技术领域technical field
本发明涉及智能制造、机器人技术领域，更具体地，涉及一种半身人形智能机器人及其控制系统。The present invention relates to the fields of intelligent manufacturing and robot technology, and more specifically, to a half-length humanoid intelligent robot and its control system.
背景技术Background technique
智能机器人是当前热点研究方向之一，半身人形智能机器人，得益于其移动灵活、操作容易等技术特点，在服务机器人特别是室内服务机器人领域有广阔应用前景。Intelligent robots are one of the current hot research directions. Half-body humanoid intelligent robots, thanks to their technical characteristics such as flexible movement and easy operation, have broad application prospects in the field of service robots, especially indoor service robots.
当前，大多数机器人控制系统都是针对工业机器人，面向智能机器人的控制系统较少，专门针对半身人形智能机器人而开发的控制系统更是稀缺。At present, most robot control systems are aimed at industrial robots, and there are few control systems for intelligent robots, and the control systems specially developed for half-length humanoid intelligent robots are even more scarce.
当前多数半身人形智能机器人都分别采用两套控制系统，分别对机器人上身与移动底盘进行控制，一方面价格昂贵，另一方面操作不便。At present, most half-body humanoid intelligent robots use two sets of control systems to control the upper body of the robot and the mobile chassis respectively. On the one hand, it is expensive, and on the other hand, it is inconvenient to operate.
发明内容Contents of the invention
为了至少部分地克服现有技术中存在的上述问题，本发明提供一种半身人形智能机器人及其控制系统。In order to at least partly overcome the above-mentioned problems in the prior art, the present invention provides a half-body humanoid intelligent robot and its control system.
根据本发明的一个方面，本发明提供一种半身人形智能机器人控制系统，包括：用于测量环境信息的环境感知器、用于接收环境信息并且发布任务指令的任务管理器、用于生成机械臂关节角度序列的上身运动规划器、用于生成底盘电机转速序列的底盘运动规划器、用于控制机械臂关节角度的关节伺服控制器和用于控制底盘电机转速的底盘电机控制器；其中，According to one aspect of the present invention, the present invention provides a half-body humanoid intelligent robot control system, including: an environmental sensor for measuring environmental information, a task manager for receiving environmental information and issuing task instructions, and a robot arm for generating The upper body motion planner for the joint angle sequence, the chassis motion planner for generating the chassis motor speed sequence, the joint servo controller for controlling the joint angle of the manipulator, and the chassis motor controller for controlling the chassis motor speed; where,
所述任务管理器分别与所述环境感知器、所述上身运动规划器以及所述底盘运动规划器电连接；The task manager is electrically connected to the environment sensor, the upper body motion planner and the chassis motion planner respectively;
所述关节伺服控制器与所述上身运动规划器电连接；The joint servo controller is electrically connected to the upper body motion planner;
所述底盘电机控制器与所述底盘运动规划器电连接。The chassis motor controller is electrically connected to the chassis motion planner.
其中，所述环境感知器包括用于检测半身人形智能机器人基座位置、朝向以及姿态的位姿检测单元、用于检测半身人形智能机器人视觉朝向和获取双目彩色图像的双目视觉单元、用于扫描测距的激光雷达单元、用于检测是否有障碍以及与障碍的距离的超声波测距单元、用于检测是否接触物体的触摸传感单元、用于检测半身人形智能机器人机械臂所受外力的方向与大小的外力测量单元以及信息传递单元；其中，Wherein, the environment sensor includes a pose detection unit for detecting the base position, orientation and attitude of the half-length humanoid intelligent robot, a binocular vision unit for detecting the visual orientation of the half-length humanoid intelligent robot and acquiring binocular color images, The laser radar unit for scanning and distance measurement, the ultrasonic distance measurement unit for detecting whether there is an obstacle and the distance to the obstacle, the touch sensor unit for detecting whether the object is in contact, and the external force for detecting the mechanical arm of the half-body humanoid robot The direction and magnitude of the external force measurement unit and the information transmission unit; where,
所述信息传递单元分别与所述位姿检测单元、所述双目视觉单元、所述超声波测距单元、所述触摸传感单元、所述激光雷达单元以及所述外力测量单元电连接，所述信息传递单元与所述任务管理器电连接。The information transmission unit is electrically connected to the pose detection unit, the binocular vision unit, the ultrasonic ranging unit, the touch sensor unit, the laser radar unit and the external force measurement unit, respectively, so that The information transfer unit is electrically connected to the task manager.
其中，所述位姿检测单元包含GPS、电子罗盘以及第一陀螺仪，所述双目视觉单元包含双目彩色摄像头和第二陀螺仪。Wherein, the pose detection unit includes a GPS, an electronic compass, and a first gyroscope, and the binocular vision unit includes a binocular color camera and a second gyroscope.
其中，所述任务管理器包括信息接收单元、任务调度单元、用于激光SLAM建图、视觉建图以及环境障碍检测的环境识别单元、用于搜索和识别任务物品的物品识别单元、用于识别半身人形智能机器人的绝对位置、朝向以及姿态的位置识别单元、用于检测任务物品与半身人形智能机器人的相对位置的物品定位单元；其中，Wherein, the task manager includes an information receiving unit, a task scheduling unit, an environment recognition unit for laser SLAM mapping, visual mapping, and environmental obstacle detection, an item identification unit for searching and identifying task items, and an item identification unit for identifying The absolute position, orientation and position recognition unit of the half-body humanoid intelligent robot, and the item positioning unit for detecting the relative position of the task item and the half-length humanoid intelligent robot; wherein,
所述信息接收单元分别与所述环境识别单元、所述物品识别单元、所述位置识别单元以及所述物品定位单元电连接；The information receiving unit is electrically connected to the environment identification unit, the item identification unit, the position identification unit and the item positioning unit;
所述任务调度单元分别与所述环境识别单元、所述物品识别单元、所述位置识别单元、所述物品定位单元、所述上身运动规划器以及所述底盘运动规划器电连接。The task scheduling unit is electrically connected to the environment recognition unit, the object recognition unit, the position recognition unit, the object positioning unit, the upper body motion planner, and the chassis motion planner, respectively.
其中，还包括：用于显示系统状态和人机交互的液晶显示单元、用于与外部服务器通信、云计算、接收任务指令或者反馈半身人形智能机器人自身状态的网络接口单元、用于监控半身人形智能机器人运行状态的系统监控单元、保存用于完成任务所需的分解动作的动作存储单元、用于发送语音指令的语音识别单元以及用于接收外部控制器发送的任务指令和反馈半身人形智能机器人状态的外部通信单元；其中，Among them, it also includes: a liquid crystal display unit for displaying system status and human-computer interaction, a network interface unit for communicating with external servers, cloud computing, receiving task instructions or feeding back the status of the half-length humanoid intelligent robot, and monitoring the half-length humanoid robot. The system monitoring unit for the running state of the intelligent robot, the action storage unit for saving the decomposed actions required to complete the task, the voice recognition unit for sending voice commands, and the half-body humanoid intelligent robot for receiving task commands and feedback sent by the external controller state of the external communication unit; where,
所述任务调度单元分别与所述液晶显示单元、所述网络接口单元、所述系统监控单元、所述动作存储单元、所述语音识别单元以及所述外部通信单元电连接。The task scheduling unit is electrically connected to the liquid crystal display unit, the network interface unit, the system monitoring unit, the action storage unit, the speech recognition unit and the external communication unit.
其中，所述关节伺服控制器包括多个关节伺服控制单元；其中，Wherein, the joint servo controller includes a plurality of joint servo control units; wherein,
一个所述关节伺服控制单元控制一个机械臂关节，以实现机械臂关节的位置闭环。One joint servo control unit controls one joint of the mechanical arm to realize a position closed loop of the joint of the mechanical arm.
其中，所述底盘电机控制器包括多个底盘电机控制单元；其中，Wherein, the chassis motor controller includes a plurality of chassis motor control units; wherein,
一个所述底盘电机控制单元控制一个底盘电机，以实现底盘电机的转速控制。One chassis motor control unit controls one chassis motor to realize speed control of the chassis motor.
其中，所述任务管理器的处理器为工控机、微型计算机或者计算板卡。Wherein, the processor of the task manager is an industrial computer, a microcomputer or a computing board.
其中，所述上身运动规矩器和所述底盘运动规划器的处理器均为DSP或者ARM。Wherein, the processors of the upper body motion regularizer and the chassis motion planner are both DSP or ARM.
根据本发明的另一个方面，本发明提供一种半身人形智能机器人，包括权利要求1至9中任一项所述的半身人形智能机器人控制系统。According to another aspect of the present invention, the present invention provides a half-length humanoid intelligent robot, comprising the half-length humanoid intelligent robot control system according to any one of claims 1-9.
综上，本发明提供一种半身人形智能机器人控制系统，环境感知器把测量的环境信息发送到任务管理器，任务管理器基于上述环境信息和任务指令发布作业任务到上身运动规划器和底盘运动规划器，上身运动规划器基于上述作业任务生成机械臂关节角度序列发送到关节伺服控制器中，以完成作业任务，底盘运动规划器基于上述作业任务生成底盘电机转速序列发送到底盘电机控制器中，以完成作业任务。环境感知器、任务管理器、上身运动规划器、底盘运动规划器、关节伺服控制器以及底盘电机控制器构成完整的半身人形智能机器人控制系统，实现了底盘与上身的统一控制，提高其便捷性，有利于市场推广；对半身人形智能机器人进行分层控制，提高系统可靠性与控制效率。To sum up, the present invention provides a half-body humanoid intelligent robot control system. The environment sensor sends the measured environment information to the task manager, and the task manager issues tasks to the upper body motion planner and chassis motion planner based on the above environment information and task instructions. The planner, the upper body motion planner generates the joint angle sequence of the manipulator based on the above task and sends it to the joint servo controller to complete the task. The chassis motion planner generates the chassis motor speed sequence based on the above task and sends it to the chassis motor controller , to complete the job task. The environment sensor, task manager, upper body motion planner, chassis motion planner, joint servo controller and chassis motor controller constitute a complete half-body humanoid intelligent robot control system, which realizes the unified control of the chassis and upper body and improves its convenience. , which is conducive to market promotion; layered control of half-length humanoid intelligent robots improves system reliability and control efficiency.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1为根据本发明实施例的一种半身人形智能机器人控制系统的结构框图。Fig. 1 is a structural block diagram of a half-length humanoid intelligent robot control system according to an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚，下面将结合附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
图1为根据本发明实施例的一种半身人形智能机器人控制系统的结构框图，如图1所示，包括：Fig. 1 is a structural block diagram of a half-body humanoid intelligent robot control system according to an embodiment of the present invention, as shown in Fig. 1 , including:
用于测量环境信息的环境感知器101、用于接收环境信息并且发布任务指令的任务管理器201、用于生成机械臂关节角度序列的上身运动规划器301、用于生成底盘电机转速序列的底盘运动规划器302、用于控制机械臂关节角度的关节伺服控制器401和用于控制底盘电机转速的底盘电机控制器402；其中，An environment sensor 101 for measuring environmental information, a task manager 201 for receiving environmental information and issuing task instructions, an upper body motion planner 301 for generating a sequence of manipulator joint angles, and a chassis for generating a sequence of chassis motor speeds The motion planner 302, the joint servo controller 401 for controlling the joint angle of the manipulator and the chassis motor controller 402 for controlling the chassis motor speed; wherein,
所述任务管理器201分别与所述环境感知器101、所述上身运动规划器301以及所述底盘运动规划器302电连接；The task manager 201 is electrically connected to the environment sensor 101, the upper body motion planner 301 and the chassis motion planner 302, respectively;
所述关节伺服控制器401与所述上身运动规划器301电连接；The joint servo controller 401 is electrically connected to the upper body motion planner 301;
所述底盘电机控制器402与所述底盘运动规划器302电连接。The chassis motor controller 402 is electrically connected to the chassis motion planner 302 .
具体地，上身运动规划器301接收任务管理器201发送的半身人形智能机器人的作业任务，依据机器人运动学、动力学求解机械臂运动轨迹，生成各个机械臂关节角度序列，发送到关节伺服控制器401中，以完成作业任务。Specifically, the upper body motion planner 301 receives the work tasks of the half-body humanoid intelligent robot sent by the task manager 201, solves the motion trajectory of the manipulator according to the kinematics and dynamics of the robot, generates the joint angle sequence of each manipulator, and sends it to the joint servo controller 401 to complete the homework task.
具体地，底盘运动规划器302接收任务管理器201发送的底盘移动任务和依据物理学运动学计算的移动路径以及在遇到障碍时的避障规划，底盘运动规划器302根据移动路径规划与车体参数，生成底盘各个电机转速序列，并发送到底盘电机控制器402中，以完成底盘移动任务。Specifically, the chassis motion planner 302 receives the chassis movement task sent by the task manager 201, the movement path calculated according to physical kinematics, and the obstacle avoidance plan when encountering an obstacle. body parameters, generate the rotation speed sequence of each motor of the chassis, and send it to the chassis motor controller 402 to complete the chassis movement task.
在本发明实施例中，环境感知器把测量的环境信息发送到任务管理器，任务管理器基于上述环境信息和任务指令发布作业任务到上身运动规划器和底盘运动规划器，上身运动规划器基于上述作业任务生成机械臂关节角度序列发送到关节伺服控制器中，以完成作业任务，底盘运动规划器基于上述作业任务生成底盘电机转速序列发送到底盘电机控制器中，以完成作业任务。环境感知器、任务管理器、上身运动规划器、底盘运动规划器、关节伺服控制器以及底盘电机控制器构成完整的半身人形智能机器人控制系统，实现了底盘与上身的统一控制，提高其便捷性，有利于市场推广；对半身人形智能机器人进行分层控制，提高系统可靠性与控制效率。In the embodiment of the present invention, the environmental sensor sends the measured environmental information to the task manager, and the task manager issues the job tasks to the upper body motion planner and the chassis motion planner based on the above environmental information and task instructions, and the upper body motion planner is based on The above job tasks generate the joint angle sequence of the manipulator and send it to the joint servo controller to complete the job task. The chassis motion planner generates the chassis motor speed sequence based on the above job task and sends it to the chassis motor controller to complete the job task. The environment sensor, task manager, upper body motion planner, chassis motion planner, joint servo controller and chassis motor controller constitute a complete half-body humanoid intelligent robot control system, which realizes the unified control of the chassis and upper body and improves its convenience. , which is conducive to market promotion; layered control of half-length humanoid intelligent robots improves system reliability and control efficiency.
在上述实施例的基础上，所述环境感知器101包括用于检测半身人形智能机器人基座位置、朝向以及姿态的位姿检测单元、用于检测半身人形智能机器人视觉朝向和获取双目彩色图像的双目视觉单元、用于扫描测距的激光雷达单元、用于检测是否有障碍以及与障碍的距离的超声波测距单元、用于检测是否接触物体的触摸传感单元、用于检测半身人形智能机器人机械臂所受外力的方向与大小的外力测量单元以及信息传递单元；其中，On the basis of the above-mentioned embodiments, the environment sensor 101 includes a pose detection unit for detecting the base position, orientation and posture of the half-length humanoid intelligent robot, and a position and posture detection unit for detecting the visual orientation of the half-length humanoid intelligent robot and acquiring binocular color images The binocular vision unit, the lidar unit for scanning and distance measurement, the ultrasonic distance measurement unit for detecting whether there are obstacles and the distance from them, the touch sensing unit for detecting whether to touch objects, and the detection of half-length humanoid An external force measurement unit and an information transmission unit for the direction and magnitude of the external force on the mechanical arm of the intelligent robot;
所述信息传递单元分别与所述位姿检测单元、所述双目视觉单元、所述超声波测距单元、所述触摸传感单元、所述激光雷达单元以及所述外力测量单元电连接，所述信息传递单元与所述任务管理器电连接。The information transmission unit is electrically connected to the pose detection unit, the binocular vision unit, the ultrasonic ranging unit, the touch sensor unit, the laser radar unit and the external force measurement unit, respectively, so that The information transfer unit is electrically connected to the task manager.
具体地，位姿检测单元把检测到的半身人形智能机器人基座位置、朝向以及姿态信息发送到信息传递单元；双目视觉单元把检测到的半身人形智能机器人视觉朝向和获取双目彩色图像信息发送到信息传递单元；激光雷达单元把检测到的扫描测距信息发送到信息传递单元；超声波测距单元把检测到的否有障碍以及与障碍的距离信息发送到信息传递单元；触摸传感单元把检测到的是否接触物体信息发送到信息传递单元；外力测量单元把检测到的半身人形智能机器人机械臂所受外力的方向与大小信息发送到信息传递单元。Specifically, the posture detection unit sends the detected base position, orientation and posture information of the half-length humanoid intelligent robot to the information transmission unit; the binocular vision unit directs the detected half-length humanoid intelligent robot to visual orientation and acquires binocular color image information Send to the information transmission unit; the laser radar unit sends the detected scanning ranging information to the information transmission unit; the ultrasonic ranging unit sends the detected obstacle and the distance information to the obstacle to the information transmission unit; the touch sensing unit Send the detected information on whether the object is in contact with the information transmission unit; the external force measurement unit sends the detected information on the direction and magnitude of the external force on the half-body humanoid intelligent robot arm to the information transmission unit.
在上述实施例的基础上，所述位姿检测单元包含GPS、电子罗盘以及第一陀螺仪，所述双目视觉单元包含双目彩色摄像头和第二陀螺仪。On the basis of the above embodiments, the pose detection unit includes GPS, an electronic compass, and a first gyroscope, and the binocular vision unit includes a binocular color camera and a second gyroscope.
具体地，双目视觉单元安装在半身人形智能机器人头部中央，包含双目彩色摄像头与第二陀螺仪，用于检测半身人形智能机器人视觉朝向和获取双目彩色图像，从而完成图像三维地图构建和物品识别。Specifically, the binocular vision unit is installed in the center of the head of the half-length humanoid intelligent robot, including a binocular color camera and a second gyroscope, which are used to detect the visual orientation of the half-length humanoid intelligent robot and obtain binocular color images, thereby completing the construction of a three-dimensional image map and item identification.
具体地，位姿检测单元安装于底盘中间，包含GPS、电子罗盘、第一陀螺仪，用于检测半身人形智能机器人基座位置、朝向以及姿态，从而完成半身人形智能机器人定位与姿态检测。Specifically, the posture detection unit is installed in the middle of the chassis, including GPS, electronic compass, and first gyroscope, and is used to detect the base position, orientation and posture of the half-length humanoid intelligent robot, thereby completing the positioning and posture detection of the half-length humanoid intelligent robot.
在上述实施例的基础上，所述任务管理器包括信息接收单元、任务调度单元、用于激光SLAM建图、视觉建图以及环境障碍检测的环境识别单元、用于搜索和识别任务物品的物品识别单元、用于识别半身人形智能机器人的绝对位置、朝向以及姿态的位置识别单元、用于检测任务物品与半身人形智能机器人的相对位置的物品定位单元；其中，On the basis of the above embodiments, the task manager includes an information receiving unit, a task scheduling unit, an environment recognition unit for laser SLAM mapping, visual mapping and environmental obstacle detection, and an item for searching and identifying task items A recognition unit, a position recognition unit for identifying the absolute position, orientation and posture of the half-length humanoid intelligent robot, and an item positioning unit for detecting the relative position of the task item and the half-length humanoid intelligent robot; wherein,
所述信息接收单元分别与所述环境识别单元、所述物品识别单元、所述位置识别单元以及所述物品定位单元电连接；The information receiving unit is electrically connected to the environment identification unit, the item identification unit, the position identification unit and the item positioning unit;
所述任务调度单元分别与所述环境识别单元、所述物品识别单元、所述位置识别单元、所述物品定位单元、所述上身运动规划器以及所述底盘运动规划器电连接。The task scheduling unit is electrically connected to the environment recognition unit, the object recognition unit, the position recognition unit, the object positioning unit, the upper body motion planner, and the chassis motion planner, respectively.
具体地，信息接收单元接收信息传递单元发送的环境信息。Specifically, the information receiving unit receives the environment information sent by the information transmitting unit.
具体地，环境识别单元依据激光雷达单元、超声波测距单元、双目视觉单元的数据可实现激光SLAM建图、视觉建图、环境障碍检测等环境识别任务。Specifically, the environment recognition unit can realize environment recognition tasks such as laser SLAM mapping, visual mapping, and environmental obstacle detection based on the data of the laser radar unit, ultrasonic ranging unit, and binocular vision unit.
具体地，物品识别单元利用双目视觉单元获取的数据，通过YOLO算法或其他人工智能算法完成搜索、识别任务物品。Specifically, the item recognition unit uses the data obtained by the binocular vision unit to complete the search and identify task items through the YOLO algorithm or other artificial intelligence algorithms.
具体地，位置识别单元通过激光雷达单元、双目视觉单元来识别半身人形智能机器人在所建地图中的位置，通过位姿检测单元数据确定半身人形智能机器人所处绝对位置与朝向、姿态。Specifically, the position identification unit identifies the position of the half-length humanoid robot in the map through the laser radar unit and the binocular vision unit, and determines the absolute position, orientation, and posture of the half-length humanoid robot through the data of the pose detection unit.
具体地，物品定位单元通过双目视觉单元、超声波测距单元检测任务物品与机器人的相对位置。Specifically, the item positioning unit detects the relative position of the task item and the robot through the binocular vision unit and the ultrasonic ranging unit.
在上述实施例的基础上，还包括：用于显示系统状态和人机交互的液晶显示单元、用于与外部服务器通信、云计算、接收任务指令或者反馈半身人形智能机器人自身状态的网络接口单元、用于监控半身人形智能机器人运行状态的系统监控单元、保存用于完成任务所需的分解动作的动作存储单元、用于发送语音指令的语音识别单元以及用于接收外部控制器发送的任务指令和反馈半身人形智能机器人状态的外部通信单元；其中，On the basis of the above embodiments, it also includes: a liquid crystal display unit for displaying system status and human-computer interaction, a network interface unit for communicating with external servers, cloud computing, receiving task instructions or feeding back the status of the half-length humanoid intelligent robot , a system monitoring unit for monitoring the operating status of the half-length humanoid intelligent robot, an action storage unit for saving the decomposed actions required for completing tasks, a voice recognition unit for sending voice commands, and receiving task commands sent by an external controller and an external communication unit that feeds back the state of the half-body humanoid intelligent robot; wherein,
所述任务调度单元分别与所述液晶显示单元、所述网络接口单元、所述系统监控单元、所述动作存储单元、所述语音识别单元以及所述外部通信单元电连接。The task scheduling unit is electrically connected to the liquid crystal display unit, the network interface unit, the system monitoring unit, the action storage unit, the speech recognition unit and the external communication unit.
具体地，液晶显示单元供任务调度单元调用，用于显示系统状态及完成人机交互任务。Specifically, the liquid crystal display unit is invoked by the task scheduling unit for displaying system status and completing human-computer interaction tasks.
具体地，网络接口单元用于实现任务管理器与外部服务器的通信，在任务管理器计算能力不足时实现云计算，或者在遥操作控制模式下接收遥操作任务指令，反馈半身人形智能机器人自身状态。Specifically, the network interface unit is used to realize the communication between the task manager and the external server, realize cloud computing when the computing power of the task manager is insufficient, or receive teleoperation task instructions in the teleoperation control mode, and feed back the state of the half-length humanoid intelligent robot .
具体地，系统监控单元负责监控半身人形智能机器人本体运行状态，包括检测母线电压、电机电流、系统温度等，判断是否为故障状态，是否需要发出应急任务。Specifically, the system monitoring unit is responsible for monitoring the operating status of the half-length humanoid intelligent robot body, including detecting bus voltage, motor current, system temperature, etc., and judging whether it is in a fault state and whether an emergency task needs to be issued.
具体地，外部通信单元用于半身人形智能机器人本体与外部控制器间的通信，接收外部控制器的任务指令及反馈半身人形智能机器人状态。Specifically, the external communication unit is used for communication between the body of the half-length humanoid intelligent robot and the external controller, receiving task instructions from the external controller and feeding back the state of the half-length humanoid intelligent robot.
具体地，动作存储单元用于保存用于完成任务所需的分解动作，供任务调度单元组合调用，减少任务管理器计算量。Specifically, the action storage unit is used to store the decomposed actions needed to complete the task, which can be combined and called by the task scheduling unit, so as to reduce the calculation amount of the task manager.
具体地，任务调度单元依据不同控制模式，从网络接口单元、外部通信单元、语音识别单元获取任务指令，或通过系统监控单元获取自身状态及所感知的环境状态自主产生任务指令，确定任务指令后分解为由动作存储单元中所存动作组成的动作序列，把相应动作序列发送到上身运动规划器和底盘运动规划器，上身运动规划器和底盘运动规划器分别执行相应动作，直到完成任务指令。Specifically, the task scheduling unit obtains task instructions from the network interface unit, external communication unit, and voice recognition unit according to different control modes, or obtains its own state and the perceived environmental state through the system monitoring unit to generate task instructions autonomously. After determining the task instruction It is decomposed into an action sequence composed of actions stored in the action storage unit, and the corresponding action sequence is sent to the upper body motion planner and the chassis motion planner, and the upper body motion planner and the chassis motion planner respectively execute the corresponding actions until the task instruction is completed.
在上述实施例的基础上，所述关节伺服控制器401包括多个关节伺服控制单元；其中，On the basis of the above embodiments, the joint servo controller 401 includes a plurality of joint servo control units; wherein,
一个所述关节伺服控制单元控制一个机械臂关节，以实现机械臂关节的位置闭环。One joint servo control unit controls one joint of the mechanical arm to realize a position closed loop of the joint of the mechanical arm.
具体地，关节伺服控制单元数量由机械臂关节数量决定，一个关节伺服控制单元控制一个机械臂关节，实现机械臂关节的位置闭环。Specifically, the number of joint servo control units is determined by the number of manipulator joints, and one joint servo control unit controls one manipulator joint to realize a position closed-loop of the manipulator joints.
在上述实施例的基础上，所述底盘电机控制器包括多个底盘电机控制单元；其中，On the basis of the above embodiments, the chassis motor controller includes a plurality of chassis motor control units; wherein,
一个所述底盘电机控制单元控制一个底盘电机，以实现底盘电机的转速控制。One chassis motor control unit controls one chassis motor to realize speed control of the chassis motor.
具体地，底盘电机控制单元数量与底盘电机数量对应，底盘电机控制单元控制底盘电机，实现底盘电机的转速控制。Specifically, the number of chassis motor control units corresponds to the number of chassis motors, and the chassis motor control unit controls the chassis motors to realize speed control of the chassis motors.
在上述实施例的基础上，所述任务管理器的处理器为工控机、微型计算机或者计算板卡。On the basis of the above embodiments, the processor of the task manager is an industrial computer, a microcomputer or a computing board.
优选地，任务管理器的处理器为微型计算机，用于实现半人形智能机器人中计算量较大的数据运算。Preferably, the processor of the task manager is a microcomputer, which is used to implement data calculations with a relatively large amount of calculation in the semi-humanoid intelligent robot.
在上述实施例的基础上，所述上身运动规矩器和所述底盘运动规划器的处理器均为DSP或者ARM。On the basis of the above embodiments, the processors of the upper body motion regularizer and the chassis motion planner are both DSP or ARM.
优选地，上身运动规划器与底盘运动规划器的处理器均为DSP，用于负责路径规划、轨迹规划等实时性较强的数据运算。Preferably, the processors of the upper body motion planner and the chassis motion planner are both DSPs, which are used for data calculations with strong real-time characteristics such as path planning and trajectory planning.
本发明的实施例提供一种半身人形智能机器人，包括权利要求1至9中任一项所述的半身人形智能机器人控制系统。An embodiment of the present invention provides a half-body humanoid intelligent robot, including the half-body humanoid intelligent robot control system according to any one of claims 1-9.
具体地，半身人形智能机器人控制系统包括：用于测量环境信息的环境感知器、用于接收环境信息并且发布任务指令的任务管理器、用于生成机械臂关节角度序列的上身运动规划器、用于生成底盘电机转速序列的底盘运动规划器、用于控制机械臂关节角度的关节伺服控制器和用于控制底盘电机转速的底盘电机控制器；其中，Specifically, the half-body humanoid intelligent robot control system includes: an environmental sensor for measuring environmental information, a task manager for receiving environmental information and issuing task instructions, an upper body motion planner for generating a sequence of manipulator joint angles, and a The chassis motion planner used to generate the chassis motor speed sequence, the joint servo controller used to control the joint angle of the manipulator, and the chassis motor controller used to control the chassis motor speed; where,
所述任务管理器分别与所述环境感知器、所述上身运动规划器以及所述底盘运动规划器电连接；The task manager is electrically connected to the environment sensor, the upper body motion planner and the chassis motion planner respectively;
所述关节伺服控制器与所述上身运动规划器电连接；The joint servo controller is electrically connected to the upper body motion planner;
所述底盘电机控制器与所述底盘运动规划器电连接。The chassis motor controller is electrically connected to the chassis motion planner.
具体地，上身运动规划器接收任务管理器发送的半身人形智能机器人的作业任务，依据机器人运动学、动力学求解机械臂运动轨迹，生成各个机械臂关节角度序列，发送到关节伺服控制器中，以完成作业任务。Specifically, the upper body motion planner receives the work tasks of the half-body humanoid intelligent robot sent by the task manager, solves the motion trajectory of the manipulator according to the kinematics and dynamics of the robot, generates the joint angle sequence of each manipulator, and sends it to the joint servo controller. to complete assignments.
具体地，底盘运动规划器接收任务管理器发送的底盘移动任务和依据物理学运动学计算的移动路径以及在遇到障碍时的避障规划，底盘运动规划器根据移动路径规划与车体参数，生成底盘各个电机转速序列，并发送到底盘电机控制器中，以完成底盘移动任务。Specifically, the chassis motion planner receives the chassis movement task sent by the task manager, the movement path calculated based on physical kinematics, and the obstacle avoidance plan when encountering obstacles. Generate the rotation speed sequence of each motor of the chassis and send it to the chassis motor controller to complete the chassis movement task.
优选地，所述环境感知器包括用于检测半身人形智能机器人基座位置、朝向以及姿态的位姿检测单元、用于检测半身人形智能机器人视觉朝向和获取双目彩色图像的双目视觉单元、用于扫描测距的激光雷达单元、用于检测是否有障碍以及与障碍的距离的超声波测距单元、用于检测是否接触物体的触摸传感单元、用于检测半身人形智能机器人机械臂所受外力的方向与大小的外力测量单元以及信息传递单元；其中，Preferably, the environment sensor includes a pose detection unit for detecting the base position, orientation and posture of the half-body humanoid intelligent robot, a binocular vision unit for detecting the visual orientation of the half-length humanoid intelligent robot and acquiring binocular color images, A laser radar unit for scanning distance measurement, an ultrasonic distance measurement unit for detecting whether there is an obstacle and the distance to the obstacle, a touch sensing unit for detecting whether an object is in contact, a half-body humanoid robot arm for detecting The external force measurement unit and the information transmission unit of the direction and magnitude of the external force; wherein,
所述信息传递单元分别与所述位姿检测单元、所述双目视觉单元、所述超声波测距单元、所述触摸传感单元、所述激光雷达单元以及所述外力测量单元电连接，所述信息传递单元与所述任务管理器电连接。The information transmission unit is electrically connected to the pose detection unit, the binocular vision unit, the ultrasonic ranging unit, the touch sensor unit, the laser radar unit and the external force measurement unit, respectively, so that The information transfer unit is electrically connected to the task manager.
具体地，所述位姿检测单元包含GPS、电子罗盘以及第一陀螺仪，所述双目视觉单元包含双目彩色摄像头和第二陀螺仪。Specifically, the pose detection unit includes a GPS, an electronic compass, and a first gyroscope, and the binocular vision unit includes a binocular color camera and a second gyroscope.
优选地，所述任务管理器包括信息接收单元、任务调度单元、用于激光SLAM建图、视觉建图以及环境障碍检测的环境识别单元、用于搜索和识别任务物品的物品识别单元、用于识别半身人形智能机器人的绝对位置、朝向以及姿态的位置识别单元、用于检测任务物品与半身人形智能机器人的相对位置的物品定位单元；其中，Preferably, the task manager includes an information receiving unit, a task scheduling unit, an environment identification unit for laser SLAM mapping, visual mapping, and environmental obstacle detection, an item identification unit for searching and identifying task items, and an item identification unit for A position recognition unit that recognizes the absolute position, orientation, and posture of the half-length humanoid intelligent robot, and an item positioning unit for detecting the relative position of the task item and the half-length humanoid intelligent robot; wherein,
所述信息接收单元分别与所述环境识别单元、所述物品识别单元、所述位置识别单元以及所述物品定位单元电连接；The information receiving unit is electrically connected to the environment identification unit, the item identification unit, the position identification unit and the item positioning unit;
所述任务调度单元分别与所述环境识别单元、所述物品识别单元、所述位置识别单元、所述物品定位单元、所述上身运动规划器以及所述底盘运动规划器电连接。The task scheduling unit is electrically connected to the environment recognition unit, the object recognition unit, the position recognition unit, the object positioning unit, the upper body motion planner, and the chassis motion planner, respectively.
其中，所述信息接收单元与所述信息传递单元电连接。Wherein, the information receiving unit is electrically connected to the information transmitting unit.
优选地，所述任务管理器还包括：用于显示系统状态和人机交互的液晶显示单元、用于与外部服务器通信、云计算、接收任务指令或者反馈半身人形智能机器人自身状态的网络接口单元、用于监控半身人形智能机器人运行状态的系统监控单元、保存用于完成任务所需的分解动作的动作存储单元、用于发送语音指令的语音识别单元以及用于接收外部控制器发送的任务指令和反馈半身人形智能机器人状态的外部通信单元；其中，Preferably, the task manager further includes: a liquid crystal display unit for displaying system status and human-computer interaction, a network interface unit for communicating with external servers, cloud computing, receiving task instructions, or feeding back the state of the half-length humanoid intelligent robot , a system monitoring unit for monitoring the operating status of the half-length humanoid intelligent robot, an action storage unit for saving the decomposed actions required for completing tasks, a voice recognition unit for sending voice commands, and receiving task commands sent by an external controller and an external communication unit that feeds back the state of the half-body humanoid intelligent robot; wherein,
所述任务调度单元分别与所述液晶显示单元、所述网络接口单元、所述系统监控单元、所述动作存储单元、所述语音识别单元以及所述外部通信单元电连接。The task scheduling unit is electrically connected to the liquid crystal display unit, the network interface unit, the system monitoring unit, the action storage unit, the speech recognition unit and the external communication unit.
优选地，所述关节伺服控制器包括多个关节伺服控制单元；其中，Preferably, the joint servo controller includes a plurality of joint servo control units; wherein,
一个所述关节伺服控制单元控制一个机械臂关节，以实现机械臂关节的位置闭环。One joint servo control unit controls one joint of the mechanical arm to realize a position closed loop of the joint of the mechanical arm.
优选地，所述底盘电机控制器包括多个底盘电机控制单元；其中，Preferably, the chassis motor controller includes a plurality of chassis motor control units; wherein,
一个所述底盘电机控制单元控制一个底盘电机，以实现底盘电机的转速控制。One chassis motor control unit controls one chassis motor to realize speed control of the chassis motor.
优选地，所述任务管理器的处理器为工控机、微型计算机或者计算板卡。Preferably, the processor of the task manager is an industrial computer, a microcomputer or a computing board.
优选地，所述上身运动规矩器和所述底盘运动规划器的处理器均为DSP或者ARM。Preferably, the processors of the upper body motion regularizer and the chassis motion planner are both DSP or ARM.
具体地，半身人形智能机器人可分为上身及底盘两部分。Specifically, the half-body humanoid intelligent robot can be divided into two parts, the upper body and the chassis.
具体地，位姿检测单元安装于底盘中间，包含GPS、电子罗盘、第一陀螺仪，用于检测半身人形智能机器人基座位置、朝向、姿态，用于半身人形智能机器人定位与姿态检测。Specifically, the posture detection unit is installed in the middle of the chassis, including GPS, electronic compass, and first gyroscope, used to detect the base position, orientation, and posture of the half-length humanoid intelligent robot, and used for positioning and posture detection of the half-length humanoid intelligent robot.
具体地，双目视觉单元安装在半身人形智能机器人上身的头部中央，包含双目彩色摄像头与第二陀螺仪，用于检测半身人形智能机器人视觉朝向和获取双目彩色图像，用于图像三维地图构建、物品识别等。Specifically, the binocular vision unit is installed in the center of the head of the upper body of the half-length humanoid intelligent robot, including a binocular color camera and a second gyroscope, which are used to detect the visual orientation of the half-length humanoid intelligent robot and acquire binocular color images for image three-dimensional Map construction, item recognition, etc.
具体地，激光雷达单元安装在底盘外前部，用于激光SLAM建图与定位时的扫描测距。Specifically, the lidar unit is installed on the outer front of the chassis for scanning and ranging during laser SLAM mapping and positioning.
具体地，触摸传感单元安装于半身人形智能机器人机械臂末端执行机构上，用于检测是否接触物体。Specifically, the touch sensing unit is installed on the end effector of the mechanical arm of the half-body humanoid intelligent robot to detect whether it touches an object.
具体地，超声波测距单元安装在底盘四周以及躯干不同高度，用于检测不同高度半身人形智能机器人正前方，左前方、右前方、正右方、正左方、左后方、右后方、正后方是否有障碍及与障碍的距离。Specifically, the ultrasonic ranging unit is installed around the chassis and at different heights of the torso, and is used to detect the direct front, left front, right front, direct right, direct left, left rear, right rear, and direct rear of half-length humanoid intelligent robots of different heights. Whether there is an obstacle and the distance from the obstacle.
具体地，外力测量单元的外力传感器安装在两条机械臂肩部与末端，用于检测半身人形智能机器人机械臂所受外力的方向与大小，以实现柔顺控制。Specifically, the external force sensors of the external force measurement unit are installed on the shoulders and ends of the two robotic arms, and are used to detect the direction and magnitude of the external force on the half-body humanoid intelligent robotic arm to achieve compliant control.
在本发明实施例中，环境感知器把测量的环境信息发送到任务管理器，任务管理器基于上述环境信息和任务指令发布作业任务到上身运动规划器和底盘运动规划器，上身运动规划器基于上述作业任务生成机械臂关节角度序列发送到关节伺服控制器中，以完成作业任务，底盘运动规划器基于上述作业任务生成底盘电机转速序列发送到底盘电机控制器中，以完成作业任务。环境感知器、任务管理器、上身运动规划器、底盘运动规划器、关节伺服控制器以及底盘电机控制器构成完整的半身人形智能机器人控制系统，实现了底盘与上身的统一控制，提高其便捷性，有利于市场推广；对半身人形智能机器人进行分层控制，提高系统可靠性与控制效率。In the embodiment of the present invention, the environmental sensor sends the measured environmental information to the task manager, and the task manager issues the job tasks to the upper body motion planner and the chassis motion planner based on the above environmental information and task instructions, and the upper body motion planner is based on The above job tasks generate a sequence of manipulator joint angles and send them to the joint servo controller to complete the job tasks. The chassis motion planner generates chassis motor speed sequences based on the above job tasks and sends them to the chassis motor controller to complete the job tasks. The environment sensor, task manager, upper body motion planner, chassis motion planner, joint servo controller and chassis motor controller constitute a complete half-body humanoid intelligent robot control system, which realizes the unified control of the chassis and upper body and improves its convenience. , which is conducive to market promotion; layered control of half-length humanoid intelligent robots improves system reliability and control efficiency.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201711425448.8ACN107984474A (en) | 2017-12-25 | 2017-12-25 | A kind of humanoid intelligent robot of half body and its control system |
| Application Number | Priority Date | Filing Date | Title |
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| CN201711425448.8ACN107984474A (en) | 2017-12-25 | 2017-12-25 | A kind of humanoid intelligent robot of half body and its control system |
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| CN107984474Atrue CN107984474A (en) | 2018-05-04 |
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| CN201711425448.8APendingCN107984474A (en) | 2017-12-25 | 2017-12-25 | A kind of humanoid intelligent robot of half body and its control system |
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