CN111319064A - Method for detecting coordination of service robot - Google Patents
Method for detecting coordination of service robot Download PDFInfo
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- CN111319064A CN111319064A CN202010254120.XA CN202010254120A CN111319064A CN 111319064 A CN111319064 A CN 111319064A CN 202010254120 A CN202010254120 A CN 202010254120A CN 111319064 A CN111319064 A CN 111319064A
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- service robot
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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
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
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Abstract
The invention belongs to the technical field of service robot detection, in particular to a method for detecting the coordination of a service robot, which comprises the following detection steps: preparing service robot coordination detection equipment, wherein the service robot coordination detection equipment comprises an installation disc, an XY-axis horizontal moving mechanism is arranged at the inner bottom of the installation disc, the top surface of the rotary turntable is an inclined surface, a plurality of action sensors are arranged at the tops of a plurality of detection rod pieces, a control cabinet is arranged on one side of the installation disc, a computer is arranged at the top of the control cabinet, a display unit, a processing unit and a storage unit are arranged on the computer, and the action sensors, the display unit, the processing unit and the storage unit are electrically connected to form a data processing system for processing the motion path data of the service robot and displaying the motion path of the service robot on the display unit; the invention has the advantages of ingenious design, reasonable method, unique and reasonable matching with specific equipment, and is suitable for popularization and use.
Description
Technical Field
The invention relates to the technical field of service robot detection, in particular to a method for detecting coordination of a service robot.
Background
The service robot is a young member of the robot family, and so far there is no strict definition. Different countries have different awareness of the service robots. The service robot can be divided into a professional field service robot and a personal/family service robot, has a wide application range, and is mainly used for maintenance, repair, transportation, cleaning, security, rescue, monitoring and the like.
When the service robot is used, the service robot cannot work due to poor walking coordination, therefore, in the production or research and development process, the coordination of the service robot needs to be detected, and the built-in algorithm of the robot is relatively strong nowadays, and regular jolts can be identified, so that the real coordination of the service robot cannot be really detected through a general jolt test, and the working environment of the service robot is complex and changeable, and various emergency situations often need to be dealt with.
In order to solve the above problems, a method for detecting service robot coordination is proposed in the present application.
Disclosure of Invention
Objects of the invention
In order to solve the technical problems in the background art, the invention provides a method for detecting the coordination of a service robot, which has the characteristic of detecting the coordination of the service robot with high intensity.
(II) technical scheme
In order to solve the above problems, the present invention provides a method for detecting service robot coordination, comprising the following detection steps:
the method comprises the following steps: preparing service robot coordination detection equipment, service robot coordination detection equipment includes the mounting disc, the interior bottom of mounting disc is provided with XY axle horizontal migration mechanism, XY axle horizontal migration mechanism's output is up and install the level to backup pad on its output, rotary mechanism is installed at the top of backup pad, rotary mechanism's rotatory end is up set up and is fixed with rotatory carousel, rotatory carousel's top surface is the inclined plane, the vertical activity of top of mounting disc is run through and is provided with a plurality of detection member that distributes evenly, a plurality of the top of detecting the member is provided with a plurality of action sensor, the switch board is installed to one side of mounting disc, the computer is installed at the top of switch board, be provided with display element, processing unit and storage unit on the computer, a plurality of action sensor, The display unit, the processing unit and the storage unit are electrically connected to form a data processing system which is used for processing the service robot motion path data and displaying the service robot motion path on the display unit;
step two: placing a service robot to be detected on the tops of the detection rod pieces, and controlling the service robot to be always positioned on the detection rod pieces during detection;
step three: uniformly arranging a plurality of motion sensors at joints of four limbs, the head, the neck and the trunk of the service robot; connecting the motion sensor with a computer;
step four: firstly, operating the rotating mechanism to rotate the rotating turntable, and then operating the XY-axis horizontal moving mechanism to move the supporting plate in a plane, so that the plurality of detection rod pieces are lifted irregularly;
step five: the storage unit and the processing unit are used for storing and analyzing the track captured by the action sensor and displaying the motion track of the service robot on the display unit, when the motion track of the service robot keeps stable in a certain range, the coordination of the service robot is good, otherwise, when the motion track of the service robot changes greatly in a certain range, the coordination of the service robot is poor.
Preferably, in the first step, the mounting plate includes a lower hollow circular plate and an upper hollow circular plate connected to the top of the lower hollow circular plate, the top of the upper hollow circular plate is uniformly provided with a limiting groove, a sliding hole is formed in the limiting groove, and the detection rod is slidably fitted in the sliding hole.
Preferably, the top circumference of the detection rod piece is provided with an annular limiting bulge, and the annular limiting bulge is used for preventing the detection rod piece from completely sliding into the sliding hole.
Preferably, in the first step, the XY-axis horizontal moving mechanism includes two first electric sliding tables arranged in parallel, the sliding ends of the two first electric sliding tables are jointly fixed to the bottom of the second electric sliding table, the first electric sliding table and the second electric sliding table are arranged perpendicular to each other, and the sliding end of the second electric sliding table is fixed with a support plate.
Preferably, in the first step, the rotating mechanism is a rotating motor, a rotating cylinder or a rotating cylinder.
Preferably, the backup pad is circular, the top edge of backup pad is fixed with an annular installation section of thick bamboo, the inner wall of an annular installation section of thick bamboo is fixed with the bearing spare, the inner wall of bearing spare is fixed with a support section of thick bamboo, the upper end of a support section of thick bamboo is fixed in the bottom of rotary table.
Preferably, the rotary turntable is a cylindrical structure with an inclined top surface, and when the rotary turntable is positioned under a plurality of detection rod pieces, the lower ends of the detection rod pieces are in contact with the top surface of the rotary turntable.
Preferably, the vertical first installation pole that is fixed with in top surface left side of mounting disc, the right side of first installation pole is provided with a plurality of infrared transmitting terminal from last interval extremely down, the vertical second installation pole that is fixed with in top surface right side of mounting disc, the infrared receiving terminal that a plurality of and infrared transmitting terminal correspond is installed in the left side of second installation pole.
Preferably, a top plate is horizontally fixed at the upper end of the second mounting rod, and a camera is fixed at the bottom of the left end of the top plate.
The technical scheme of the invention has the following beneficial technical effects:
1. the data processing system is formed by electrically connecting a plurality of action sensors, the display unit, the processing unit and the storage unit and is used for processing the motion path data of the service robot and displaying the motion path of the service robot on the display unit, the storage unit and the processing unit store and analyze the track captured by the action sensors and display the motion track of the service robot on the display unit, when the motion track of the service robot is kept stable in a certain range, the coordination of the service robot is good, otherwise, when the motion track of the service robot is changed greatly in a certain range, the coordination of the service robot is poor;
2. the installation disc comprises a lower hollow disc and an upper hollow disc connected with the top of the lower hollow disc, the top of the upper hollow disc is uniformly provided with a limiting groove, a sliding hole is arranged in the limiting groove, a detection rod piece is in sliding fit in the sliding hole, the rotary turntable is of a cylindrical structure with an inclined surface on the top surface, when the rotary turntable is positioned under a plurality of detection rod pieces, the lower end of the detection rod piece is contacted with the top surface of the rotary turntable, an XY-axis horizontal moving mechanism comprises two first electric sliding tables which are arranged in parallel, the sliding ends of the two first electric sliding tables are jointly fixed at the bottom of the second electric sliding table, the first electric sliding tables and the second electric sliding tables are arranged vertically, a supporting plate is fixed at the sliding end of the second electric sliding table, and the XY-axis horizontal moving mechanism ensures that the positions of the rotary turntable are not at the same point, so that the movement of the detection rod, the detection effect of the service robot can be enhanced, the detected harmony fits the actual working environment better, and the service robot can stably run in a complex and variable environment.
Drawings
FIG. 1 is a schematic structural diagram of a service robot coordination detection apparatus according to the present invention;
FIG. 2 is a block diagram of a data processing system of the present invention;
FIG. 3 is an enlarged schematic view of the structure at A in the present invention;
fig. 4 is an enlarged schematic view of the structure at B in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
As shown in fig. 1-4, the method for detecting service robot coordination provided by the present invention comprises the following steps:
the method comprises the following steps: preparing a service robot coordination detection device which comprises a mounting disc 1, wherein an XY-axis horizontal moving mechanism is arranged at the inner bottom of the mounting disc 1, a horizontal supporting plate 14 is arranged at the output end of the XY-axis horizontal moving mechanism upwards, a rotating mechanism 11 is arranged at the top of the supporting plate 14, a rotating turntable 10 is arranged at the rotating end of the rotating mechanism 11 upwards and fixed on the rotating end of the rotating turntable 10, the top surface of the rotating turntable 10 is an inclined plane, a plurality of uniformly distributed detection rod pieces 9 are vertically and movably arranged at the top of the mounting disc 1 in a penetrating manner, a plurality of action sensors 201 are arranged at the tops of the detection rod pieces 9, a control cabinet 3 is arranged at one side of the mounting disc 1, a computer 2 is arranged at the top of the control cabinet 3, a display unit 202, a processing unit 204 and a storage unit 203 are arranged on the computer 2, and a plurality of action, The display unit 202, the processing unit 204 and the storage unit 203 are electrically connected to form a data processing system for processing the motion path data of the service robot 8 and displaying the motion path of the service robot 8 on the display unit 202;
step two: placing a service robot 8 to be detected on the tops of the detection rod pieces 9, and controlling the service robot 8 to be always positioned on the detection rod pieces 9 during detection;
step three: a plurality of motion sensors 201 are uniformly arranged at the joints of the four limbs, the head, the neck and the trunk of the service robot 8; and connects the motion sensor 201 with the computer 2;
step four: firstly, operating the rotating mechanism 11 to rotate the rotating turntable 10, and then operating the XY-axis horizontal moving mechanism to move the supporting plate 14 in a plane, so that the plurality of detection rod pieces 9 are irregularly lifted;
step five: the storage unit 203 and the processing unit 202 store and analyze the trajectory captured by the motion sensor 201, and display the motion trajectory of the service robot 8 on the display unit 202, and when the motion trajectory of the service robot 8 remains stable within a certain range, it indicates that the coordination of the service robot 8 is good, whereas when the motion trajectory of the service robot 8 changes greatly within a certain range, it indicates that the coordination of the service robot 8 is poor.
In this embodiment, it should be noted that, in the first step, the mounting plate 1 includes a lower hollow circular plate 101 and an upper hollow circular plate 102 connected to the top of the lower hollow circular plate 101, the top of the upper hollow circular plate 102 is uniformly provided with a limiting groove 1021, a sliding hole is provided in the limiting groove 1021, and the detection rod 9 is slidably fitted in the sliding hole.
In this embodiment, it should be noted that an annular limiting protrusion 901 is circumferentially arranged at the top of the detection rod 9, and the annular limiting protrusion 901 is used for preventing the detection rod 9 from completely sliding into the sliding hole.
In this embodiment, it should be noted that, in the first step, the XY-axis horizontal moving mechanism includes two first electric sliding tables 12 arranged in parallel, the sliding ends of the two first electric sliding tables 12 are jointly fixed to the bottom of the second electric sliding table 13, the first electric sliding table 12 and the second electric sliding table 13 are arranged perpendicular to each other, and the sliding end of the second electric sliding table 13 is fixed with the supporting plate 14.
In this embodiment, it should be noted that, in the first step, the rotating mechanism 11 employs a rotating motor, a rotating cylinder, or a rotating cylinder.
In this embodiment, it should be noted that the supporting plate 14 is circular, an annular mounting cylinder 15 is fixed at the top edge of the supporting plate 14, a bearing member 16 is fixed on the inner wall of the annular mounting cylinder 15, a supporting cylinder 17 is fixed on the inner wall of the bearing member 16, and the upper end of the supporting cylinder 17 is fixed at the bottom of the rotary turntable 10.
In this embodiment, it should be noted that the rotary turntable 10 has a cylindrical structure with an inclined top surface, and when the rotary turntable 10 is located directly below a plurality of detection rod members 9, the lower ends of the detection rod members 9 contact the top surface of the rotary turntable 10.
In this embodiment, it should be noted that, a first mounting rod 13 is vertically fixed on the left side of the top surface of the mounting disc 1, a plurality of infrared transmitting terminals 702 are arranged on the right side of the first mounting rod 13 from top to bottom at intervals, a second mounting rod 4 is vertically fixed on the right side of the top surface of the mounting disc 1, and a plurality of infrared receiving terminals 701 corresponding to the infrared transmitting terminals 702 are installed on the left side of the second mounting rod 4.
In this embodiment, a top plate 5 is horizontally fixed to an upper end of the second mounting rod 4, and a camera 6 is fixed to a bottom portion of a left end of the top plate 5.
In the invention, a display unit 202, a processing unit 204 and a storage unit 203 are arranged on a computer 2, a plurality of action sensors 201, the display unit 202, the processing unit 204 and the storage unit 203 are electrically connected to form a data processing system for processing the motion path data of the service robot 8 and displaying the motion path of the service robot 8 on the display unit 202, the storage unit 203 and the processing unit 202 store and analyze the track captured by the action sensors 201 and display the motion path of the service robot 8 on the display unit 202, when the motion path of the service robot 8 is kept stable in a certain range, the coordination of the service robot 8 is good, otherwise, when the motion path of the service robot 8 is changed greatly in a certain range, the coordination of the service robot 8 is poor; the installation disc 1 comprises a lower hollow disc 101 and an upper hollow disc 102 connected with the top of the lower hollow disc 101, the top of the upper hollow disc 102 is uniformly provided with a limiting groove 1021, a sliding hole is arranged in the limiting groove 1021, a detection rod 9 is in sliding fit in the sliding hole, a rotary turntable 10 is a cylindrical structure with an inclined surface on the top surface, when the rotary turntable 10 is positioned under a plurality of detection rods 9, the lower end of the detection rod 9 is contacted with the top surface of the rotary turntable 10, an XY-axis horizontal moving mechanism comprises two first electric sliding tables 12 which are arranged in parallel, the sliding ends of the two first electric sliding tables 12 are jointly fixed at the bottom of a second electric sliding table 13, the first electric sliding tables 12 and the second electric sliding tables 13 are arranged vertically, the sliding end of the second electric sliding table 13 is fixed with a supporting plate 14, and the XY-axis horizontal moving mechanism ensures that the positions of the rotary turntable 10 are not at the same point, therefore, the motion of the detection rod piece 9 is not regular, the detection effect on the service robot can be enhanced, the detected harmony fits the actual working environment better, and the service robot can stably run in a complex and variable environment.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention.
Claims (9)
1. Method for detecting the coordination of a service robot (8), characterized in that it comprises the following detection steps:
the method comprises the following steps: preparing a service robot coordination detection device, wherein the service robot coordination detection device comprises a mounting disc (1), an XY-axis horizontal moving mechanism is arranged at the inner bottom of the mounting disc (1), a horizontal support plate (14) is arranged at the output end of the XY-axis horizontal moving mechanism upwards and on the output end of the XY-axis horizontal moving mechanism, a rotating mechanism (11) is arranged at the top of the support plate (14), a rotating turntable (10) is arranged and fixed at the rotating end of the rotating mechanism (11) upwards, the top surface of the rotating turntable (10) is an inclined surface, a plurality of detection rod pieces (9) which are uniformly distributed are vertically movably arranged at the top of the mounting disc (1) in a penetrating manner, a plurality of action sensors (201) are arranged at the tops of the detection rod pieces (9), a control cabinet (3) is arranged at one side of the mounting disc (1), and a computer (2) is arranged at the top of the control cabinet (3, the computer (2) is provided with a display unit (202), a processing unit (204) and a storage unit (203), and the plurality of motion sensors (201), the display unit (202), the processing unit (204) and the storage unit (203) are electrically connected to form a data processing system for processing the motion path data of the service robot (8) and displaying the motion path of the service robot (8) on the display unit (202);
step two: placing a service robot (8) to be detected on the tops of the detection rod pieces (9), and controlling the service robot (8) to be always positioned on the detection rod pieces (9) during detection;
step three: a plurality of motion sensors (201) are uniformly arranged at joints of four limbs, the head, the neck and the trunk of the service robot (8); the motion sensor (201) is connected with the computer (2);
step four: firstly, operating a rotating mechanism (11) to rotate a rotating turntable (10), and then operating an XY-axis horizontal moving mechanism to move a supporting plate (14) in a plane, so that a plurality of detection rod pieces (9) are lifted irregularly;
step five: the storage unit (203) and the processing unit (202) store and analyze the track captured by the motion sensor (201), and display the motion track of the service robot (8) on the display unit (202), when the motion track of the service robot (8) keeps stable in a certain range, the coordination of the service robot (8) is good, and when the motion track of the service robot (8) changes greatly in a certain range, the coordination of the service robot (8) is poor.
2. The method for detecting the coordination of the service robot as claimed in claim 1, wherein in the first step, the mounting plate (1) comprises a lower hollow disk (101) and an upper hollow disk (102) connected to the top of the lower hollow disk (101), the top of the upper hollow disk (102) is uniformly provided with a limiting groove (1021), a sliding hole is arranged in the limiting groove (1021), and the detection rod (9) is in sliding fit in the sliding hole.
3. Method for detecting the coordination of service robots according to claim 2, characterized in that the top of said detection bar (9) is circumferentially provided with an annular stop protrusion (901), said annular stop protrusion (901) being used to block the complete sliding of the detection bar (9) into the sliding hole.
4. The method for detecting the coordination of the service robot as claimed in claim 1, wherein in the first step, the XY-axis horizontal moving mechanism comprises two first electric sliding tables (12) which are arranged in parallel, the sliding ends of the two first electric sliding tables (12) are jointly fixed on the bottom of a second electric sliding table (13), the first electric sliding tables (12) and the second electric sliding tables (13) are arranged perpendicular to each other, and the sliding ends of the second electric sliding tables (13) are fixed with supporting plates (14).
5. Method for detecting the coordination of service robots according to claim 1, characterized in that in step one, the rotating mechanism (11) is a rotating motor or a rotating cylinder.
6. Method for detecting the coordination of a service robot according to claim 1 or 5, characterized in that said support plate (14) is circular, an annular mounting cylinder (15) is fixed at the top edge of said support plate (14), a bearing member (16) is fixed to the inner wall of said annular mounting cylinder (15), a support cylinder (17) is fixed to the inner wall of said bearing member (16), the upper end of said support cylinder (17) is fixed to the bottom of the rotary turntable (10).
7. Method for detecting the coordination of service robots according to claim 6, characterized in that said rotating carousel (10) is a cylindrical structure with a top surface that is inclined, the lower end of the detection bars (9) being in contact with the top surface of the rotating carousel (10) when the rotating carousel (10) is positioned directly below a number of detection bars (9).
8. The method for detecting the coordination of the service robot as claimed in claim 7, wherein a first mounting rod (13) is vertically fixed on the left side of the top surface of the mounting plate (1), a plurality of infrared emission ends (702) are arranged on the right side of the first mounting rod (13) at intervals from top to bottom, a second mounting rod (4) is vertically fixed on the right side of the top surface of the mounting plate (1), and a plurality of infrared receiving ends (701) corresponding to the infrared emission ends (702) are installed on the left side of the second mounting rod (4).
9. Method for detecting the coordination of service robots according to claim 8, characterized in that the upper end of the second mounting bar (4) is fixed with a top plate (5) horizontally, and the left end bottom of the top plate (5) is fixed with a camera (6).
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| CN202010254120.XA CN111319064A (en) | 2020-04-02 | 2020-04-02 | Method for detecting coordination of service robot |
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| CN202010254120.XA CN111319064A (en) | 2020-04-02 | 2020-04-02 | Method for detecting coordination of service robot |
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Application publication date: 20200623 |
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