CN110170993A - A kind of network-enabled intelligent robot - Google Patents
A kind of network-enabled intelligent robot Download PDFInfo
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- CN110170993A CN110170993A CN201910314693.4A CN201910314693A CN110170993A CN 110170993 A CN110170993 A CN 110170993A CN 201910314693 A CN201910314693 A CN 201910314693A CN 110170993 A CN110170993 A CN 110170993A
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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
- B25J19/0095—Means or methods for testing 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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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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- 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
- B25J9/1692—Calibration of manipulator
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- Engineering & Computer Science (AREA)
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- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to robotic technology fields, a kind of network-enabled intelligent robot is disclosed, the network-enabled intelligent robot includes: scan module, environmental data collecting module, central control module, wireless communication module, voice module, execution module, mobile module, locating module, performance test module, display module.The present invention realizes the coordinate for the two dimensional code for including in the image obtained according to robot present position, the position of area and/or two dimensional code in the picture of two dimensional code in the picture by locating module, it can determine the current position of robot, simplify the mode of robot localization, improve positioning accuracy and accuracy；Meanwhile passage capacity test module improves testing efficiency, it is complicated for operation to alleviate existing robot performance's test method, tester is required it is high, the technical issues of inefficiency.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of network-enabled intelligent robots.
Background technique
Intelligent robot has panoramic internal information sensor and external information sensor, such as vision, the sense of hearing, touching
Feel, smell.In addition to receptor, there are also effectors for it, as the means for acting on ambient enviroment.Here it is muscles, or
Motor synchronizing motor, they move up hand, foot, long-snouted, feeler etc..Thus it will also realize that, intelligent robot will at least have
Three elements: feel element, reaction element and thinking element.Intelligent robot is same with human language it will be appreciated that human language
Operator's dialogue, one kind has been independently formed in " consciousness " of own enables the external environment of its " existence " --- practical feelings
The detailed mode of condition.It can analyze the case where occurring, the movement of oneself can be adjusted with reach that operator proposed it is whole require,
Desired movement can be drafted, and completes these movements in the case where information is insufficient and under the conditions of environment is vertiginous.
However, existing robot localization is inaccurate；Meanwhile existing robot performance's test method is complicated for operation, wants to tester
Ask high, inefficiency.
In conclusion problem of the existing technology is: existing robot localization is inaccurate；Meanwhile existing robot
Performance test methods are complicated for operation, require tester high, inefficiency.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of network-enabled intelligent robots.
The invention is realized in this way a kind of network-enabled intelligent robot includes:
Scan module, environmental data collecting module, central control module, wireless communication module, voice module, execution module, shifting
Dynamic model block, locating module, performance test module, display module；
Scan module is connect with central control module, for scanning and recognizing acquisition ambient image to environment by camera；
Environmental data collecting module, connect with central control module, for acquiring temperature, the humidity, sky of environment by sensor
The data such as makings amount, intensity of illumination；
Central control module, with scan module, environmental data collecting module, wireless communication module, voice module, execution module,
Mobile module, locating module, performance test module, display module connection, for controlling the normal work of modules by single-chip microcontroller
Make；
Wireless communication module is connect with central control module, carries out wireless network for connecting wireless network by wireless receiver
Network communication；
Voice module is connect with central control module, for identifying phonetic order by speech recognition device；
Execution module is connect with central control module, for carrying out task execution operation by mechanical arm；
Mobile module is connect with central control module, for carrying out moving operation by pulley；
Locating module is connect with central control module, for being positioned by two dimensional code to robot；
Performance test module is connect with central control module, for being tested by test program robot performance；
Display module is connect with central control module, for passing through display display environment image and environment temperature, humidity, sky
The data such as makings amount, intensity of illumination.
Further, the locating module localization method is as follows:
(1) the corresponding image of robot present position is obtained, wherein comprising having only space coordinate value in described image
Two dimensional code；
(2) area and/or location information according to the corresponding spatial value of the two dimensional code, two dimensional code in described image,
Determine the current position of the robot.
Further, the current position of the determination robot, comprising:
Judge whether area of the two dimensional code in described image is greater than threshold value；
If so, determining the current position of the robot according to the corresponding spatial value of the two dimensional code；
If it is not, then according to the corresponding spatial value of the two dimensional code, the two dimensional code area and position letter in described image
Breath, determines the position of the robot.
Further, the two dimensional code is quick response codes, described according to the corresponding spatial value of the two dimensional code, described
Two dimensional code area and location information in described image, determine the position of the robot, comprising:
Determine coordinate value of each position detection figure in described image in the quick response codes；
Coordinate value of the figure in described image is detected according to each position, determines the two dimensional code and the robot in sky
Between in distance value and angle value；
According to the corresponding spatial value of the two dimensional code, the two dimensional code and the robot in space at a distance from and angle
Value, determines the position of the robot.
Further, the determination two dimensional code and the distance value and angle value of the robot in space, comprising:
By coordinate value of each position detection figure in described image, with the coordinate of preset each position detection figure in the picture
Value is compared, and determines the two dimensional code and the distance value and angle value of the robot in space.
Further, the performance test module test method is as follows:
1) target trajectory is determined according to the configuration information of to-be-detected machine people, wherein the target trajectory includes: calibration track, is surveyed
Track is tried, the quantity of the test trails is multiple, the corresponding performance test item of each test trails；
2) coordinate system calibration is carried out based on the calibration track, obtains laser tracker coordinate system and to-be-detected machine people coordinate system
Mapping relations；
3) it is tested according to the performance test project of user's selection and corresponding test trails, obtains test data, wherein institute
Stating performance test project includes at least one of: point bit test, track testing, the test data includes: the machine to be measured
The ending coordinates of device people, the target ball coordinate that the laser tracker measures；
4) according to the mapping relations, the test data and the corresponding performance test project of the test data are computational
The performance test results of energy test item.
Further, described before determining target trajectory according to the configuration information of to-be-detected machine people, the method also includes:
Foundation and to-be-detected machine people system respectively, the connection relationship of laser tracker,
Wherein, laser tracker direction is fixed on to-be-detected machine people end by the mode for first passing through manual light lead in advance
Target ball, the to-be-detected machine people system includes: the to-be-detected machine people and robot controller.
Further, the configuration information according to to-be-detected machine people determines that target trajectory includes:
Obtain the configuration information of the to-be-detected machine people of user's selection, wherein the configuration information includes: described to be measured
The dimension information of robot, the mobile space information of the to-be-detected machine people；
Target trajectory is determined according to the configuration information.
Further, it is described based on the calibration track progress coordinate system calibration, obtain laser tracker coordinate system with it is to be measured
The mapping relations of robot coordinate system include:
Receive the calibration track of user's selection；
The calibration track is sent to the robot controller, so that the robot controller controls the to-be-detected machine
People moves according to the calibration track；
Receive the first calibration data and laser tracker survey that the robot controller described in the calibration track returns
The second calibration data obtained, wherein first calibration data is the ending coordinates of the to-be-detected machine people, second calibration
Data are the target ball coordinate that the laser tracker measures；
Calculate the transition matrix between first calibration data and second calibration data, wherein the transition matrix energy
It is enough that second calibration data is converted into the first calibration data；
Using the transition matrix as the mapping relations of the laser tracker coordinate system and the to-be-detected machine people coordinate system.
Further, described to be tested according to the performance test project and corresponding test trails of user's selection, it is surveyed
Trying data includes:
Obtain the performance test project and corresponding test trails of user's selection；
The corresponding test trails are sent to the robot controller so that robot controller control it is described to
Robot is surveyed to be moved according to the corresponding test trails；
Whether laser tracker described in real-time detection tracks the target ball of to-be-detected machine people end；
If detection obtains the target ball that the laser tracker tracks to-be-detected machine people end, receive in the correspondence
Test trails described in robot controller return the to-be-detected machine people ending coordinates and the laser tracker survey
The target ball coordinate obtained；
If detection obtains the target ball that the laser tracker does not track to-be-detected machine people end, the laser is controlled
Tracker is directed toward target position, and receives the ending coordinates of the to-be-detected machine people that the robot controller returns and described
The target location coordinate that laser tracker measures, wherein the target position is according to mapping relations and described corresponding
The target ball that test trails are calculated should position.
Advantages of the present invention and good effect are as follows: the present invention is realized by locating module and is currently located position according to robot
Set coordinate, the position of area and/or two dimensional code in the picture of two dimensional code in the picture of the two dimensional code for including in the image of acquisition
It sets, that is, can determine the current position of robot, simplify the mode of robot localization, improve positioning accuracy and accuracy；Together
When, passage capacity test module provides calibration track and test trails for user, is not necessarily to the customized setting of user, can count automatically
Test result is calculated, and to-be-detected machine people and laser tracker can be controlled simultaneously by the testing system software, is reduced
Handover operation repeatedly between robot system and laser tracker system, it is easy to operate, the technical requirements to user are reduced,
Testing efficiency is improved, and it is complicated for operation to alleviate existing robot performance's test method, and high, low efficiency is required tester
Under technical problem.
Detailed description of the invention
Fig. 1 is network-enabled intelligent robot architecture block diagram provided in an embodiment of the present invention.
In figure: 1, scan module；2, environmental data collecting module；3, central control module；4, wireless communication module；5, language
Sound module；6, execution module；7, mobile module；8, locating module；9, performance test module；10, display module.
Specific embodiment
In order to further understand the content, features and effects of the present invention, the following examples are hereby given, and cooperate attached drawing
Detailed description are as follows.
Structure of the invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1, network-enabled intelligent robot provided in an embodiment of the present invention includes: that scan module 1, environmental data are adopted
Collect module 2, central control module 3, wireless communication module 4, voice module 5, execution module 6, mobile module 7, locating module 8,
Performance test module 9, display module 10.
Scan module 1 is connect with central control module 3, for scanning and recognizing acquisition ring to environment by camera
Border image；
Environmental data collecting module 2 is connect with central control module 3, for by sensor acquire the temperature of environment, humidity,
The data such as air quality, intensity of illumination；
Central control module 3, with scan module 1, environmental data collecting module 2, wireless communication module 4, voice module 5, execution
Module 6, mobile module 7, locating module 8, performance test module 9, display module 10 connect, each for being controlled by single-chip microcontroller
Module works normally；
Wireless communication module 4 is connect with central control module 3, is carried out wirelessly for connecting wireless network by wireless receiver
Network communication；
Voice module 5 is connect with central control module 3, for identifying phonetic order by speech recognition device；
Execution module 6 is connect with central control module 3, for carrying out task execution operation by mechanical arm；
Mobile module 7 is connect with central control module 3, for carrying out moving operation by pulley；
Locating module 8 is connect with central control module 3, for being positioned by two dimensional code to robot；
Performance test module 9 is connect with central control module 3, for being tested by test program robot performance；
Display module 10 is connect with central control module 3, for by display display environment image and environment temperature, humidity,
The data such as air quality, intensity of illumination.
8 localization method of locating module provided by the invention is as follows:
(1) the corresponding image of robot present position is obtained, wherein comprising having only space coordinate value in described image
Two dimensional code；
(2) area and/or location information according to the corresponding spatial value of the two dimensional code, two dimensional code in described image,
Determine the current position of the robot.
The current position of the determination robot provided by the invention, comprising:
Judge whether area of the two dimensional code in described image is greater than threshold value；
If so, determining the current position of the robot according to the corresponding spatial value of the two dimensional code；
If it is not, then according to the corresponding spatial value of the two dimensional code, the two dimensional code area and position letter in described image
Breath, determines the position of the robot.
Two dimensional code provided by the invention is quick response codes, described according to the corresponding spatial value of the two dimensional code, institute
Two dimensional code area and location information in described image are stated, determines the position of the robot, comprising:
Determine coordinate value of each position detection figure in described image in the quick response codes；
Coordinate value of the figure in described image is detected according to each position, determines the two dimensional code and the robot in sky
Between in distance value and angle value；
According to the corresponding spatial value of the two dimensional code, the two dimensional code and the robot in space at a distance from and angle
Value, determines the position of the robot.
The determination two dimensional code provided by the invention and the distance value and angle value of the robot in space, comprising:
By coordinate value of each position detection figure in described image, with the coordinate of preset each position detection figure in the picture
Value is compared, and determines the two dimensional code and the distance value and angle value of the robot in space.
9 test method of performance test module provided by the invention is as follows:
1) target trajectory is determined according to the configuration information of to-be-detected machine people, wherein the target trajectory includes: calibration track, is surveyed
Track is tried, the quantity of the test trails is multiple, the corresponding performance test item of each test trails；
2) coordinate system calibration is carried out based on the calibration track, obtains laser tracker coordinate system and to-be-detected machine people coordinate system
Mapping relations；
3) it is tested according to the performance test project of user's selection and corresponding test trails, obtains test data, wherein institute
Stating performance test project includes at least one of: point bit test, track testing, the test data includes: the machine to be measured
The ending coordinates of device people, the target ball coordinate that the laser tracker measures；
4) according to the mapping relations, the test data and the corresponding performance test project of the test data are computational
The performance test results of energy test item.
It is provided by the invention before determining target trajectory according to the configuration information of to-be-detected machine people, the method is also wrapped
It includes:
Foundation and to-be-detected machine people system respectively, the connection relationship of laser tracker,
Wherein, laser tracker direction is fixed on to-be-detected machine people end by the mode for first passing through manual light lead in advance
Target ball, the to-be-detected machine people system includes: the to-be-detected machine people and robot controller.
Configuration information provided by the invention according to to-be-detected machine people determines that target trajectory includes:
Obtain the configuration information of the to-be-detected machine people of user's selection, wherein the configuration information includes: described to be measured
The dimension information of robot, the mobile space information of the to-be-detected machine people；
Target trajectory is determined according to the configuration information.
It is provided by the invention based on the calibration track progress coordinate system calibration, obtain laser tracker coordinate system with it is to be measured
The mapping relations of robot coordinate system include:
Receive the calibration track of user's selection；
The calibration track is sent to the robot controller, so that the robot controller controls the to-be-detected machine
People moves according to the calibration track；
Receive the first calibration data and laser tracker survey that the robot controller described in the calibration track returns
The second calibration data obtained, wherein first calibration data is the ending coordinates of the to-be-detected machine people, second calibration
Data are the target ball coordinate that the laser tracker measures；
Calculate the transition matrix between first calibration data and second calibration data, wherein the transition matrix energy
It is enough that second calibration data is converted into the first calibration data；
Using the transition matrix as the mapping relations of the laser tracker coordinate system and the to-be-detected machine people coordinate system.
It is provided by the invention to be tested according to the performance test project and corresponding test trails of user's selection, it is surveyed
Trying data includes:
Obtain the performance test project and corresponding test trails of user's selection；
The corresponding test trails are sent to the robot controller so that robot controller control it is described to
Robot is surveyed to be moved according to the corresponding test trails；
Whether laser tracker described in real-time detection tracks the target ball of to-be-detected machine people end；
If detection obtains the target ball that the laser tracker tracks to-be-detected machine people end, receive in the correspondence
Test trails described in robot controller return the to-be-detected machine people ending coordinates and the laser tracker survey
The target ball coordinate obtained；
If detection obtains the target ball that the laser tracker does not track to-be-detected machine people end, the laser is controlled
Tracker is directed toward target position, and receives the ending coordinates of the to-be-detected machine people that the robot controller returns and described
The target location coordinate that laser tracker measures, wherein the target position is according to mapping relations and described corresponding
The target ball that test trails are calculated should position.
When the invention works, firstly, scanning and recognizing acquisition environment map to environment using camera by scan module 1
Picture；It is counted by environmental data collecting module 2 using temperature, humidity, air quality, the intensity of illumination etc. that sensor acquires environment
According to；Secondly, module 4 utilizes wireless receiver connection wireless network progress wireless network to central control module 3 by wireless communication
Communication；Phonetic order is identified using speech recognition device by voice module 5；Task is carried out using mechanical arm by execution module 6
Execute operation；Moving operation is carried out using pulley by mobile module 7；By locating module 8 using two dimensional code to robot into
Row positioning；Then, passage capacity test module 9 tests robot performance using test program；Finally, passing through display mould
Block 10 utilizes the data such as display display environment image and environment temperature, humidity, air quality, intensity of illumination.
The above is only the preferred embodiments of the present invention, and is not intended to limit the present invention in any form,
Any simple modification made to the above embodiment according to the technical essence of the invention, equivalent variations and modification, belong to
In the range of technical solution of the present invention.
Claims (10)
1. a kind of network-enabled intelligent robot, which is characterized in that the network-enabled intelligent robot includes:
Scan module, environmental data collecting module, central control module, wireless communication module, voice module, execution module, shifting
Dynamic model block, locating module, performance test module, display module；
Scan module is connect with central control module, for scanning and recognizing acquisition ambient image to environment by camera；
Environmental data collecting module, connect with central control module, for acquiring temperature, the humidity, sky of environment by sensor
The data such as makings amount, intensity of illumination；
Central control module, with scan module, environmental data collecting module, wireless communication module, voice module, execution module,
Mobile module, locating module, performance test module, display module connection, for controlling the normal work of modules by single-chip microcontroller
Make；
Wireless communication module is connect with central control module, carries out wireless network for connecting wireless network by wireless receiver
Network communication；
Voice module is connect with central control module, for identifying phonetic order by speech recognition device；
Execution module is connect with central control module, for carrying out task execution operation by mechanical arm；
Mobile module is connect with central control module, for carrying out moving operation by pulley；
Locating module is connect with central control module, for being positioned by two dimensional code to robot；
Performance test module is connect with central control module, for being tested by test program robot performance；
Display module is connect with central control module, for passing through display display environment image and environment temperature, humidity, sky
The data such as makings amount, intensity of illumination.
2. network-enabled intelligent robot as described in claim 1, which is characterized in that the locating module localization method is as follows:
(1) the corresponding image of robot present position is obtained, wherein comprising having only space coordinate value in described image
Two dimensional code；
(2) area and/or location information according to the corresponding spatial value of the two dimensional code, two dimensional code in described image,
Determine the current position of the robot.
3. network-enabled intelligent robot as claimed in claim 2, which is characterized in that the current position of the determination robot
It sets, comprising:
Judge whether area of the two dimensional code in described image is greater than threshold value；
If so, determining the current position of the robot according to the corresponding spatial value of the two dimensional code；
If it is not, then according to the corresponding spatial value of the two dimensional code, the two dimensional code area and position letter in described image
Breath, determines the position of the robot.
4. network-enabled intelligent robot as claimed in claim 3, which is characterized in that the two dimensional code is quick response codes, described
According to the corresponding spatial value of the two dimensional code, the two dimensional code area and location information in described image, determine described in
The position of robot, comprising:
Determine coordinate value of each position detection figure in described image in the quick response codes；
Coordinate value of the figure in described image is detected according to each position, determines the two dimensional code and the robot in sky
Between in distance value and angle value；
According to the corresponding spatial value of the two dimensional code, the two dimensional code and the robot in space at a distance from and angle
Value, determines the position of the robot.
5. network-enabled intelligent robot as claimed in claim 4, which is characterized in that the determination two dimensional code and the machine
The distance value and angle value of people in space, comprising:
By coordinate value of each position detection figure in described image, with the coordinate of preset each position detection figure in the picture
Value is compared, and determines the two dimensional code and the distance value and angle value of the robot in space.
6. network-enabled intelligent robot as described in claim 1, which is characterized in that the performance test module test method is such as
Under:
1) target trajectory is determined according to the configuration information of to-be-detected machine people, wherein the target trajectory includes: calibration track, is surveyed
Track is tried, the quantity of the test trails is multiple, the corresponding performance test item of each test trails；
2) coordinate system calibration is carried out based on the calibration track, obtains laser tracker coordinate system and to-be-detected machine people coordinate system
Mapping relations；
3) it is tested according to the performance test project of user's selection and corresponding test trails, obtains test data, wherein institute
Stating performance test project includes at least one of: point bit test, track testing, the test data includes: the machine to be measured
The ending coordinates of device people, the target ball coordinate that the laser tracker measures；
4) according to the mapping relations, the test data and the corresponding performance test project of the test data are computational
The performance test results of energy test item.
7. network-enabled intelligent robot as claimed in claim 6, which is characterized in that described to match confidence according to to-be-detected machine people
It ceases before determining target trajectory, the method also includes:
Foundation and to-be-detected machine people system respectively, the connection relationship of laser tracker,
Wherein, laser tracker direction is fixed on to-be-detected machine people end by the mode for first passing through manual light lead in advance
Target ball, the to-be-detected machine people system includes: the to-be-detected machine people and robot controller.
8. network-enabled intelligent robot as claimed in claim 6, which is characterized in that the configuration information according to to-be-detected machine people
Determine that target trajectory includes:
Obtain the configuration information of the to-be-detected machine people of user's selection, wherein the configuration information includes: described to be measured
The dimension information of robot, the mobile space information of the to-be-detected machine people；
Target trajectory is determined according to the configuration information.
9. network-enabled intelligent robot as claimed in claim 6, which is characterized in that described to carry out coordinate based on the calibration track
System's calibration, obtains laser tracker coordinate system and the mapping relations of to-be-detected machine people's coordinate system includes:
Receive the calibration track of user's selection；
The calibration track is sent to the robot controller, so that the robot controller controls the to-be-detected machine
People moves according to the calibration track；
Receive the first calibration data and laser tracker survey that the robot controller described in the calibration track returns
The second calibration data obtained, wherein first calibration data is the ending coordinates of the to-be-detected machine people, second calibration
Data are the target ball coordinate that the laser tracker measures；
Calculate the transition matrix between first calibration data and second calibration data, wherein the transition matrix energy
It is enough that second calibration data is converted into the first calibration data；
Using the transition matrix as the mapping relations of the laser tracker coordinate system and the to-be-detected machine people coordinate system.
10. network-enabled intelligent robot as claimed in claim 6, which is characterized in that the performance test selected according to user
Project and corresponding test trails are tested, and are obtained test data and are included:
Obtain the performance test project and corresponding test trails of user's selection；
The corresponding test trails are sent to the robot controller so that robot controller control it is described to
Robot is surveyed to be moved according to the corresponding test trails；
Whether laser tracker described in real-time detection tracks the target ball of to-be-detected machine people end；
If detection obtains the target ball that the laser tracker tracks to-be-detected machine people end, receive in the correspondence
Test trails described in robot controller return the to-be-detected machine people ending coordinates and the laser tracker survey
The target ball coordinate obtained；
If detection obtains the target ball that the laser tracker does not track to-be-detected machine people end, the laser is controlled
Tracker is directed toward target position, and receives the ending coordinates of the to-be-detected machine people that the robot controller returns and described
The target location coordinate that laser tracker measures, wherein the target position is according to mapping relations and described corresponding
The target ball that test trails are calculated should position.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941463A (en) * | 2020-08-17 | 2020-11-17 | 上海机器人产业技术研究院有限公司 | Cooperative robot reachable area test system and method based on LABVIEW |
| CN112720448A (en) * | 2019-10-14 | 2021-04-30 | 防灾科技学院 | Positioning robot for self-recognition and positioning system thereof |
| CN112880555A (en) * | 2021-01-06 | 2021-06-01 | 浙江吉利控股集团有限公司 | Calibration method and system of coordinate system |
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