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Calibration method, calibration system and control method of modular robot

A calibration method and robot technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of unable to verify the combined structure, poor user experience, etc.

Active Publication Date: 2020-12-18
BEIJING KEYI TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Reconfigurable robots are usually obtained by combining the main module and multiple basic modules. The appearance and structure of the multiple basic modules are the same, and they are all provided with connecting surfaces to realize the combination. However, the user cannot verify in the process of combining the modular robot Whether the combination structure is correct will bring a lot of repetitive assembly work to the user, resulting in a poor user experience

Method used

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  • Calibration method, calibration system and control method of modular robot
  • Calibration method, calibration system and control method of modular robot
  • Calibration method, calibration system and control method of modular robot

Examples

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no. 1 example

[0065] Please refer to figure 1 , the first embodiment of the present invention provides a calibration method for a modular robot, the modular robot includes at least two modular units, each modular unit includes at least two relatively movable sub-modules, each modular unit The number of sub-modules included can be two, three, four or more, especially two, such as two sub-modules that can rotate relative to each other, especially because each module unit is composed of two upper and lower hemispheres that can perform relative rotational movement Each sub-module includes at least one pair of docking parts, and each docking part is provided with an interface, and each interface has unique interface identification information, and the modular units are connected through the docking parts. It can be understood that when each sub-module includes at least two docking parts, the two module units are connected through a respective docking part, forming a virtual connection surface at...

no. 2 example

[0097] Please refer to Figure 4 , the second embodiment of the present invention also provides a control method for a modular robot, which includes the correction method for a modular robot as described in the first embodiment, when the matching structure shows that the constructed solid model is completely consistent with the target modular robot When consistent, the control method of the modular robot further includes the following steps:

[0098] J5: Obtain preset action control information;

[0099] J6: Transmit preset action control information to the constructed entity model, and the constructed entity model performs actions according to the preset action control information.

[0100] It can be understood that preset action control information is correspondingly stored in the remote terminal or the cell body according to the configuration information of the target modular robot.

[0101] It can be understood that, in the step J6, after receiving the position informati...

no. 3 example

[0108] Please refer to Figure 5 , the third embodiment of the present invention also provides a calibration system 10 for a modular robot, the calibration system 10 for a modular robot includes

[0109] Modular robot 11, which includes at least two modular units, each modular unit includes two sub-modules that are relatively movable, each sub-module includes at least one pair of docking parts, and the modular units are connected through the docking parts;

[0110] The storage module 13 is used to store the configuration information of the target modular robot and the configuration information of the built entity model, the configuration information of the target modular robot includes the position information, module One or more of category information and module quantity information, the configuration information of the constructed solid model includes one or more of the position information of multiple modular units in the constructed solid model, module category informatio...

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Abstract

The invention relates to the field of modular robots, in particular to a calibration method, calibration system and control method of a modular robot. The calibration method, calibration system and control method of the modular robot of the present invention can be calibrated according to whether the assembly structure matches the target structure in the process of assembling the modular robot, which avoids the repeated assembly work of the user and brings great benefits to the user. Come a good sense of experience.

Description

technical field [0001] The invention relates to the field of modular robots, in particular to a calibration method, a calibration system and a control method for a modular robot. Background technique [0002] Robots have been widely used in the fields of life and industry, such as in teaching to exercise students' pioneering thinking ability, such as in automatic production for welding, spraying, assembly, handling and other operations. Although the robot has great flexibility and flexibility as an execution system, it can complete different tasks, but the existing robots often have only one main function for specific purposes and occasions, and the degrees of freedom and configuration are fixed. Changes, lack of functional scalability and configuration reconfiguration. In addition, it costs a lot to develop a specific robot for each field and each application, which seriously restricts the popularization and application of robots. Therefore, reconfigurable robots came int...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/08
CPCB25J9/08B25J9/16B25J9/1679B25J9/1605B25J9/0009B25J9/1617B25J9/1653
Inventor 黄天河杨健勃程楠臧晨
Owner BEIJING KEYI TECH
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