene figure；
Step 3, controller start laser tracking module, are handled by laser tracking module image processing module in step 1
Whether obtained image is analyzed and is judged, search in local environment comprising being tracked object, be tracked the characteristic information of object, such as
Shape, size etc. are pre-stored in laser tracking module, are convenient for object features information comparison, track mould by laser
The object of block tracking and the consistent characteristic information of tracked object, the object are judged as being tracked object；
Step 4: to be sought to after being tracked object, by the three-dimensional image acquisition module of kinetic control system to tracked object into
Row three-dimensional image acquisition obtains being tracked the three-dimensional image information of object and is uploaded to controller, and controller is by the three of tracked object
Dimension image information is uploaded to monitoring terminal system, meanwhile, pass through the location information collection module real-time collecting of kinetic control system
Azimuth information belonging to robot is current simultaneously feeds back to data processing module and is handled, and generates corresponding latitude coordinates and uploads again
To controller, pass through the actual range between the ranging sensing module real-time collecting robot of kinetic control system and tracked object
It is worth and feeds back to controller；
Step 5: the latitude coordinates for the robot that controller receiving step four obtains（It is tracked the coordinate position of object）And reality
Distance, controller drives the display module in robot to carry out real-time display latitude coordinates and actual distance value, while passing through control
Latitude coordinates and actual range are uploaded to monitoring terminal system by device processed.
In step 1, operational order includes position acquisition instruction and image capture instruction, by monitoring terminal system to machine
Controller on device people sends position acquisition instruction and image capture instruction, controller receive and drive the position of kinetic control system
It sets information collection module and vision collecting module starts and works.
In step 3, if not searching tracked object, controller transmits failure command to monitoring terminal system, and monitoring is eventually
End system reception failure instruction, meanwhile, controller controls robot and advances, repeat step 1 to step 3, until search by
Until tracking object, operated according still further to step 4 to step 5.
In step 5, the voice broadcast module in controller driving robot carries out sounding casting and is presently in latitude coordinates
And actual range.
A kind of robot controls operating device, including monitoring terminal system, controller, driving motor, kinetic control system,
Data conversion module, automated graphics simulation maker module, laser tracking module and voice broadcast module, kinetic control system packet
Location information collection module, vision collecting module, image processing module, three-dimensional image acquisition module and ranging sensing module are included,
Controller and monitoring terminal system two-way communication, location information collection module is connected with data conversion module is then connected to control
Device generates latitude coordinates by data conversion module, and vision collecting module is successively simulated with image processing module and automated graphics
Maker module, which is connected, is then connected to controller, simulates maker module simulation by automated graphics and generates spatial scene figure, control
Device input terminal processed and three-dimensional image acquisition module, ranging sensing module, data conversion module and automated graphics simulate generator mould
Block is connected, and controller output end is connected with laser tracking module, driving motor and voice broadcast module, is driven by driving motor
Whether robot advances, searched in local environment by laser tracking module comprising being tracked object.
Controller, driving motor, kinetic control system and voice broadcast module are mounted in robot, monitor terminal system
System is smart phone or computer, and monitoring terminal system passes through WIFI module and controller two-way communication.
Robot of the invention uses the robot of existing structure, only need to install above-mentioned module in robot and ensure just
Often operation, robot can move under the driving of driving motor, and robot passes through access mains-supplied work.
The above is only a preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of robot controls operating method, which is characterized in that include the following steps：
Step 1: sending operational order by controller of the monitoring terminal system in robot, controller receives operational order
And kinetic control system is driven to make a response, worked as by the location information collection module real-time collecting robot of kinetic control system
Preceding affiliated azimuth information simultaneously feeds back to data conversion module, by the vision collecting module of kinetic control system respectively to machine
The object or product occurred in people's local environment scene and current scene carries out Image Acquisition, is uploaded to image processing module processing
After be resent to automated graphics simulation maker module and laser tracking module；
Step 2: data conversion module receives the current azimuth information of robot and generates corresponding latitude coordinates, automated graphics
It simulates the image information that maker module receiving step one obtains and simulates generation and the consistent spatial scene of actual environment scene
Figure, then, latitude coordinates and spatial scene figure are uploaded to controller, and the display module in controller driving robot is shown
Latitude coordinates and spatial scene figure；
Step 3, controller starting laser tracking module are analyzed and are sentenced to the image information that image processing module is handled
It is disconnected, it whether searches in local environment comprising being tracked object；
Step 4: to be sought to after being tracked object, by the three-dimensional image acquisition module of kinetic control system to tracked object into
Row three-dimensional image acquisition obtains being tracked the three-dimensional image information of object and is uploaded to controller, and controller is by the three of tracked object
Dimension image information is uploaded to monitoring terminal system, meanwhile, pass through the location information collection module real-time collecting of kinetic control system
The current affiliated azimuth information of robot simultaneously feeds back to data conversion module, and the ranging sensing module for passing through kinetic control system is real
When collecting robot people and tracked object between actual range and feed back to controller；
Step 5: robot current location information obtained in data conversion module receiving step four and generating corresponding longitude and latitude and sitting
Mark, then it is uploaded to controller, controller receives the actual range between latitude coordinates and robot and tracked object, driving display
Module carries out real-time display latitude coordinates and actual distance value, while being uploaded to monitoring terminal system by controller.
2. a kind of robot according to claim 1 controls operating method, which is characterized in that in step 1, operational order
Including position acquisition instruction and image capture instruction, position acquisition is sent by controller of the monitoring terminal system in robot
Instruction and image capture instruction, controller receive and drive the location information collection module and vision collecting mould of kinetic control system
Block starts and works.
3. a kind of robot according to claim 1 controls operating method, which is characterized in that in step 3, if not searching
Tracked object is sought, controller transmits failure command to monitoring terminal system, and monitoring terminal system reception failure instructs, meanwhile,
Controller controls robot and advances, and repeats step 1 and arrives until searching tracked object according still further to step 4 to step 3
Step 5 is operated.
4. a kind of robot according to claim 1 controls operating method, which is characterized in that in step 5, controller is driven
Voice broadcast module on mobile robot carries out sounding casting and is presently in latitude coordinates and actual range.
5. a kind of robot controls operating device, which is characterized in that including monitoring terminal system, controller, driving motor, movement
Control system, data conversion module, automated graphics simulation maker module, laser tracking module and voice broadcast module, it is described
Kinetic control system include location information collection module, vision collecting module, image processing module, three-dimensional image acquisition module and
Ranging sensing module, controller and monitoring terminal system two-way communication, location information collection module are connected with data conversion module,
Vision collecting module connects image processing module and reconnects automated graphics simulation maker module, is generated by data conversion module
Latitude coordinates simulate maker module simulation by automated graphics and generate spatial scene figure, controller input terminal and 3-D image
Acquisition module, ranging sensing module, data conversion module and automated graphics simulation maker module be connected, controller output end and
Laser tracking module, driving motor are connected with voice broadcast module, drive robot to advance by driving motor.
6. a kind of robot according to claim 5 controls operating device, which is characterized in that the controller, driving electricity
Machine, kinetic control system and voice broadcast module are mounted in robot, and monitoring terminal system is smart phone or computer, prison
Control terminal system passes through WIFI module and controller two-way communication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810659510.8A CN108839018B (en) | 2018-06-25 | 2018-06-25 | Robot control operation method and device |
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| CN201810659510.8A CN108839018B (en) | 2018-06-25 | 2018-06-25 | Robot control operation method and device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605403A (en) * | 2019-01-25 | 2019-04-12 | 北京番茄时代科技有限公司 | Robot and its operating system, control device, control method and storage medium |
| CN110465937A (en) * | 2019-06-27 | 2019-11-19 | 平安科技（深圳）有限公司 | Synchronous method, image processing method, man-machine interaction method and relevant device |
| CN110910297A (en) * | 2019-10-14 | 2020-03-24 | 梁剑 | Information acquisition system based on behavior simulation robot |
| CN113459096A (en) * | 2021-06-23 | 2021-10-01 | 深圳市加糖电子科技有限公司 | Robot remote control terminal |
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| CN108839018B (en) | 2021-08-24 |
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