Fighting robot controller debugging method, device, controller and control method

Abstract

The present invention relates to the field of robot control technology, and in particular to a combat robot controller debugging method, device, controller and control method. The combat robot controller debugging method of the present invention comprises the following steps: obtaining the port number of a host computer electrically connected to the controller; obtaining the identification code of the currently debugged controller joint through the content input in the first input box of the host computer interaction interface; obtaining the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint; debugging the controller joint according to the angular position measurement data and obtaining the debugging parameters. The present invention can simplify the debugging process of the controller for the debugger.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, and in particular to a combat robot controller debugging method, device, controller and control method. Background Art

[0002] In order to improve the operability of robot control, a controller with multiple rotatable joints can be used to control the robot to perform corresponding actions. These rotatable joints are also called controller joints. By making the controller joints correspond to the human body joints, the controller joints can be used to detect the rotation angle of the operator's joints, so that the controller robot can perform the actions expected by the operator according to the rotation angle of the operator's joints. The controller using the above structure needs to debug each controller joint on the controller in advance and obtain the debugging parameters of each controller joint in order to provide a reference for subsequent control of the robot. Since it is often necessary to analyze and calculate based on the angular position of the controller joint during debugging, but the angular position of the controller joint is collected by the angular position sensor installed in the controller joint, the debugging personnel cannot quickly and conveniently find the angular position data of the debugged controller joint, and after obtaining the data, they need to analyze it based on the data, making the debugging process too complicated for the corresponding debugging personnel. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a fighting robot controller debugging method, device, controller and control method, which are used to solve the technical problem that the existing fighting robot controller debugging method is too complicated and not conducive to debugging operations by debuggers.

[0004] The technical solution adopted by the present invention is:

[0005] In a first aspect, the present invention provides a method for debugging a fighting robot controller, wherein the controller includes a plurality of controller joints, and the method includes the following steps:

[0006] Obtain the port number of the host computer electrically connected to the controller;

[0007] Obtain the identification code of the currently debugged controller joint through the content entered in the first input box of the host computer interaction interface;

[0008] Acquire the angular position measurement data of the controller joint currently being debugged according to the port number of the host computer and the identification code of the controller joint currently being debugged;

[0009] The controller joint is debugged according to the angular position measurement data and debugging parameters are obtained.

[0010] Preferably, the step of obtaining the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint further comprises the following steps:

[0011] According to a first trigger signal generated after a first control in an interactive interface of the host computer is clicked, the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a first angular position is obtained as a first angular position value;

[0012] According to a second trigger signal generated after a second control in the host computer interaction interface is clicked, angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a second angular position is obtained as a second angular position value.

[0013] Preferably, the step of obtaining the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to the first angular position as the first angular position value according to the first trigger signal generated after the first control in the upper computer interaction interface is clicked also includes the following steps:

[0014] In response to the generation of the first trigger signal, receiving the angular position measurement data sent by each controller joint to the host computer according to the port number of the host computer;

[0015] Acquire the length of the angular position measurement data of the currently debugged controller joint according to the identification code of the currently debugged controller joint;

[0016] The angular position measurement data of the currently debugged controller joint is filtered out from the angular position measurement data sent to the host computer according to the identification code of the currently debugged controller joint and the length of the angular position measurement data of the currently debugged controller joint.

[0017] Preferably, the step of debugging the controller joint and obtaining debugging parameters according to the angular position measurement data further comprises the following steps:

[0018] In response to a third trigger signal generated by clicking a third control, calculating an actual rotation stroke of a currently debugged controller joint according to the first angular position value and the second angular position value;

[0019] Obtaining the limited rotation stroke of the controller currently being debugged according to the identification code of the joint of the controller currently being debugged;

[0020] If the actual rotation range of the currently debugged controller joint is less than or equal to the limited rotation range of the currently debugged controller, the rotation range of the currently debugged controller joint is qualified, otherwise the first prompt information is displayed in the first display area of ​​the host computer interaction interface.

[0021] Preferably, the step of debugging the controller joint and obtaining debugging parameters according to the angular position measurement data further comprises the following steps:

[0022] According to the currently debugged controller joint identification code, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am of the robot servo corresponding to the currently debugged controller joint are obtained;

[0023] Acquire the angular position measurement data of the currently debugged controller joint when the currently debugged controller joint rotates toward the reference direction to the vicinity of the angular position limited by the limiting structure of the controller joint as the reference angular position value Br;

[0024] In response to the fourth trigger signal generated by clicking the fourth control, the theoretical angular position value At of the robot servo is calculated and displayed in the second display area of ​​the host computer interaction interface according to the first angular position value B1, the second angular position value B2, the reference angular position value Br, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am shown. If Ap≤Am, then At=Ap+ Br×|Ap-An|÷|B2-B1|, if Ap>Am, then At=Ap- Br×|Ap-An|÷|B2-B1|.

[0025] Preferably, the debugging parameters include a first limit angular position value and a second limit angular position value, and the debugging of the controller joint according to the angular position measurement data and obtaining the debugging parameters also includes the following steps:

[0026] In response to a fifth trigger signal generated by clicking the fifth control, the theoretical angular position value At of the robot servo is compared with the positive rotation limit angular position value Ap of the robot servo;

[0027] According to the comparison result, one of the first angular position value and the second angular position value is selected as the first limit angular position value of the controller joint currently being debugged, and the other is selected as the second limit angular position value of the controller joint currently being debugged, and the second prompt information is displayed in the third display area according to the comparison result;

[0028] In response to the sixth trigger signal generated by clicking the sixth control, the first limit angular position value and the second limit angular position value of the currently debugged controller joint are stored.

[0029] After all controller joints have been debugged, in response to a seventh trigger signal generated by clicking a seventh control, a first limit angular position value and a second limit angular position value of the controller joint are sent to the controller via a private communication protocol.

[0030] In a second aspect, the present invention further provides a combat robot controller debugging device, the device comprising:

[0031] A port number acquisition module, wherein the port number acquisition module is used to acquire the port number of a host computer electrically connected to the controller;

[0032] A controller joint identification code acquisition module, wherein the controller joint identification code acquisition module is used to acquire the identification code of the currently debugged controller joint through the value input in the first input box of the host computer interaction interface;

[0033] An angular position measurement data acquisition module, wherein the angular position measurement data acquisition module is used to acquire the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint;

[0034] A joint debugging module is used to debug the controller joints according to the angular position measurement data.

[0035] In a third aspect, the present invention also provides a fighting robot controller for controlling a fighting robot, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, and when the computer program instructions are executed by the processor, the method described in the first aspect is implemented.

[0036] In a fourth aspect, the present invention further provides a robot control method, which uses a controller wearable on a user's body to control the robot, and the method comprises the following steps:

[0037] Debugging the controller according to the combat robot controller debugging method described in the first aspect;

[0038] Obtain the rotation angle position range of the robot servo corresponding to each controller joint;

[0039] Obtaining angular position measurement data of each controller joint when the controller moves with the operator's limbs;

[0040] Obtaining the rotation angle position value corresponding to the robot servo according to the rotation angle position range of the robot servo and the angular position measurement data of each controller joint;

[0041] The rotation angle position value corresponding to the robot servo is sent to the servo control circuit that controls the rotation of the servo.

[0042] Beneficial effects: The combat robot controller debugging method, device, controller and control method of the present invention connect the port of the host computer to the controller, use the host computer port to uniformly obtain the angular position measurement data of all controller joints during the debugging process, and use the identification code of the currently debugged controller joint to quickly obtain the angular position measurement data of the currently debugged controller joint from a large amount of data. Since the host computer provides an interactive interface, the debugger can conveniently interact with the debugged controller joint through the interactive interface to quickly obtain the desired debugging data. Using the strong processing power of the host computer, the angular position measurement data can be automatically analyzed to obtain the debugging parameters, thereby further simplifying the debugging process of the debugger. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment of the present invention will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0044] Figure 1 It is a flow chart of the debugging method of the fighting robot controller of the present invention;

[0045] Figure 2 A schematic diagram of inputting controller joint numbers in an interactive interface of the present invention;

[0046] Figure 3 A schematic diagram of a flow chart of a method for obtaining joint measurement data of a currently debugged controller according to the present invention;

[0047] Figure 4 It is a schematic diagram of the structure of the arc groove in the joint limiting structure of the controller of the present invention;

[0048] Figure 5 A schematic diagram of a flow chart of a method for screening joint measurement data of a currently debugged controller according to the present invention;

[0049] Figure 6 It is a schematic diagram of collecting the second angular position value through the interactive interface of the present invention;

[0050] Figure 7 A schematic diagram of a flow chart of a method for debugging the rotation range of a controller joint according to the present invention;

[0051] Figure 8 A schematic diagram of a flow chart of a method for calculating a theoretical angular position of a steering gear according to the present invention;

[0052] Fig. 9 is a schematic diagram of the servo rotation angle position range of the present invention;

[0053] Fig.10 A schematic diagram showing the theoretical angular position of the servo in the interactive interface;

[0054] Fig.11 A schematic diagram of a method for determining two limit angular position values ​​of a controller joint according to the present invention;

[0055] Fig.12 A schematic diagram of displaying prompt information in an interactive interface according to the present invention;

[0056] Fig.13 It is a structural block diagram of the combat robot controller debugging device in the present invention;

[0057] Fig.14 It is a structural schematic diagram of the controller of the present invention;

[0058] Fig.15 A schematic flow chart of a robot control method of the present invention;

[0059] Fig.16 It is a schematic diagram of the three-dimensional structure of the controller of the present invention;

[0060] Fig.17 It is a schematic structural diagram of the upper limb assembly of the controller of the present invention;

[0061] Fig.18 It is a schematic diagram of the structure of the robot upper limb of the present invention;

[0062] Fig.19 This is a schematic diagram of the fighting robot controller of the present invention controlling the fighting robot. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of further restrictions, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article or device comprising the elements. If there is no conflict, the various features in the embodiments and examples of the present invention can be combined with each other, all within the scope of protection of the present invention.

[0064] Example 1

[0065] like Figure 1 As shown, this embodiment provides a combat robot controller debugging method, the controller includes a plurality of controller joints, and the method includes the following steps:

[0066] S1: Get the port number of the host computer electrically connected to the controller;

[0067] This embodiment uses a host computer to assist in the debugging of the controller. In this embodiment, the debugging of the controller refers to the debugging of the controller joints. Since there are multiple controller joints on the controller, all controller joints of the controller need to be debugged during the debugging of the controller. When debugging, first connect the data output end of the controller to the host port, and record the connected port number after the connection. This is to facilitate debugging by the debugging personnel.

[0068] S2: Obtain the identification code of the controller joint currently being debugged through the content input in the first input box 61 of the host computer interaction interface;

[0069] Since the controller in this embodiment has multiple controller joints, the controller joints can be debugged one by one during the debugging process. In order to avoid mutual interference between the controller joints during debugging, an identification code can be assigned to each controller joint. In this embodiment, an interactive interface for interacting with the host computer during the debugging process can be displayed in the display device of the host computer, and a first input box 61 for the debugger to input the controller joint identification code is displayed in the interactive interface. Figure 2 As shown, after the controller and the host computer complete the data transmission connection, the debugger enters the identification code of the controller joint to be debugged into the first input box 61 displayed on the host computer interactive interface. When it is detected that there is content input in the first input box 61, the host computer uses the content in the first input box 61 as the identification code of the currently detected controller joint.

[0070] S3: acquiring the angular position measurement data of the controller joint currently being debugged according to the port number of the host computer and the identification code of the controller joint currently being debugged;

[0071] like Figure 2 As shown, a port number input box is displayed in the interactive interface of the host computer. After the port connection number between the controller and the host computer is established, the port number of the connected data port is entered in the port number input box. The host computer opens the data port corresponding to the port number and receives the data sent to the port by the controller.

[0072] like Figure 3 As shown, the step S3: obtaining the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint also includes the following steps:

[0073] S31: acquiring, according to a first trigger signal generated after a first control 71 in the upper computer interaction interface is clicked, angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a first angular position as a first angular position value;

[0074] In the interactive interface of the host computer, a first control 71 is displayed for the debugger to click, and the control may be a button control. Each controller joint has two opposite rotation directions, which are also referred to as the first direction and the second direction for the convenience of description. In order to limit the rotation range of the controller joint, Figure 4 As shown, a limiting structure consisting of an arc-shaped limiting groove 51 and a limiting block 53 is provided on the controller joint. The controller joint includes a first component and a second component that can rotate relative to each other, and the limiting groove 51 and the limiting block 53 are respectively provided on the first component and the second component. When the limiting block 53 rotates along the first direction with the second component until it contacts a side wall 52 of the limiting groove 51, the controller joint is in a first angular position. Figure 2 As shown, the debugger then clicks on the first control 71. After being clicked, the first control 71 will generate a first trigger signal, which will trigger the host computer to record the measurement data of the current angular position of the joint of the controller being debugged, and display the data as the first angular position value on the interactive interface of the host computer.

[0075] As an optional but advantageous embodiment, Figure 5 As shown, in this embodiment, S31: obtaining the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to the first angular position as the first angular position value according to the first trigger signal generated after the first control 71 in the host computer interaction interface is clicked, further includes the following steps:

[0076] S311: In response to the generation of the first trigger signal, receiving the angular position measurement data sent by each controller joint to the host computer according to the port number of the host computer;

[0077] In this embodiment, all controller joints first send their collected angular position measurement data to the host computer. The first trigger signal triggers the host computer to receive the data sent by these controller joints in the port connected to the controller.

[0078] S312: Acquire the length of the angular position measurement data of the currently debugged controller joint according to the identification code of the currently debugged controller joint;

[0079] The angular position measurement data collected by each controller joint has a certain length. For example, the length of the angular position measurement data may be k bytes, where k is a positive number.

[0080] S313: Filtering out the angular position measurement data of the currently debugged controller joint from the angular position measurement data sent to the host computer according to the identification code of the currently debugged controller joint and the length of the angular position measurement data of the currently debugged controller joint.

[0081] Each controller sends the angular position measurement data to the host computer in the form of a message, which also includes the identification code of each controller joint. The angular position measurement data of the controller joint is arranged next to the identification code of the controller joint. If the length of the angular position measurement data is k bytes, the k bytes of data following the identification code of the controller joint can be used as the angular position measurement data of the controller joint corresponding to the identification code.

[0082] S32: according to the second trigger signal generated after the second control 72 in the host computer interaction interface is clicked, the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to the second angular position is obtained as the second angular position value.

[0083] like Figure 6 As shown, a second control 72 is also displayed in the interactive interface of the host computer for the debugger to click, and the control may be a button control. When the limit block 53 rotates along the second direction with the second component to contact the other side wall 52 of the limit slot 51, the controller joint is in the second angular position. Then the debugger clicks the second control 72, and the second control 72 will generate a second trigger signal after being clicked. The trigger signal will trigger the host computer to record the measurement data of the current angular position of the controller joint being debugged, and display the data as the second angular position value on the interactive interface of the host computer.

[0084] S4: Debug the controller joints according to the angular position measurement data and obtain debugging parameters.

[0085] After obtaining the angular position measurement data currently being debugged, these data can be used to debug the controller joints.

[0086] First, you can debug the rotation range of the controller joints, such as Figure 7 As shown, the S4: debugging the controller joint according to the angular position measurement data and obtaining the debugging parameters also includes the following steps:

[0087] S41: in response to a third trigger signal generated by clicking a third control, calculating an actual rotation stroke of a currently debugged controller joint according to the first angular position value and the second angular position value;

[0088] The host computer's interactive interface also displays a third control for the debugger to click, which can be a button control. When the debugger clicks the third control, the host computer generates a third trigger signal, which triggers the host computer to calculate the actual rotation stroke of the controller joint currently being debugged. The specific calculation method is: Lr=|B1-B2|.

[0089] S42: obtaining the limited rotation stroke of the controller currently being debugged according to the identification code of the joint of the controller currently being debugged;

[0090] In the manufacture of control joints, the limit structure may cause the controller joint to have an excessively large rotation angle range due to manufacturing errors. In order to avoid the controller joint having an excessively large rotation angle range, a corresponding limited rotation stroke needs to be set for each controller joint in the controller so that the actual rotation stroke of the controller joint does not exceed the corresponding limited rotation stroke.

[0091] S43: If the actual rotation stroke of the currently debugged controller joint is less than or equal to the limited rotation stroke of the currently debugged controller, the rotation range of the currently debugged controller joint is qualified, otherwise the first prompt information is displayed in the first display area of ​​the host computer interaction interface.

[0092] If the rotation range of the currently debugged controller joint is unqualified, the host computer interactive interface will display a prompt message that the joint needs to be processed, such as replacing a controller joint of the same type or with the same ID.

[0093] like Figure 8 As shown, as an optional but advantageous implementation, in this embodiment, the rotation direction of the controller joint can also be debugged. In this regard, the S4: debugging the controller joint according to the angular position measurement data and obtaining the debugging parameters also includes the following steps:

[0094] S44: acquiring the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am of the robot servo corresponding to the currently debugged controller joint according to the currently debugged controller joint identification code;

[0095] Each servo of the robot has a set rotation range when working. This set rotation range is limited by the positive rotation limit angle position value Ap and the negative rotation limit angle position value An of the servo. The servo will only rotate between the positive rotation limit angle position value Ap and the negative rotation limit angle position value An when working. Fig. 9 As shown, Fig. 9 The figure generally represents the rotation range of the five servos on the robot, wherein the limit angular position of the positive direction rotation of the first servo 41 is 316, and the limit angular position of the negative direction rotation is 866, and the servo rotates between 316 and 866; the limit angular position of the positive direction rotation of the second servo 42 is 158, and the limit angular position of the negative direction rotation is 630, and the servo rotates between 158 and 630; the limit angular position of the positive direction rotation of the third servo 43 is 984, and the limit angular position of the negative direction rotation is 276, and the servo rotates between 984 and 276; the limit angular position of the positive direction rotation of the fourth servo 44 is 158, and the limit angular position of the negative direction rotation is 866, and the servo rotates between 158 and 866; the limit angular position of the positive direction rotation of the fifth servo 45 is 708, and the limit angular position of the negative direction rotation is 158, and the servo rotates between 708 and 158.

[0096] The intermediate angular position value Am of the servo is the angular position value when the servo rotates to half of its maximum rotation range. For example, the servo can rotate from the angular position value of 0 to the angular position value of a at most, so the intermediate angular position value Am=a / 2.

[0097] S45: obtaining the angular position measurement data of the currently debugged controller joint when the currently debugged controller joint rotates toward the reference direction to the vicinity of the angular position limited by the limit structure of the controller joint as the reference angular position value Br;

[0098] In this step, a rotation direction of a controller joint is preset as a reference direction, and the aforementioned reference direction is one of the first direction or the second direction. Then the controller joint to be debugged is rotated toward the reference direction. If the reference direction is the first direction, the controller joint to be debugged is rotated to the vicinity of the first angular position. If the reference direction is the first direction, the controller joint to be debugged is rotated to the vicinity of the second angular position. In this embodiment, an error tolerance range can be preset. For the convenience of description, this error tolerance range is referred to as the first error tolerance range in this article.

[0099] If the absolute value of the difference between the reference angular position value Br and the first angular position value or the second angular position value is less than or equal to the first error allowable range, it can be considered that the currently debugged controller joint is rotated in the reference direction to the vicinity of the angular position limited by the limit structure of the controller joint. Otherwise, the currently debugged controller joint continues to rotate in the reference direction. This embodiment can also display the current angular position value of the currently debugged controller joint in the interactive interface of the host computer, so that the debugger can rotate the controller joint to the vicinity of the angular position limited by the limit structure of the controller joint according to the displayed angular position value.

[0100] S46: In response to the fourth trigger signal generated by clicking the fourth control 74, the theoretical angular position value At of the robot servo is calculated and displayed in the second display area 82 of the upper computer interaction interface according to the first angular position value B1, the second angular position value B2, the reference angular position value Br, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am shown. If Ap≤Am, then At=Ap+ Br×|Ap-An|÷|B2-B1|, if Ap>Am, then At=Ap- Br×|Ap-An|÷|B2-B1|.

[0101] like Fig.10 As shown, the debugger clicks the fourth control 74 in the interactive interface, and the host computer generates a fourth trigger signal, which triggers the host computer to start calculating the theoretical angular position of the robot servo corresponding to the reference angular position of the controller joint. The calculated theoretical angular position value At is displayed in the display area of ​​the interactive interface of the host computer.

[0102] like Fig.11As shown, in this embodiment, the debugging parameters include a first limit angular position value and a second limit angular position value, and the S4: debugging the controller joint according to the angular position measurement data and obtaining the debugging parameters also includes the following steps:

[0103] S47: in response to the fifth trigger signal generated by clicking the fifth control 75, comparing the theoretical angular position value At of the robot servo with the positive rotation limit angular position value Ap of the robot servo;

[0104] like Fig.12 As shown, a fifth control 75 for the debugger to click is displayed in the interactive interface.

[0105] S48: selecting one from the first angular position value and the second angular position value as the first limit angular position value of the currently debugged controller joint and the other as the second limit angular position value of the currently debugged controller joint according to the comparison result, and displaying the second prompt information in the third display area 83 according to the comparison result;

[0106] In this step, the second preset range d2 and the third preset range d3 can be first obtained, wherein the second preset range d2 is smaller than half of the joint travel of the currently debugged controller, and the third preset range is larger than half of the joint travel of the currently debugged controller, wherein the second preset range d2 and the third preset range d3 can be set based on experience.

[0107] If the reference direction is the first direction, then if |At-Ap|≤d2, the first angular position value is selected as the first limit angular position value of the currently debugged controller joint, and the second angular position value is selected as the second limit angular position value of the currently debugged controller joint; if |At-Ap|>d2 and |At-Ap|>d3, the second angular position value is selected as the first limit angular position value of the currently debugged controller joint, and the first angular position value is selected as the second limit angular position value of the currently debugged controller joint.

[0108] If the reference direction is the second direction, then if |At-Ap|≤d2, the second angular position value is selected as the first limit angular position value of the currently debugged controller joint, and the first angular position value is selected as the second limit angular position value of the currently debugged controller joint; if |At-Ap|>d2 and |At-Ap|>d3, the first angular position value is selected as the first limit angular position value of the currently debugged controller joint, and the second angular position value is selected as the second limit angular position value of the currently debugged controller joint.

[0109] S49: In response to the sixth trigger signal generated by clicking the sixth control 76, the first limit angular position value and the second limit angular position value of the currently debugged controller joint are stored.

[0110] The debugger clicks the sixth control 76 displayed in the interactive interface, and the host computer generates a sixth trigger signal, which triggers the host computer to store the first limit angular position value and the second limit angular position value of the currently debugged controller joint obtained in the above steps.

[0111] After adopting the above method, no matter what the corresponding relationship is between the rotation direction of the controller joint and the rotation direction of the robot servo, the angular position of the controller joint in the rotation direction consistent with the positive rotation direction of the servo can be stored as the first angular position value. In this way, the debugging personnel can accurately obtain the parameters of the two extreme angular positions of the controller joint through a simple debugging process.

[0112] S50: After all controller joints have been debugged, in response to the seventh trigger signal generated by clicking the seventh control 77, the first limit angular position value and the second limit angular position value of the controller joint are sent to the controller via a private communication protocol.

[0113] In this embodiment, the controller joints are adjusted one by one according to the above debugging method. When all the controller joints are debugged, the debugger clicks the seventh control 77 to make the host computer generate the seventh trigger signal. The seventh trigger signal triggers the host computer to send the first limit angle position value and the second limit angle position value of each controller joint to the controller using a private communication protocol. The controller stores the first limit angle position value and the second limit angle position value in the storage medium of the controller.

[0114] After the controller is powered on, the control circuit of the controller reads the first limit angular position value and the second limit angular position value of each controller from the storage medium.

[0115] Example 2

[0116] See also Fig.13 This embodiment provides a combat robot controller debugging device, the device comprising:

[0117] A port number acquisition module, wherein the port number acquisition module is used to acquire the port number of a host computer electrically connected to the controller;

[0118] A controller joint identification code acquisition module, wherein the controller joint identification code acquisition module is used to acquire the identification code of the currently debugged controller joint through the value input in the first input box of the host computer interaction interface;

[0119] An angular position measurement data acquisition module, wherein the angular position measurement data acquisition module is used to acquire the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint;

[0120] A joint debugging module is used to debug the controller joints according to the angular position measurement data.

[0121] The joint debugging module also includes:

[0122] an actual rotation stroke calculation submodule, the actual rotation stroke calculation submodule being used to calculate the actual rotation stroke of the currently debugged controller joint according to the first angular position value and the second angular position value in response to a third trigger signal generated by clicking the third control;

[0123] A limited rotation stroke acquisition submodule, the limited rotation stroke acquisition submodule is used to acquire the limited rotation stroke of the currently debugged controller according to the identification code of the currently debugged controller joint;

[0124] The stroke comparison submodule is used to determine if the actual rotation stroke of the currently debugged controller joint is less than or equal to the limited rotation stroke of the currently debugged controller, then the rotation range of the currently debugged controller joint is qualified; otherwise, the first prompt information is displayed in the first display area of ​​the host computer interaction interface.

[0125] Example 3

[0126] In addition, combined Fig.14 The fighting robot controller debugging method of the aforementioned embodiment of the present invention described above can be implemented by the fighting robot controller of this embodiment. Fig.14 A schematic diagram of the hardware structure of a controller provided in an embodiment of the present invention is shown.

[0127] The controller of this embodiment may include a control circuit 401 and a memory 402 storing computer program instructions.

[0128] Specifically, the control circuit 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiment of the present invention.

[0129] The memory 402 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. Where appropriate, the memory 402 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 402 may be inside or outside the data processing device. In a specific embodiment, the memory 402 is a non-volatile solid-state memory. In a specific embodiment, the memory 402 includes a read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.

[0130] The processor 401 reads and executes the computer program instructions stored in the memory 402 to implement any one of the data addressing methods for debugging the regional random fighting robot controller in the above embodiments.

[0131] In one example, the controller of this embodiment may also include a communication interface 403 and a bus 410. Figure 6 As shown, the control circuit 401, the memory 402, and the communication interface 403 are connected via a bus 410 and communicate with each other.

[0132] The communication interface 403 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention.

[0133] Bus 410 includes hardware, software or both, and couples the various components for the controller to each other. For example, but not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industrial standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnect, an industrial standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 410 may include one or more buses. Although the embodiments of the present invention describe and illustrate a specific bus, the present invention contemplates any suitable bus or interconnect.

[0134] Example 4

[0135] In addition, in combination with the combat robot controller debugging method in the above embodiment, the embodiment of the present invention can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any of the combat robot controller debugging methods in the above embodiment is implemented.

[0136] The above is a detailed introduction to the fighting robot controller debugging method, device, controller and storage medium provided in the embodiments of the present invention.

[0137] Example 5

[0138] This embodiment provides a fighting robot control method, such as Fig.19 The method uses a controller wearable on the user's body to control the robot, such as Fig.15 The method shown comprises the following steps:

[0139] S10: Debugging the controller according to the combat robot controller debugging method described in Example 1;

[0140] In this embodiment, the controller is debugged before being used to control the robot. The debugging method can adopt the method in Embodiment 1 and will not be described in detail here.

[0141] S20: Obtain the rotation angle position range of the robot servo corresponding to each controller joint;

[0142] The controller of this embodiment is provided with a plurality of controller joints, and these controller joints have a corresponding relationship with the robot servos provided on the robot. Each robot servo has its own rotation angle position range when working, for example Fig. 9 The rotation angle position range of the five robot servos shown in FIG.

[0143] S30: Acquire angular position measurement data of each controller joint when the controller moves with the operator's limbs;

[0144] like Fig.16 The controller in this embodiment includes a wearable device 1 worn by the user and an upper limb component 2 that can move synchronously with the operator's arm, wherein one end of the upper limb component 2 is rotatably connected to the wearable device 1 and the other end is a free end. Fig.17 The upper limb assembly 2 shown is composed of a plurality of upper limb parts, and a controller joint is arranged between adjacent upper limb parts, and an angular position sensor capable of detecting the rotational angular position of the controller is arranged on the controller joint. The angular position sensor may be a magnetic encoder.

[0145] See also Fig.17The controller joints of this embodiment have a corresponding relationship with the human body joints, wherein the shoulder component 21 of the upper limb component corresponds to the shoulder of the human body, the upper arm component 22 of the upper limb component corresponds to the upper arm of the human body, the forearm component 23 of the upper limb component corresponds to the forearm of the human body, and the hand component 24 of the upper limb component corresponds to the hand of the human body.

[0146] When the operator puts on the controller of this embodiment and holds the free end of the upper limb with his arm, the operator's arm moves in the action he wants the robot to perform, and the controller moves synchronously with the operator's arm and is consistent with the movement of the operator's arm. The controller joints of the controller also move with the operator's joints, and the rotational angular position of the controller joints is consistent with the rotation of the operator's joints. Therefore, the angular position measurement data controlled by the controller can be used to indirectly obtain the angular position of each rotational joint of the human body.

[0147] S40: Obtaining a rotation angle position value corresponding to the robot servo according to the rotation angle position range of the robot servo and the angular position measurement data of each controller joint;

[0148] In this embodiment, there is a corresponding relationship between the robot servos and the controller joints. Fig.17 and Fig.18 The first joint 41 of the controller corresponds to the first steering gear 51 of the robot, the second joint 42 corresponds to the second steering gear 52 of the robot, the third joint 43 corresponds to the third steering gear 53 of the robot, the fourth joint 44 corresponds to the fourth steering gear 54 of the robot, and the fifth joint 45 corresponds to the fifth steering gear 55 of the robot.

[0149] Assume that the rotation angle position range of the kth robot servo is [Apk, Ank], and after debugging, the first limit angle position value of the controller joint corresponding to the servo is B1k, and the second limit angle position value is B2k. Assume that the currently collected angle position data of the controller joint is Bpre.

[0150] If Apk≤Am, then Apre=Apk+ Bpre×|Apk-Ank|÷|B2k-B1k|;

[0151] If Apk>Am, then Apre=Apk-Bpre×|Apk-Ank|÷|B2k-B1k|. Where Apre is the rotation angle position value of the robot servo corresponding to the angular position measurement data of the controller joint. The rotation angle position value of the robot servo calculated by the above method is proportional to the rotation angle position of the controller joint, and the rotation range of the robot servo is adapted to the rotation range of the controller joint. Since the rotation angle position of the controller joint reflects the angular position of the operator's arm rotation, the rotation of the robot joint driven by the robot servo is highly consistent with the rotation of the operator's arm, so that the operator can control the robot more conveniently and accurately.

[0152] S50: Send the rotation angle position value corresponding to the robot servo to the servo control circuit that controls the rotation of the servo.

[0153] After the rotation angle position value of each robot servo is calculated in the previous step, the control circuit of the servo controls the servo to rotate to the angular position corresponding to the rotation angle position value.

[0154] As an optional but advantageous implementation, the robot control method in this embodiment further includes the following steps:

[0155] S60: acquiring a controller joint corresponding to the struck part on the controller according to the struck part of the robot;

[0156] The specific implementation also includes the following steps:

[0157] S61: Acquire a pressure detection signal sent by a pressure sensor on the robot;

[0158] Pressure sensors are installed on various parts of the robot. When a certain part of the robot is hit, the pressure sensor installed at this part can detect the pressure and generate a corresponding pressure detection signal.

[0159] S62: Obtaining the struck part of the robot according to the pressure detection signal;

[0160] The pressure detection signal contains the ID of the pressure sensor that sends the signal. Based on this ID, the installation location of the pressure sensor on the robot can be found, and this location is used as the location of the robot that is hit.

[0161] S63: obtaining the struck part of the robot according to the pressure detection signal and obtaining the robot joint closest to the struck part as a reference joint;

[0162] S63: Acquire a controller joint corresponding to the reference joint as the controller joint corresponding to the struck part;

[0163] The robot joints and the controller joints may be matched in advance. Since the controller joints and the robot servos have a corresponding relationship, the robot joints driven by the robot servos may also be matched with the corresponding controller joints.

[0164] S70: applying a torque in the opposite direction of rotation to the corresponding controller joint according to the striking force of the struck part of the robot;

[0165] If the pressure detected by the pressure sensor is higher, it means that the robot is hit harder, and the torque applied to the controller joint is also greater.

[0166] In addition, the angle range of the torque applied can be controlled according to the strength of the hit on the part of the robot. The greater the hit strength on the robot, the greater the angle range of the torque applied to the controller joint. When the controller joint rotates to the angle range of the applied torque, a torque is applied to the controller to hinder its rotation. If the controller joint does not rotate to the angle range of the applied torque, no torque is applied to the controller joint. The above method can be used to feed back the feeling of difficulty in the robot's movement after being hit to the operator in the robot competition game, thereby increasing the fun of the robot competition game.

[0167] In a specific implementation, a torque motor installed on the controller joint can be used to apply torque to the controller joint. The torque motor is electrically connected to the control circuit of the controller joint. The control circuit determines the direction of rotation of the controller joint according to the change in the angular position of the controller joint, and the controller torque motor applies a torque in the opposite direction of rotation of the controller joint. The stator part of the torque motor is connected to the first component of the controller joint, and the rotor part of the torque motor is connected to the second component of the controller joint.

[0168] The above is a detailed introduction to the joint calibration method, device, equipment, storage medium and robot control method of the present invention.

[0169] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0170] The functional blocks shown in the structural block diagram described above can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier. "Machine-readable medium" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0171] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0172] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A combat robot controller debugging method, characterized in that: The controller includes a plurality of controller joints, and the method includes the following steps: Obtain the port number of the host computer electrically connected to the controller; Obtain the identification code of the currently debugged controller joint through the content entered in the first input box of the host computer interaction interface; Acquire the angular position measurement data of the controller joint currently being debugged according to the port number of the host computer and the identification code of the controller joint currently being debugged; Debugging the controller joints and obtaining debugging parameters according to the angular position measurement data; The step of obtaining the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint also includes the following steps: According to a first trigger signal generated after a first control in an interactive interface of the host computer is clicked, the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a first angular position is obtained as a first angular position value; According to a second trigger signal generated after a second control in the upper computer interaction interface is clicked, the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a second angular position is obtained as a second angular position value; The step of obtaining the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to the first angular position as the first angular position value according to the first trigger signal generated after the first control in the upper computer interaction interface is clicked also includes the following steps: In response to the generation of the first trigger signal, receiving the angular position measurement data sent by each controller joint to the host computer according to the port number of the host computer; Acquire the length of the angular position measurement data of the currently debugged controller joint according to the identification code of the currently debugged controller joint; Filtering the angular position measurement data of the currently debugged controller joint from the angular position measurement data sent to the host computer according to the identification code of the currently debugged controller joint and the length of the angular position measurement data of the currently debugged controller joint; The debugging of the controller joint and obtaining the debugging parameters according to the angular position measurement data also includes the following steps: In response to a third trigger signal generated by clicking a third control, calculating an actual rotation stroke of a currently debugged controller joint according to the first angular position value and the second angular position value; Obtaining the limited rotation stroke of the controller currently being debugged according to the identification code of the joint of the controller currently being debugged; If the actual rotation stroke of the currently debugged controller joint is less than or equal to the limited rotation stroke of the currently debugged controller, the rotation range of the currently debugged controller joint is qualified, otherwise the first prompt information is displayed in the first display area of ​​the host computer interaction interface; The debugging of the controller joint and obtaining the debugging parameters according to the angular position measurement data also includes the following steps: According to the currently debugged controller joint identification code, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am of the robot servo corresponding to the currently debugged controller joint are obtained; Acquire the angular position measurement data of the currently debugged controller joint when the currently debugged controller joint rotates toward the reference direction to the vicinity of the angular position limited by the limiting structure of the controller joint as the reference angular position value Br; In response to the fourth trigger signal generated by clicking the fourth control, the theoretical angular position value At of the robot servo is calculated and displayed in the second display area of ​​the host computer interaction interface according to the first angular position value B1, the second angular position value B2, the reference angular position value Br, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am shown. If Ap≤Am, then At=Ap+ Br×|Ap-An|÷|B2-B1|, if Ap>Am, then At=Ap- Br×|Ap-An|÷|B2-B1|.

2. The combat robot controller debugging method according to claim 1, characterized in that: The debugging parameters include a first limit angular position value and a second limit angular position value, and the debugging of the controller joint according to the angular position measurement data and obtaining the debugging parameters also includes the following steps: In response to a fifth trigger signal generated by clicking the fifth control, the theoretical angular position value At of the robot servo is compared with the positive rotation limit angular position value Ap of the robot servo; According to the comparison result, one of the first angular position value and the second angular position value is selected as the first limit angular position value of the controller joint currently being debugged, and the other is selected as the second limit angular position value of the controller joint currently being debugged, and the second prompt information is displayed in the third display area according to the comparison result; In response to a sixth trigger signal generated by clicking a sixth control, storing a first limit angular position value and a second limit angular position value of a currently debugged controller joint; After all controller joints have been debugged, in response to a seventh trigger signal generated by clicking a seventh control, a first limit angular position value and a second limit angular position value of the controller joint are sent to the controller via a private communication protocol.

3. A combat robot controller debugging device, characterized in that: The device comprises: A port number acquisition module, wherein the port number acquisition module is used to acquire the port number of a host computer electrically connected to the controller; A controller joint identification code acquisition module, wherein the controller joint identification code acquisition module is used to acquire the identification code of the currently debugged controller joint through the value input in the first input box of the host computer interaction interface; An angular position measurement data acquisition module, the angular position measurement data acquisition module is used to acquire the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint; A joint debugging module, the joint debugging module is used to debug the controller joint according to the angular position measurement data and obtain debugging parameters; The step of obtaining the angular position measurement data of the currently debugged controller joint according to the port number of the host computer and the identification code of the currently debugged controller joint also includes the following steps: According to a first trigger signal generated after a first control in an interactive interface of the host computer is clicked, the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a first angular position is obtained as a first angular position value; According to a second trigger signal generated after a second control in the upper computer interaction interface is clicked, the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to a second angular position is obtained as a second angular position value; The step of obtaining the angular position measurement data of the currently debugged controller joint after the currently debugged controller joint rotates to the first angular position as the first angular position value according to the first trigger signal generated after the first control in the upper computer interaction interface is clicked also includes the following steps: In response to the generation of the first trigger signal, receiving the angular position measurement data sent by each controller joint to the host computer according to the port number of the host computer; Acquire the length of the angular position measurement data of the currently debugged controller joint according to the identification code of the currently debugged controller joint; Filtering the angular position measurement data of the currently debugged controller joint from the angular position measurement data sent to the host computer according to the identification code of the currently debugged controller joint and the length of the angular position measurement data of the currently debugged controller joint; The debugging of the controller joint and obtaining the debugging parameters according to the angular position measurement data also includes the following steps: In response to a third trigger signal generated by clicking a third control, calculating an actual rotation stroke of a currently debugged controller joint according to the first angular position value and the second angular position value; Obtaining the limited rotation stroke of the controller currently being debugged according to the identification code of the joint of the controller currently being debugged; If the actual rotation stroke of the currently debugged controller joint is less than or equal to the limited rotation stroke of the currently debugged controller, the rotation range of the currently debugged controller joint is qualified, otherwise the first prompt information is displayed in the first display area of ​​the host computer interaction interface; The debugging of the controller joint and obtaining the debugging parameters according to the angular position measurement data also includes the following steps: According to the currently debugged controller joint identification code, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am of the robot servo corresponding to the currently debugged controller joint are obtained; Acquire the angular position measurement data of the currently debugged controller joint when the currently debugged controller joint rotates toward the reference direction to the vicinity of the angular position limited by the limiting structure of the controller joint as the reference angular position value Br; In response to the fourth trigger signal generated by clicking the fourth control, the theoretical angular position value At of the robot servo is calculated and displayed in the second display area of ​​the host computer interaction interface according to the first angular position value B1, the second angular position value B2, the reference angular position value Br, the positive rotation limit angular position value Ap, the negative rotation limit angular position value An and the intermediate angular position value Am shown. If Ap≤Am, then At=Ap+ Br×|Ap-An|÷|B2-B1|, if Ap>Am, then At=Ap- Br×|Ap-An|÷|B2-B1|.

4. A fighting robot controller, used to control the fighting robot, characterized in that: include: At least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, implement the method according to any one of claims 1-2.

5. A fighting robot control method, characterized in that: The robot is controlled by a controller wearable on a user's body, the method comprising the following steps: Debugging the controller according to the combat robot controller debugging method according to any one of claims 1 to 2; Obtain the rotation angle position range of the robot servo corresponding to each controller joint; Obtaining angular position measurement data of each controller joint when the controller moves with the operator's limbs; Obtaining the rotation angle position value corresponding to the robot servo according to the rotation angle position range of the robot servo and the angular position measurement data of each controller joint; The rotation angle position value corresponding to the robot servo is sent to the servo control circuit that controls the rotation of the servo.

6. The fighting robot control method according to claim 5, characterized in that: The following steps are also included: The struck part of the robot is obtained according to the pressure detection signal; The struck part of the robot is obtained according to the pressure detection signal, and the robot joint closest to the struck part is obtained as a reference joint; According to the striking force of the struck part of the robot, a torque opposite to the rotation direction is applied to the corresponding controller joint shown.

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