Multifunctional science and education robot and method thereof

Abstract

The invention discloses a multifunctional science and education robot which comprises a mechanical body and an action sequence editing system, the mechanical body comprises an operation table, a base is arranged on the operation table, a mechanical arm body is arranged on the base, a controller is arranged on the base, and the controller is electrically connected with the mechanical arm body; an operation panel is arranged on the operation table and electrically connected with the mechanical arm body. According to the action sequence editing system, a user arranges actions of a mechanical arm through an operation panel and a simple graphical interface, and the action sequence editing system specifically comprises a graphical user interface module; an action library module; an action parameter setting module; a sequence analysis module; and a real-time control module. The action sequence of the mechanical arm is operated and edited on the operation panel, meanwhile, the operated equipment can be scored and judged through the operation process of the equipment, teenagers are stimulated, and then the interests and hobbies of the teenagers in programming are cultivated.

Description

Technical Field

[0001] The present invention relates to the technical field of science and education robots, and in particular to a multifunctional science and education robot and a method thereof. Background Art

[0002] Artificial intelligence is a highly cross-disciplinary frontier subject. As an important part of artificial intelligence, intelligent robots have been widely used in various fields of social life. Cultivating scientific and technological personnel who can adapt to international cutting-edge technologies has become an important task. At present, all major high-efficiency and technological enterprises have begun to cultivate scientific and technological personnel at the forefront of artificial intelligence. Mobile operating robots are a multidisciplinary and multi-sensor fusion robot complex. The development of the whole machine requires engineers in multiple fields including appearance design, structural design, software development, hardware circuit design, and mechanical processing. However, the development of robots is relatively complex and boring. In order to develop the interest and hobbies of young children in related robots from an early age, there is an urgent need for an intelligent science and education robot that is simple to operate and suitable for children to operate and can enhance children's interest in robot research. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: A multifunctional science and education robot, comprising a mechanical body and an action sequence editing system, including: The mechanical body comprises: an operating table, a base is arranged on the operating table, a mechanical arm body is arranged on the base, a controller is arranged on the base, the controller is electrically connected to the mechanical arm body, an operating panel is arranged on the operating table, and the operating panel is electrically connected to the mechanical arm body; The action sequence editing system, the user arranges the action of the robot arm through a simple graphical interface through the operation panel, and the action sequence editing system specifically includes: Graphical user interface module: used to allow users to create and edit the action sequence of the robot arm by dragging and dropping, and clicking; the graphical user interface module includes: timeline window: used to display and edit the timeline of the action sequence; action library window: used to display the preset common actions; parameter setting window: used to adjust the specific parameters of the action; Action Library Module: A series of commonly used robot arm actions are preset, and users can directly select and drag and drop them to the timeline for arrangement; Action parameter setting module: used to allow users to adjust the multi-directional parameters of each action, including speed, position, and strength, and give judgments based on the optimization effect; Sequence parsing module: used to convert the action sequence programmed by the user on the graphical interface into specific instructions that the robot arm can execute; Real-time control module: used to send the parsed instructions to the robotic arm and monitor the execution status of the robotic arm in real time.

[0005] As a preferred solution of the multifunctional science and education robot described in the present invention, the calculation formula of the comprehensive evaluation value of the optimization effect is as follows: in Indicates the speed optimization part; Represents the speed normalization and optimization part; Represents the strength optimization part; α1, α2, α3 are constants for adjusting weights; t0 and t1 represent the start and end times of the action, respectively.

[0006] As a preferred solution of the multifunctional science and education robot described in the present invention, the speed optimization part The specific formula is as follows: Where p(t) represents the position vector of the robot at time t.

[0007] As a preferred solution of the multifunctional science and education robot described in the present invention, the speed normalization and optimization part The specific formula is as follows: where v i (t) represents the velocity of the i-th joint of the robot at time t; represents the average of all joint velocities; Represents the standard deviation of all joint velocities, used to normalize the velocities.

[0008] As a preferred solution of the multifunctional science and education robot described in the present invention, the force optimization part The calculation formula is as follows: Where f(t) represents the force of the robot arm at time t, and β is a constant for adjusting the weight.

[0009] As a preferred solution of the multifunctional science and education robot described in the present invention, wherein: The value range is The judging criteria are as follows:

[0010] As a preferred solution of the multifunctional science and education robot described in the present invention, the action sequence editing system further includes: Action simulation module: used to simulate the execution effect of the robot's action sequence in the graphical interface.

[0011] As a preferred solution of the multifunctional science and education robot described in the present invention, the action sequence editing system further includes: The fault detection module is used to detect the operating status of the robot arm in real time, detect and handle faults.

[0012] As a preferred solution of the multifunctional science and education robot described in the present invention, the action sequence editing system further includes: Emergency stop module: used to immediately stop the operation of the robot arm when an abnormal situation is detected.

[0013] The method for using the multifunctional science and education robot comprises the following steps: S1. The user selects the corresponding action graphic in the action library through the operation panel and drags and drops it onto the timeline; S2. Simulate and display the execution effect of the action graphic selected by the user; S3. Users can adjust the action parameters as needed; S4. Confirm the arrangement of the robot arm's movements; S5. The system evaluates the operation of the robot arm after the user changes the parameters through the operation of the robot arm.

[0014] Beneficial effects of the present invention: The user can edit the action sequence of the robot arm by operating on the operation panel. At the same time, the user can adjust the parameters of each action and arrange it again after the adjustment is completed, so that young people can operate the robot arm through simple "programming". At the same time, the equipment after the operation is completed can be scored and judged based on its operation process, which can motivate young people and cultivate their interest and hobby in programming. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 This is a schematic diagram of the overall front structure of a multifunctional science and education robot proposed by the present invention; Figure 2 This is a framework diagram of the action sequence editing system in a multifunctional science and education robot; Figure 3 The present invention is a flow chart of the use method of a multifunctional science and education robot.

[0016] In the figure: 100, mechanical body; 101, operating table; 102, base; 103, controller; 104, mechanical arm body; 105, operating panel; 200, action sequence editing system. DETAILED DESCRIPTION

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0018] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0019] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0020] Reference Figure 1-3 The present invention provides a multifunctional science and education robot, including a mechanical body 100 and an action sequence editing system 200, including: The mechanical body 100 includes: an operation table 101, a base 102 is provided on the operation table 101, a mechanical arm body 104 is provided on the base 102, a controller 103 is provided on the base 102, the controller 103 is electrically connected to the mechanical arm body 104, an operation panel 105 is provided on the operation table 101, and the operation panel 105 is electrically connected to the mechanical arm body 104; The action sequence editing system 200, the user arranges the action of the robot arm through a simple graphical interface through the operation panel 105, and the action sequence editing system 200 specifically includes: Graphical user interface module: used to allow users to create and edit the action sequence of the robot arm by dragging and dropping, and clicking; the graphical user interface module includes: timeline window: used to display and edit the timeline of the action sequence; action library window: used to display the preset common actions; parameter setting window: used to adjust the specific parameters of the action; Action Library Module: A series of commonly used robot arm actions are preset, and users can directly select and drag and drop them to the timeline for arrangement; Action parameter setting module: used to allow users to adjust the multi-directional parameters of each action, including speed, position, and strength, and give judgments based on the optimization effect; Sequence parsing module: used to convert the action sequence programmed by the user on the graphical interface into specific instructions that the robot arm can execute; Real-time control module: used to send the parsed instructions to the robotic arm and monitor the execution status of the robotic arm in real time.

[0021] Among them, the calculation formula for the comprehensive evaluation value of the optimization effect is as follows: in Indicates the speed optimization part; Represents the speed normalization and optimization part; It represents the force optimization part; α1, α2, α3 are constants for adjusting weights; t0 and t1 represent the start and end time of the action respectively. The optimization of the robot arm after the user adjusts the parameters is judged by the calculation of the above formula.

[0022] Further, the speed optimization part The specific formula is as follows:

[0023] Where p(t) represents the position vector of the robot at time t, The rate of change of the robot position, i.e., the speed, is squared by using an integral function, and its weight is adjusted by the coefficient α1 to optimize the speed of the robot.

[0024] Further, speed normalization and optimization part The specific formula is as follows:

[0025] in represents the velocity of the i-th joint of the robot at time t; represents the average of all joint velocities; represents the standard deviation of all joint velocities, used to normalize the velocity, The velocities of each joint are normalized by using a summation function, and their weights are adjusted by the coefficient α2 to ensure the uniformity and stability of the velocities of each joint.

[0026] Further, the strength optimization part The calculation formula is as follows:

[0027] Where f(t) represents the force of the robot arm at time t, and β is a constant for adjusting the weight. The force of the robot arm is optimized by using an exponential function, and its weight is adjusted by coefficients α3 and β to achieve reasonable force control.

[0028] Furthermore, The value range is The judging criteria are as follows:

[0029] Through different They are classified into grades and their working status is evaluated and divided.

[0030] Furthermore, the action sequence editing system also includes: Action simulation module: used to simulate the execution effect of the robot's action sequence in a graphical interface, and users can preview it in advance after editing.

[0031] Furthermore, the action sequence editing system also includes: The fault detection module is used to detect the operating status of the robotic arm in real time, detect and handle faults, detect the robotic arm, and issue an alarm and handle it in time when a fault occurs.

[0032] Furthermore, the action sequence editing system also includes: Emergency stop module: used to immediately stop the operation of the robotic arm when an abnormal situation is found. When an abnormal situation occurs, the operation of the robotic arm is stopped in time to avoid further damage to it.

[0033] During use, the user selects the corresponding action graphic in the action library through the operation panel and drags and drops it onto the timeline; the execution effect of the action graphic selected by the user is simulated and displayed; the user can adjust the action parameters as needed; the arrangement of the robot arm's actions is confirmed; the system evaluates the operation of the robot arm after the user changes the parameters through the operation of the robot arm.

[0034] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A multifunctional science and education robot, comprising a mechanical body (100) and an action sequence editing system (200), Features: include: The mechanical body (100) comprises: an operating table (101), the operating table (101) being provided with a base (102), the base (102) being provided with a mechanical arm body (104), the base (102) being provided with a controller (103), the controller (103) being electrically connected to the mechanical arm body (104), the operating table (101) being provided with an operating panel (105), the operating panel (105) being electrically connected to the mechanical arm body (104); The action sequence editing system (200) allows a user to program the actions of the robot arm through a simple graphical interface via an operation panel (105), wherein the action sequence editing system (200) specifically comprises: Graphical user interface module: used to allow users to create and edit the action sequence of the robot arm by dragging and dropping, and clicking; the graphical user interface module includes: timeline window: used to display and edit the timeline of the action sequence; action library window: used to display the preset common actions; parameter setting window: used to adjust the specific parameters of the action; Action Library Module: A series of commonly used robot arm actions are preset, and users can directly select and drag and drop them to the timeline for arrangement; Action parameter setting module: used to allow users to adjust the multi-directional parameters of each action, including speed, position, and strength, and give judgments based on the optimization effect; Sequence parsing module: used to convert the action sequence programmed by the user on the graphical interface into specific instructions that the robot arm can execute; Real-time control module: used to send the parsed instructions to the robotic arm and monitor the execution status of the robotic arm in real time.

2. A multifunctional science and education robot according to claim 1, Features: The calculation formula of the comprehensive evaluation value of the optimization effect is as follows: where Φ v (t) represents the speed optimization part; Ψ v (t) represents the speed normalization and optimization part; Θ f (t) represents the strength optimization part; α 1 , α 2 , α 3 is a constant for adjusting weights; t 0 and t 1 Indicates the start and end time of the action respectively.

3. A multifunctional science and education robot according to claim 2, Features: The speed optimization part Φ v (t) The specific formula is as follows: Where p(t) represents the position vector of the robot at time t.

4. A multifunctional science and education robot according to claim 3, Features: The velocity normalization and optimization part Ψ v (t) The specific formula is as follows: where v i (t) represents the velocity of the i-th joint of the robot at time t; represents the average of all joint velocities; Represents the standard deviation of all joint velocities, used to normalize the velocities.

5. A multifunctional science and education robot according to claim 4, Features: The strength optimization part θ f (t) is calculated as follows: Where f(t) represents the force of the robot arm at time t, and β is a constant for adjusting the weight.

6. A multifunctional science and education robot according to claim 5, Features: Said The value range is The judging criteria are as follows:

7. A multifunctional science and education robot according to claim 6, Features: The action sequence editing system also includes: Action simulation module: used to simulate the execution effect of the robot's action sequence in the graphical interface.

8. A multifunctional science and education robot according to claim 7, Features: The action sequence editing system also includes: The fault detection module is used to detect the operating status of the robot arm in real time and detect and handle faults.

9. A multifunctional science and education robot according to claim 8, Features: The action sequence editing system also includes: Emergency stop module: used to immediately stop the operation of the robot arm when an abnormal situation is detected.

10. A method for using a multifunctional science and education robot according to any one of claims 1 to 9, Features: The steps include: S1. The user selects the corresponding action graphic in the action library through the operation panel and drags and drops it onto the timeline; S2. Simulate and display the execution effect of the action graphic selected by the user; S3. Users can adjust the action parameters as needed; S4. Confirm the arrangement of the robot arm's movements; S5. The system evaluates the operation of the robot arm after the user changes the parameters through the operation of the robot arm.

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