CN110936377A - Motion sensing and computer programming interchange control system of robot - Google Patents
Motion sensing and computer programming interchange control system of robotDownload PDFInfo
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- CN110936377A CN110936377ACN201911224867.4ACN201911224867ACN110936377ACN 110936377 ACN110936377 ACN 110936377ACN 201911224867 ACN201911224867 ACN 201911224867ACN 110936377 ACN110936377 ACN 110936377A
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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
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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Abstract
Description
Technical Field
The invention relates to a robot control system, in particular to a robot motion sensing and computer programming interchange control system.
Background
The prior mechanical arm generally realizes various functions by a direct computer programming mode, but the operation objects are required to work at relatively fixed positions and have consistent types, the control mode of the mechanical arm has poor environmental adaptability and high upgrading and maintenance cost, although the motion track of the mechanical arm can be defined by the traditional teaching reproduction mode, the application of a demonstrator is not flexible enough and the operation is complex; in addition, the time consumption of computer programming and computer simulation processes is long, and when some industrial mechanical arms break down, peripheral objects can be damaged and/or workers can be injured, so that certain potential safety hazards exist.
Therefore, further improvements are needed.
Disclosure of Invention
The present invention is directed to overcome the above-mentioned deficiencies of the prior art, and provides a control system for interchanging motion sensing and computer programming of a robot, which is simple in operation, capable of switching control modes at will, and precise and flexible in control.
The purpose of the invention is realized as follows:
a motion sensing and computer programming interchange control system of a robot is characterized in that: comprises that
The system comprises a composite controller, a control module and a display module, wherein the composite controller is provided with an action sensing module, a computer programming module and a control switching module; the action sensing module is used for sensing the action of an operator and generating a corresponding action instruction so as to control the robot; the computer programming module writes a computer programming program for controlling the robot, and an operator inputs a programming instruction through the computer programming module to control the robot; the control switching module is used for switching the robot controlled by the action sensing module or the computer programming module, and the control switching module is respectively in communication connection with the action sensing module and the computer programming module;
and the robot receives the action instructions and/or the programming instructions from the composite controller and performs actions corresponding to the action instructions and/or the programming instructions.
The composite controller comprises a glove controller worn on the palm of the operator and/or an arm controller worn on the arm of the operator; the robot is provided with a mechanical palm matched with the glove controller and/or a mechanical arm matched with the arm controller, the glove controller senses the palm activity of an operator to control the mechanical palm to make corresponding actions, and the arm controller senses the arm activity of the operator to control the mechanical arm to make corresponding actions.
As a specific embodiment: the glove controller comprises a left glove controller worn on the palm of the left hand of an operator and a right glove controller worn on the palm of the right hand of the operator; the mechanical palm comprises a left mechanical palm matched with the glove making controller and a right mechanical palm matched with the right glove controller;
one glove controller controls the corresponding mechanical palm in a motion sensing mode, and the other glove controller controls the corresponding mechanical palm in a computer programming mode; or the left glove controller controls the left mechanical palm in a motion sensing mode, and the right glove controller controls the right mechanical palm in a motion sensing mode; or the left glove controller controls the left mechanical palm in a computer programming mode, and the right glove controller controls the right mechanical palm in a computer programming mode.
As yet another specific embodiment: the arm controller comprises a left arm controller worn on the left arm of an operator and a right arm controller worn on the right arm of the operator; the mechanical arms comprise a left mechanical arm matched with the left arm controller and a right mechanical arm matched with the right arm controller;
one arm controller controls the corresponding mechanical arm in a motion sensing mode, and the other arm controller controls the corresponding mechanical arm in a computer programming mode; or the left arm controller controls the left mechanical arm in a motion sensing mode, and the right arm controller controls the right mechanical arm in a motion sensing mode; or the left mechanical arm is controlled by the left arm controller in a computer programming mode, and the right mechanical arm is controlled by the right arm controller in a computer programming mode.
The composite controller is provided with a control communication module; the robot is provided with a robot communication module, the control communication module is communicated and interconnected with the robot communication module, and communication media are 4G signals, 5G signals, Bluetooth signals, WIFI signals and the like.
And the composite controller is provided with a switching key for controlling the switching module to enter a switching mode, and the switching key is connected with the switching control module.
The invention has the following beneficial effects:
through giving controller action sensing control mode and computer programming control mode, make the operator can switch different control mode at will according to actual control needs, convenient operation is swift, realizes the performance complementation between two kinds of control mode moreover, and the accessible computer programming control mode makes various accurate actions on the one hand promptly, and on the other hand accessible action sensing control mode is nimble conveniently to be accomplished various height degree actions. When the controller is worn by the left hand and the right hand of the operator respectively and the corresponding left manipulator and the corresponding right manipulator are controlled simultaneously: different controllers can adopt different control modes (one controller adopts action sensing, and the other controller adopts computer programming), so that one manipulator can finish high-precision action, and the other manipulator can finish high-difficulty action; alternatively, the two controllers may adopt the same control mode (the two controllers respectively adopt motion sensing, or the two controllers respectively adopt computer programming), so that the two manipulators can simultaneously complete high-precision motions or high-difficulty motions. The motion sensing and computer programming interchange control system of the robot is suitable for controlling a bionic robot, an industrial robot and the like.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention.
Fig. 2 is a block diagram of a composite controller according to an embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
First embodiment
Referring to fig. 1 and 2, the action sensing and computer programming interchange control system of the robot comprises
The composite controller is provided with an action sensing module, a computer programming module and a control switching module; the action sensing module is used for sensing the action of an operator and generating a corresponding action instruction so as to control the robot; the computer programming module writes a computer programming program for controlling the robot, and an operator inputs a programming instruction through the computer programming module to control the robot; the control switching module is used for switching the robot controlled by the action sensing module or the computer programming module and is respectively in communication connection with the action sensing module and the computer programming module;
and the robot receives the action instructions and/or the programming instructions from the composite controller and performs actions corresponding to the action instructions and/or the programming instructions.
Further, the composite controller includes a glove controller worn on the palm of the operator's hand; the robot is provided with a mechanical palm matched with the glove controller, and the glove controller senses the palm movement of an operator to control the mechanical palm to make corresponding actions. Specifically, the glove controller comprises a left glove controller worn on the palm of the left hand of the operator and a right glove controller worn on the palm of the right hand of the operator; the mechanical palm comprises a left mechanical palm matched with the glove making controller and a right mechanical palm matched with the right glove controller;
furthermore, a control communication module is arranged on the composite controller; the robot is provided with a robot communication module, the control communication module is communicated and interconnected with the robot communication module, and communication media are 4G signals, 5G signals, Bluetooth signals, WIFI signals and the like.
Furthermore, a switching key for controlling the switching module to enter a switching mode is arranged on the composite controller, and the switching key is connected with the switching control module.
Control combination
The left glove controller adopts a computer programming control mode, and the right glove controller adopts an action sensing control mode; namely, the left mechanical palm is controlled by computer programming to complete the designated action, and the right mechanical palm is controlled by action sensing to complete the designated action, so that the robot can complete high-precision actions through the left mechanical palm, such as: the robot can change tools or objects by the aid of the right mechanical palm without the help of workers.
Control combination two
The left glove controller adopts a motion sensing control mode, and the right glove controller adopts a computer programming control mode; namely, the left mechanical palm is controlled by computer programming to complete the designated action, the right mechanical palm is controlled by action sensing to complete the designated action, and the control effect is consistent with the above.
Control combination three
The left glove controller controls the left mechanical palm in a computer programming mode, and the right glove controller controls the right mechanical palm in a computer programming mode; the control mode is suitable for controlling industrial robots and can be easily finished by computer programming aiming at actions with higher action precision requirements.
Control combination four
The left glove controller controls the left mechanical palm in a motion sensing mode, and the right glove controller controls the right mechanical palm in a motion sensing mode; for some actions with higher flexibility and difficulty, action sensing control is generally preferred, and the control mode is suitable for controlling industrial robots.
The four control combinations can be flexibly switched by controlling the switching module; the control system can also realize remote control through 4G or 5G network transmission.
The control system can switch different control modes at will, so that the control system is not limited to one control mode, and the complementation among the control modes is realized; four different control combinations can be provided by switching the control modes, so that the use requirements of operators and the use requirements of different industries are met, and the operation is simple and convenient; for example, the tool is replaced by switching different control modes without needing an operator to replace the tool in person, so that the injury to the operator is avoided.
Second embodiment
The action sensing and computer programming interchange control system of the robot is different from the first embodiment in that:
the composite controller comprises an arm controller worn on the arm of an operator; the robot is provided with a mechanical arm matched with the arm controller, and the arm controller senses the arm movement of an operator to control the mechanical arm to make corresponding actions.
The arm controller comprises a left arm controller worn on the left arm of the operator and a right arm controller worn on the right arm of the operator; the mechanical arm comprises a left mechanical arm matched with the left arm controller and a right mechanical arm matched with the right arm controller;
control combination
The left arm controller controls the left mechanical arm in a motion sensing mode, and the right arm controller controls the right mechanical arm in a computer programming mode;
control combination two
The left arm controller controls the left mechanical arm in a computer programming mode, and the right arm controller controls the right mechanical arm in an action sensing mode;
control combination three
The left arm controller controls the left mechanical arm in a motion sensing mode, and the right arm controller controls the right mechanical arm in a motion sensing mode;
control combination four
The left arm controller controls the left mechanical arm in a computer programming mode, and the right arm controller controls the right mechanical arm in a computer programming mode.
Other parts not described above are the same as those of the first embodiment, and are not explained in detail here.
The foregoing is a preferred embodiment of the present invention, and the basic principles, principal features and advantages of the invention are shown and described. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. A motion sensing and computer programming interchange control system of a robot is characterized in that: comprises that
The system comprises a composite controller, a control module and a display module, wherein the composite controller is provided with an action sensing module, a computer programming module and a control switching module; the action sensing module is used for sensing the action of an operator and generating a corresponding action instruction so as to control the robot; the computer programming module writes a computer programming program for controlling the robot, and an operator inputs a programming instruction through the computer programming module to control the robot; the control switching module is used for switching the robot controlled by the action sensing module or the computer programming module, and the control switching module is respectively in communication connection with the action sensing module and the computer programming module;
and the robot receives the action instructions and/or the programming instructions from the composite controller and performs actions corresponding to the action instructions and/or the programming instructions.
2. The motion sensing and computer programming interchange control system of the robot of claim 1, characterized in that: the composite controller comprises a glove controller worn on the palm of the operator and/or an arm controller worn on the arm of the operator; the robot is provided with a mechanical palm matched with the glove controller and/or a mechanical arm matched with the arm controller, the glove controller senses the palm activity of an operator to control the mechanical palm to make corresponding actions, and the arm controller senses the arm activity of the operator to control the mechanical arm to make corresponding actions.
3. The motion sensing and computer programming interchange control system of the robot of claim 2, characterized in that: the glove controller comprises a left glove controller worn on the palm of the left hand of an operator and a right glove controller worn on the palm of the right hand of the operator; the mechanical palm comprises a left mechanical palm matched with the glove making controller and a right mechanical palm matched with the right glove controller;
one glove controller controls the corresponding mechanical palm in a motion sensing mode, and the other glove controller controls the corresponding mechanical palm in a computer programming mode; or the left glove controller controls the left mechanical palm in a motion sensing mode, and the right glove controller controls the right mechanical palm in a motion sensing mode; or the left glove controller controls the left mechanical palm in a computer programming mode, and the right glove controller controls the right mechanical palm in a computer programming mode.
4. The motion sensing and computer programming interchange control system of the robot of claim 2, characterized in that: the arm controller comprises a left arm controller worn on the left arm of an operator and a right arm controller worn on the right arm of the operator; the mechanical arms comprise a left mechanical arm matched with the left arm controller and a right mechanical arm matched with the right arm controller;
one arm controller controls the corresponding mechanical arm in a motion sensing mode, and the other arm controller controls the corresponding mechanical arm in a computer programming mode; or the left arm controller controls the left mechanical arm in a motion sensing mode, and the right arm controller controls the right mechanical arm in a motion sensing mode; or the left mechanical arm is controlled by the left arm controller in a computer programming mode, and the right mechanical arm is controlled by the right arm controller in a computer programming mode.
5. The motion sensing and computer programming interchange control system of the robot of claim 1, characterized in that: the composite controller is provided with a control communication module; and the robot is provided with a robot communication module, and the control communication module is communicated and interconnected with the robot communication module.
6. The motion sensing and computer programming interchange control system of the robot of claim 1, characterized in that: and the composite controller is provided with a switching key for controlling the switching module to enter a switching mode, and the switching key is connected with the switching control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911224867.4ACN110936377A (en) | 2019-12-04 | 2019-12-04 | Motion sensing and computer programming interchange control system of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911224867.4ACN110936377A (en) | 2019-12-04 | 2019-12-04 | Motion sensing and computer programming interchange control system of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111409079A (en)* | 2020-05-19 | 2020-07-14 | 路邦科技授权有限公司 | A multi-connected and interconnected control system of an industrial manipulator |
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- 2019-12-04CNCN201911224867.4Apatent/CN110936377A/enactivePending
Patent Citations (7)
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| US20150293596A1 (en)* | 2012-10-25 | 2015-10-15 | Mis-Robotics Gmbh | Manually operated robot control system and method for controlling a robot system |
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| CN108687746A (en)* | 2017-03-31 | 2018-10-23 | 发那科株式会社 | Robot system |
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