Rope traction type in-cabin service robot and control method thereof

Abstract

The invention belongs to the technical field of robots, and particularly relates to a rope traction type in-cabin service robot and a control method thereof.The robot comprises a robot body and two traction mechanisms symmetrically arranged on the left side and the right side of the robot body respectively, and each traction mechanism comprises at least two traction devices; and at least two traction ropes, wherein each traction device corresponds to one traction rope. The first ends of the traction ropes are connected with the traction device, the second ends of the traction ropes are arranged on the inner wall of the space capsule, and the first plane where the at least four traction ropes are located is parallel to the plane where the X axis and the Z axis are located. A low-energy-consumption traction type moving and hovering scheme is comprehensively provided, the operation range of the robot is doubly adjusted through the traction rope and the mechanical arm, and the operation precision requirement of the robot is met while the stability of the robot is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a rope-pulled in-cabin service robot and a control method thereof. Background Art

[0002] The space station is an important arena for the competition of aerospace technology among countries. In recent years, the development of space stations has shown the characteristics of large-scale structure, complex functions and diversified tasks. These characteristics require the space station to be equipped with new electromechanical systems on the one hand, and inevitably increase the workload of astronauts on the other hand. Therefore, the space station cabin automation equipment, especially the micro-nano satellites that assist in cabin operation, are necessary means to reduce the workload of astronauts and realize non-attended operation.

[0003] In addition to daily scientific research and cabin maintenance work in the space station, such as conducting space science experiments, taking photos of the space environment, and inspecting and maintaining the cabin environment of the space station, astronauts also need to deal with a variety of matters in daily life, such as carrying and moving supplies, collecting debris inside the space station, etc. Therefore, there is an urgent need for cabin robots that can complete multiple complex functions under special space conditions to assist astronauts in completing repetitive work, thereby improving cabin work efficiency and reducing the workload of astronauts.

[0004] For example, the Chinese invention patent with publication number CN113733151B discloses a space station cabin service robot with a bionic flexible arm, including a control host, at least one flexible bionic arm mechanism, at least one actuator and a drive mechanism. The control host is configured with a human-computer interaction module and at least one detection sub-mechanism.

[0005] The above scheme can realize the integration of automatic cruise flight detection and maintenance, greatly reducing the workload of astronauts. At the same time, its mechanical arm adopts a flexible hollow body, which causes less damage in the event of a collision. At the same time, it adopts a pneumatic bending structure with good flexibility. However, the above scheme has at least problems such as insufficient stability, high energy consumption, and high requirements for the robot's operating accuracy.

[0006] Therefore, there is an urgent need for an in-cabin service robot that has low energy consumption while ensuring stability. Summary of the invention

[0007] The object of the present invention is to provide a rope-pulled in-cabin service robot and a control method thereof, so as to reduce the operating energy consumption of the robot while ensuring the operating stability of the robot.

[0008] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions: A first aspect of the present invention is to provide a rope-traction type in-cabin service robot, comprising a robot body, and two groups of traction mechanisms symmetrically arranged on the left and right sides of the robot body, each group of the traction mechanisms comprising at least two traction devices and at least two traction ropes, and each traction device corresponds to a traction rope; the first end of the traction rope is connected to the traction device, the second end of the traction rope is arranged on the inner wall of the space capsule, and the first plane where at least four of the traction ropes are located is parallel to the plane where the X-axis and the Z-axis are located; When at least two traction ropes in the two groups located on the first side of the robot body are contracted, and at least two traction ropes in the two groups located on the second side of the robot body are extended; or when at least two traction ropes in the two groups located on the second side of the robot body are contracted, and at least two traction ropes in the two groups located on the first side of the robot body are extended, the traction ropes drive the robot body to move along the Z-axis direction; wherein the first side and the second side are arranged opposite to each other; When at least two traction ropes in any group are contracted and at least two traction ropes in the other group are extended, the traction ropes drive the robot body to move along the X-axis direction; A mechanical arm is rotatably arranged on the robot body, and an actuator is arranged at the free end of the mechanical arm; The mechanical arm at least comprises a first sub-mechanical arm and a second sub-mechanical arm, wherein a first end of the first sub-mechanical arm is connected to the robot body via a first rotation joint, a first end of the second sub-mechanical arm is connected to a second end of the first sub-mechanical arm via a second rotation joint, and the actuator is connected to the second end of the second sub-mechanical arm via a third rotation joint; When the first rotational joint is driven to rotate along the first direction, the first rotational joint drives the first sub-robotic arm, the second sub-robotic arm and the actuator to rotate around the robot body along the first direction; when the second rotational joint is driven to rotate, the second rotational joint drives the second sub-robotic arm and the actuator to rotate around the first sub-robotic arm along the second direction; when the third rotational joint is driven to rotate, the third rotational joint drives the actuator to rotate around the second sub-robotic arm along the first direction.

[0009] As an improvement, the robot body includes a left power cabin, a left function cabin, a control cabin, a right function cabin and a right power cabin arranged in sequence from left to right, and also includes a rotating shaft, the rotating shaft passes through the left function cabin, the control cabin and the right function cabin, and the two ends of the rotating shaft are respectively fixed to the left power cabin and the right power cabin, so that the left function cabin, the control cabin and the right function cabin can respectively rotate relative to the left power cabin and the right power cabin through the rotating shaft; The at least two traction devices of the two groups of traction mechanisms are respectively arranged on the left power cabin and the right power cabin; the mechanical arm is rotatably arranged on the left functional cabin and / or the right functional cabin.

[0010] As an improvement, a suction cup is provided at the second end of the traction rope, and the traction rope is fixed to the inner wall of the space capsule through the suction cup.

[0011] As an improvement, a plurality of slide rails are arranged in the space capsule along the extension direction of the Y axis, and a slider is arranged at the second end of the traction rope, and the slider is slidably arranged on the slide rails; When the plurality of sliders slide synchronously on the slide rail, the sliders drive the traction rope and the robot body to move synchronously in the space capsule along the Y-axis extension direction.

[0012] As an improvement, a storage box, an inspection port and an operating keyboard are respectively provided on the control cabin.

[0013] As an improvement, a radar is rotatably provided on the left power compartment. When the radar is rotated so as to be in a retracted state, an outer surface of the radar smoothly transitions to an outer wall of the left power compartment.

[0014] As an improvement, the control cabin is integrated with: Data acquisition module: configured to acquire the target position of the target to be operated in the operation area of ​​the space capsule, and the shortest distance from the target position to the first plane, and define a first target range according to the shortest distance and the first length of the manipulator in the first working state; the first target range is a circular area defined by taking the projection point of the target position on the first plane as the center and the first radius as the reference; and acquire the first position where the first end of the manipulator of the robot body is currently located; wherein the first plane is parallel to the plane where the operation area is located, and the first radius is calculated using the following formula: ; Wherein, L1 is the first length, R is the first radius, and X is the shortest distance; A path planning module: configured to calculate the minimum distance between the first position and the first target range, and plan the moving path of the robot body according to the minimum distance; the moving path includes the distance moved by the robot body along the X-axis and / or the distance moved along the Z-axis, or the length of each traction rope in each traction mechanism being contracted or extended; A first control module: configured to control the traction rope to contract or extend based on the movement path, thereby driving the robot body to move, so that the first end of the robot arm moves to the second position; A first determination module: configured to determine whether the second position is within the first target range; A second control module: configured to control the actuator to perform a specified operation when it is determined that the second position is within the first target range; A second determination module: configured to calculate a first distance between the second position and an edge of the first target range, and determine whether the first distance is greater than a preset distance when it is determined that the second position is not within the first target range; The third control module is configured to, when it is determined that the first distance is greater than a preset distance, control each traction rope in each group of traction mechanisms to contract or extend according to the first distance, thereby driving the robot body to move, so that the first end of the robotic arm moves to the first target range; when it is determined that the first distance is less than or equal to the preset distance, adjust the robotic arm from the first state to the second state, so that the length of the robotic arm is adjusted from the first length to the second length, wherein the second length is greater than the first length.

[0015] As an improvement, the second judgment module is further configured to judge whether the minimum distance is greater than a preset distance.

[0016] A second aspect of the present invention is to provide a control method for a rope-pulled in-cabin service robot, wherein the rope-pulled in-cabin service robot adopts the rope-pulled in-cabin service robot described above, and the control method comprises the steps of: S101, obtaining a target position of a target to be operated in an operation area in a space capsule, and a shortest distance between the target position and a first plane, and defining a first target range according to the shortest distance and a first length of the manipulator in a first working state; the first target range is a circular area defined by taking the projection point of the target position on the first plane as the center and taking a first radius as the reference; wherein the first plane is parallel to the plane where the operation area is located, and the first radius is calculated using the following formula: ; Wherein, L1 is the first length, R is the first radius, and X is the shortest distance; S102, obtaining a first position where the first end of the robotic arm is currently located, and calculating a minimum distance between the first position and the first target range; S103, planning a moving path of the robot body according to the minimum distance; the moving path includes a moving distance of the robot body along the X-axis and / or a moving distance along the Z-axis, or a contraction or extension length of each traction rope in each traction mechanism group; S104, controlling the traction rope to contract or extend based on the movement path, thereby driving the robot body to move, so that the first end of the robot arm moves to a second position; S105, determining whether the second position is within the first target range, if so, controlling the actuator to perform a specified operation, otherwise proceeding to S106.

[0017] S106, calculating a first distance between the second position and the edge of the first target range, and determining whether the first distance is greater than a preset distance; if so, executing S107, otherwise executing S108.

[0018] S107, controlling each traction rope in each traction mechanism to contract or extend according to the first distance, thereby driving the robot body to move, so that the first end of the robot arm moves into the first target range; S108, adjusting the robotic arm from the first state to the second state, so that the length of the robotic arm is adjusted from the first length to the second length, wherein the second length is greater than the first length.

[0019] As an improvement, the control method further comprises the steps of: S1021, determine whether the minimum distance is greater than a preset distance, if so, proceed to S103, otherwise execute S108.

[0020] The principle and beneficial technical effect of the present invention are as follows: in the above-mentioned prior art, in order to cover the space capsule in all directions, the robot moves by flying, and the robot needs to maintain a "hovering" state during the operation, which will place high requirements on the robot's precision. In addition, it will also cause a significant increase in energy consumption; and the present application provides a low-energy traction-type movement and hovering solution for single-working surface operation, and performs "coarse" + "fine" dual adjustment of the robot's operating range through a traction rope and a robotic arm, which ensures the robot's stability while meeting the robot's operating precision requirements.

[0021] First, in the present application, the position of the robot body is roughly adjusted by at least four traction ropes, that is, by controlling the extension and retraction of the traction ropes located on the robot body, the robot body can achieve all-round displacement up, down, left and right (X-axis direction and Z-axis direction) on a first plane parallel to the plane where the operation area is located, and after moving to the designated position, the robot body can be stably fixed in the designated position through the pulling action of multiple traction ropes, so that the robot can perform the designated operation conveniently, and in this process, there is no need to continuously apply power to the traction ropes or the robot body to maintain the current state.

[0022] Secondly, the present application adjusts the angle of the robot arm, that is, rotates multiple rotating joints respectively, so that different degrees of bending are achieved between the multiple sub-mechanical arms of the robot arm, thereby adjusting the length of the robot arm, that is, realizing multi-level adjustment of the range of motion of the actuator; and by rotating the robot arm as a whole to a specified angle along the second direction relative to the rotating shaft, the operating range of the robot body can be adjusted, so as to quickly and efficiently fine-tune the position of the actuator of the robot body without repeatedly adjusting the length of the traction rope. That is, the traction rope is used to achieve rough adjustment of a large distance, and then the robot arm is combined to achieve small distance (that is, more precise) adjustment, avoiding the error caused by the inability to fully adjust the traction rope to the right position or the problem of repeatedly adjusting the traction rope.

[0023] Furthermore, in response to the situation where the entire cabin needs to be covered for operation, the present application also provides a movement solution in the Y-axis direction, that is, the distance between the first plane and the plane where the operation area is located is adjustable. When it is necessary to operate buttons or objects in other areas outside the operation area, the robot body can also quickly move to that position for operation, thereby achieving a wider coverage of the space capsule. Specifically, the present application sets slide rails and sliders on the inner wall of the space capsule, so that the robot body can slide freely in the Y-axis direction, and cooperates with the all-round displacement (including X-axis, Y-axis and Z-axis directions) on the first plane, so as to quickly move the robot body to the specified position. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0025] Figure 1 This is a schematic diagram of the overall structure of the robot body in an embodiment of the present invention; Figure 2 An exploded view of the robot body in an embodiment of the present invention; Figure 3 is a front view of the robot body in a folded state according to an embodiment of the present invention; Figure 4 is a schematic diagram of another angle showing the robot body in a folded state according to an embodiment of the present invention; Figure 5 It is a front view of the robot body in the embodiment of the present invention when it is in the unfolded state; Figure 6is a schematic diagram of another angle when the robot body is in an unfolded state according to an embodiment of the present invention; Figure 7 A top view of the robot body in an unfolded state according to an embodiment of the present invention; Figure 8 A top view of the robot body in an unfolded state according to an embodiment of the present invention; Fig. 9 A method for fixing the robot body in an embodiment of the present invention; Fig.10 Another method of fixing the robot body in the embodiment of the present invention; Fig.11 It is a schematic diagram of the partial structure of the slide rail and the slider in the embodiment of the present invention; Fig.12 is a cross-sectional view of a power cabin in an embodiment of the present invention; Fig.13 is a schematic diagram of a mechanical arm in an embodiment of the present invention; Fig.14 is a schematic diagram of a robot arm in a folded state according to an embodiment of the present invention; Fig.15 is a schematic diagram of a robot working in a space capsule according to an embodiment of the present invention; Fig.16 A schematic diagram of the robot of the present invention working in a space capsule from another angle; Fig.17 This is another schematic diagram of the robot of the present invention working in the space capsule from another angle; Fig.18 Schematic diagram of the robot arm in different states in the present invention; Fig.19 A schematic diagram of the movement path of the robot in the present invention; Fig. 20 is a flow chart of the control method in the present invention; Fig.21 It is a schematic diagram of the modular structure of the robot control cabin in the present invention.

[0026] Markings in the figure: 1. robot body; 101. left power cabin; 102. left functional cabin; 103. control cabin; 104. right functional cabin; 105. right power cabin; 2. traction device; 3. traction rope; 4. mechanical arm; 401. first sub-mechanical arm; 402. second sub-mechanical arm; 403. third sub-mechanical arm; 404. fourth sub-mechanical arm; 405. first rotation joint; 406. second rotation joint; 407. third rotation joint; 408. 08. Fourth rotation joint; 409. Fifth rotation joint; 5. Actuator; 6. Inspection port; 7. Display screen; 8. Operation keyboard; 9. Storage box; 11. Radar; 12. Suction cup; 13. Slide rail; 14. Slider; 15. First side; 16. Second side; 17. Second direction; 18. First direction; 19. First plane; 20. Operation area; 21. Target position; 22. First position; 23. Projection point; 24. Second position. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] Herein, the suffixes such as "module", "component" or "unit" used to represent elements are used only to facilitate the description of the present invention and have no specific meaning in themselves. Therefore, "module", "component" or "unit" can be used in a mixed manner. Herein, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention 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 on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0029] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In this document, "plurality" means two or more, that is, it includes two, three, four, five, etc.

[0030] Embodiment 1 This embodiment is basically Figure 1-Figure 17 As shown: The present invention provides a rope-pulled in-cabin service robot, such as Fig. 9 As shown, it includes a robot body 1, and two groups of traction mechanisms symmetrically arranged on the left and right sides of the robot body, each group of the traction mechanisms includes at least two traction devices 2, and at least two traction ropes 3, and each traction device 2 corresponds to a traction rope 3; the first end of the traction rope 3 is connected to the traction device 2, the second end of the traction rope 3 is arranged on the inner wall of the space capsule, and the first plane where at least four traction ropes 3 are located is parallel to the plane where the X-axis and the Z-axis are located.

[0031] When at least two traction ropes in the two groups located at the first side 15 of the robot body (i.e., located at the top of the robot body) are contracted, and at least two traction ropes in the two groups located at the second side 16 of the robot body (i.e., located at the bottom of the robot body) are extended, or when at least two traction ropes in the two groups located at the second side 16 of the robot body are contracted, and at least two traction ropes in the two groups located at the first side 15 of the robot body are extended, the traction ropes drive the robot body to move along the Z-axis direction; wherein the first side and the second side are arranged opposite to each other; When at least two traction ropes in any one group are contracted and at least two traction ropes in the other group are extended, the traction ropes drive the robot body to move along the X-axis direction.

[0032] At least four traction ropes are used in pairs. For example, the two traction ropes above the robot body are contracted and the two traction ropes below the robot body are extended, so that the robot body moves upward along the Z-axis extension direction, and vice versa. For another example, the two traction ropes on the left side of the robot body are contracted and the two traction ropes on the right side of the robot body are extended, so that the robot body moves leftward along the X-axis extension direction, and vice versa. Ultimately, the robot body can move in all directions on the first plane.

[0033] In some embodiments, see Fig.12 , the traction device 2 is a winch.

[0034] See also Fig.13 , the robotic arm at least includes a first sub-robotic arm 401 and a second sub-robotic arm 402, the first end of the first sub-robotic arm 401 is connected to the robot body through a first rotation joint 405, the first end of the second sub-robotic arm 402 is connected to the second end of the first sub-robotic arm 401 through a second rotation joint 406, and the actuator 5 is connected to the second end of the second sub-robotic arm 402 through a third rotation joint 407; When the first rotating joint 405 is driven to rotate along the first direction 18, the first rotating joint 405 drives the first sub-mechanical arm 401, the second sub-mechanical arm 402 and the actuator 5 to rotate around the robot body along the first direction 18; when the second rotating joint 406 is driven to rotate, the second rotating joint 406 drives the second sub-mechanical arm 402 and the actuator 5 to rotate around the first sub-mechanical arm 401 along the second direction 17; when the third rotating joint 407 is driven to rotate, the third rotating joint 407 drives the actuator 5 to rotate around the second sub-mechanical arm 402 along the first direction 18. The first direction 18 and the second direction 17 are perpendicular, so that the robot arm can achieve full rotation.

[0035] In some embodiments, the actuator is a mechanical claw (preferably a three-finger structure), which simulates the shape of human fingers and can accurately grasp objects and press buttons or operate a control panel.

[0036] In some specific embodiments, see Fig.13 , a third sub-mechanical arm 403 and a fourth sub-mechanical arm 404 are further provided between the first sub-mechanical arm 401 and the second sub-mechanical arm 402, the first sub-mechanical arm 401, the third sub-mechanical arm 403, the fourth sub-mechanical arm 404 and the second sub-mechanical arm 402 are connected in sequence through the second rotation joint 406, the fourth rotation joint 408, and the fifth rotation joint 409, wherein the rotation direction of the fourth rotation joint 408 and the fifth rotation joint 409 is the same as the rotation direction of the first rotation joint 405. By providing the third sub-mechanical arm and the fourth sub-mechanical arm, the mechanical arm can be made more flexible during the bending process.

[0037] In some embodiments, the first rotational joint, the third rotational joint, the fourth rotational joint and the fifth rotational joint can be rotational shafts arranged along the X-axis direction, the second rotational joint can be a rotational shaft or a universal joint, and when the second rotational joint is a rotational shaft, the axial direction of the second rotational joint is perpendicular to the axial direction of the first rotational joint.

[0038] In some embodiments, the second sub-mechanical arm is a retractable mechanical arm. For example, the second sub-mechanical arm includes an inner arm and an outer arm. The first end of the outer arm is the first end of the second sub-mechanical arm. The second end of the outer arm is sleeved on the first end of the inner arm. The first end of the inner arm is slidably disposed inside the outer arm. The second end of the inner arm is connected to the actuator. In other words, in addition to adjusting the length of the mechanical arm by adjusting the bending degree of the mechanical arm (adjusting the angle between the first sub-mechanical arm and the second sub-mechanical arm), the length of the second sub-mechanical arm can also be adjusted, making the length adjustment of the mechanical arm more flexible.

[0039] In some embodiments, see Figure 2 The robot body includes a left power cabin 101, a left functional cabin 102, a control cabin 103, a right functional cabin 104 and a right power cabin 105, which are arranged from left to right in sequence, and also includes a rotating shaft (not shown in the figure), which runs through the left functional cabin 102, the control cabin 103 and the right functional cabin 104, and the two ends of the rotating shaft are respectively fixed to the left power cabin 101 and the right power cabin 105, so that the left functional cabin 102, the control cabin 103 and the right functional cabin 104 can rotate relative to the left power cabin 101 and the right power cabin 105 respectively through the rotating shaft.

[0040] The at least two traction devices of the two groups of traction mechanisms are respectively arranged on the left power cabin and the right power cabin; the mechanical arm is rotatably arranged on the left functional cabin and / or the right functional cabin.

[0041] Firstly, the left power cabin and the right power cabin are fixed to the rotating shaft as the basic part of the robot body. By arranging the traction device on this part, no matter how the robot moves or performs the specified operation, the position of the traction device on the left power cabin and the right power cabin on the robot body will not change, and thus the traction ropes will not interfere with each other or even get tangled; and the left function cabin, the right function cabin and the control cabin can rotate relative to the basic part, so that no matter where the robot body is located on the first plane, the direction of the manipulator arm can be initially controlled by rotating the function cabin, and the control cabin can be rotated so that the display screen (or interactive screen) or other components on the control cabin face the astronauts, so that the astronauts can control or repair the robot body and other operations conveniently.

[0042] In addition, by setting up two robotic arms, on the one hand, the range of motion of the robotic arms can be increased, and on the other hand, the two robotic arms can be used to simulate human hands for operation. During the maintenance process, the robot body can also be assisted in fixing by grasping objects in the space capsule (such as railings) with the robotic arms.

[0043] In some embodiments, the second end of the traction rope is fixed on the inner wall of the space capsule, and further, the first plane is also fixed on the space capsule. In this way, by making the robot move on the same plane, the operational stability of the device on a single working plane (the same operating plane) is guaranteed.

[0044] See also Figure 15-17 ,The figure shows the robot working on a single working surface.

[0045] See also Fig. 9 In some specific embodiments, a suction cup 12 is provided at the second end of the traction rope, and the traction rope is fixed to the inner wall of the space capsule through the suction cup 12.

[0046] In other embodiments, see Fig.10 and Fig.11 , a plurality of slide rails 13 are arranged in the space capsule along the Y-axis extension direction, a slider 14 is arranged at the second end of the traction rope 3, and the slider 14 is slidably arranged on the slide rail 13; when the plurality of sliders 14 slide synchronously on the slide rail 13, the slider 14 drives the traction rope 3 and the robot body 1 to move synchronously in the space capsule along the Y-axis extension direction. Through the cooperation of the traction rope and the slide rail, the robot body can simultaneously realize the movement in the first plane and the Y-axis direction, so as to adapt to the situation where the whole cabin needs to be covered for operation.

[0047] In some embodiments, see Figure 1 The control cabin is provided with a display screen 7 (or an interactive screen), a storage box 9, an inspection port 6 and an operation keyboard 8.

[0048] In some embodiments, a radar 11 (preferably a laser radar) is rotatably mounted on the left power cabin and / or the right power cabin. When the radar is rotated so that the radar is in a retracted state, the outer surface of the radar smoothly transitions with the outer wall of the left power cabin and / or the right power cabin. When moving, the radar will be turned on. If an obstacle is detected ahead, the system will control the robot to change direction or stop. With the ellipsoidal body of the robot, excellent passability can also be achieved in the space station.

[0049] In some embodiments, the robot body is ellipsoidal in shape as a whole, and the operating keyboard is a retractable keyboard, for example, one end of the keyboard is rotatably connected to the control cabin.

[0050] See also Figure 3 and Figure 4 ,The robot body is in a fully folded state in the figure, Fig.14 A schematic diagram showing the robotic arm in a folded position; see Figure 5-Figure 8, the figure shows schematic diagrams of various angles when the robot body is in the unfolded state (that is, the working state). The figure only shows a schematic diagram of one of the robotic arms unfolded and the other robotic arm in the folded state. Of course, in some cases, the two robotic arms can also be unfolded at the same time. For example, it is necessary to use two robotic arms to pick up the target to be operated at the same time, or the two robotic arms need to be supported on the wall at the same time to facilitate the user to operate the robot body.

[0051] When the robot body is not working, the overall shape of the robot is ellipsoidal, which can ensure the robot's passability. On the one hand, it can minimize the volume of the robot body. On the other hand, the ellipsoidal structure makes the surface of the robot body relatively smooth and without obvious edges and corners. When the robot collides with surrounding objects during movement, the collision force can be effectively dispersed. At the same time, the center of gravity distribution of this shape is relatively reasonable, which is also conducive to the robot maintaining stability.

[0052] The in-cabin service robot with the above structure provides a comprehensive low-energy traction-type movement and hovering solution for single-working surface operations, and dual-adjusts the robot's operating range through a traction rope and a robotic arm, thereby ensuring the robot's stability while meeting the robot's operating accuracy requirements.

[0053] Firstly, in the present application, the position of the robot body is roughly adjusted by at least four traction ropes, that is, by controlling the extension of the traction rope on one side of the robot body and the contraction of the traction rope on the opposite side, the robot body can achieve all-round displacement up, down, left and right on the first plane, and after moving to the designated position, the robot body can be stably fixed in the designated position through the pulling action of multiple traction ropes, so that the robot can perform the designated operation conveniently, and in this process, there is no need to continuously apply power to the traction rope or the robot body to maintain the current state.

[0054] Secondly, the present application adjusts the angle of the robotic arm, that is, rotates multiple rotating joints separately, so that different degrees of bending are achieved between the first sub-robotic arm and the second sub-robotic arm, thereby adjusting the length of the robotic arm; and by rotating the robotic arm as a whole to a specified angle along the second direction relative to the rotating shaft, the operating range of the robot body can be adjusted, so as to quickly and efficiently fine-tune the position of the robot body without repeatedly adjusting the length of the traction rope.

[0055] Furthermore, in response to the situation where the entire cabin needs to be covered for operation, the present application also provides a movement solution in the Y-axis direction. Specifically, the present application sets a slide rail and a slider on the inner wall of the space capsule so that the robot body can slide freely in the Y-axis direction, and combined with the all-round displacement on the first plane, the robot body can be quickly moved to the specified position.

[0056] Embodiment 2 Based on the robot described in Example 1, see Fig. 20 The present application also provides a control method for a rope-pulled in-cabin service robot, comprising the steps of: S101, obtaining a target position of a target to be operated in an operating area in a space capsule and a shortest distance from the target position to a first plane, and defining a first target range according to the shortest distance and a first length of the robot arm in a first working state.

[0057] In some embodiments, the robotic arm is any one of the two robotic arms. In other embodiments, the robotic arm is the free end of a robotic arm whose first end is closer to the target position (ie, the end connected to the actuator).

[0058] In some embodiments, the first target range is a circular area defined by taking the projection point of the target position on the first plane as the center and the first radius as the reference; wherein the first radius is calculated using the following formula: ; Among them, L 1 is the first length, R is the first radius, and X is the shortest distance.

[0059] The projection point 23 refers to the projection of the target to be operated on the first plane. Fig.19 Wherein, the first plane is parallel to the plane where the operating area is located, and accordingly, the above shortest distance refers to the distance between the two planes.

[0060] In some embodiments, the first working state refers to a default initialization state after the robot arm is awakened from a standby state. S102, obtaining the first position where the first end of the robotic arm is currently located, and calculating the minimum distance between the first position and the first target range (i.e., the straight-line distance between the first position and the edge of the above-mentioned circular area); wherein the first end of the robotic arm refers to the end where the robotic arm is connected to the robot body.

[0061] S103, calculating a moving path of the robot body according to the minimum distance; the moving path includes a moving distance of the robot body along the X-axis and a moving distance along the Z-axis, or a contraction or extension length of each traction rope in each traction mechanism group; S104, controlling the traction rope to contract or extend based on the movement path, thereby driving the robot body to move, so that the first end of the robot arm moves to a second position; S105, determining whether the second position is within the first target range, if so, controlling the actuator to perform a specified operation, otherwise proceeding to S106; There is always a certain error in the adjustment of the traction rope. Therefore, there may be a certain deviation when the robot is moved by the traction rope. For example, there is a certain deviation in the distance moved along the X-axis or Z-axis, resulting in the second position not being an ideal position (for example, within the first target range: that is, within the circular area or on the edge of the circular area). Therefore, it is necessary to determine whether the actual position of the robot after being moved by the traction rope is within the first target range.

[0062] Among them, when the target to be operated is a push rod or other first object that needs to be pushed, the designated operation is to gradually extend the robotic arm to push the push rod or the first object; when the target to be operated is a touch button or other second object that needs to be picked up and moved, the designated operation is to maintain the current state of the robotic arm and touch the button or pick up the object; when the target to be operated is a button that needs to be pressed, the designated operation is to first extend the robotic arm and then retract the robotic arm to achieve the button's pressing rebound.

[0063] S106, calculating a first distance between the second position and the edge of the first target range, and determining whether the first distance is greater than a preset distance; if so, executing S107, otherwise executing S108; The first target range edge refers to a circle formed with the projection point as the center and the first radius as the radius. For details, see Fig.19 , the first distance refers to the line between the second position and the point closest to the circle.

[0064] The preset distance is the adjustable range of the robot arm, which can be determined in advance according to the current length of the robot arm and the maximum length that can be extended. That is, the preset distance is the difference between the maximum length that the robot arm can extend (i.e., the second length in the following text) and the current length. Of course, in the process of setting the preset distance, a certain extension margin can be reserved for the robot arm, for example Fig.18 There are two corresponding second working states (corresponding to two different second lengths).

[0065] S107, controlling each traction rope in each traction mechanism to contract or extend according to the first distance, thereby driving the robot body to move, so that the first end of the robot arm moves into the first target range; S108, adjusting the robotic arm from the first state to the second state, so that the length of the robotic arm is adjusted from the first length to the second length, wherein the second length is greater than the first length.

[0066] Wherein, the first length and the second length are both the lengths of the line between the two ends of the robot arm, for example, see Fig.18 , the mechanical arm includes a first sub-mechanical arm and a second sub-mechanical arm, the first length is the length of the line between the first end of the first sub-mechanical arm and the second end of the second sub-mechanical arm. When the mechanical arm is in the first working state, the length of the mechanical arm is the first length, that is, L in the figure 1 When the robot arm extends from the first working state to the second working state, the length of the robot arm is adjusted to the second length L accordingly. 2 The figure shows two different second working states. According to the size of the first distance, the robot arm can be adjusted to different second working states, and the second lengths can be matched accordingly. For example, when the first distance is large, the bending angle between the first sub-robot arm and the second sub-robot arm is increased, so that the robot arm has a longer second length.

[0067] It should be noted that since the length of the actuator is much smaller than the overall length of the robot arm, the length of the actuator is neglected in this paper.

[0068] by Fig.19 As an example, the control method is described above. The target to be operated is located at the target position 21 on the operation area 20, and the first end of the robot arm is located at the first position 22. At this time, the first length of the robot arm in the first working state is L 1 , a first target range is defined on the first plane 19 according to the first length.

[0069] When the first end of the robotic arm is within the first target range, the distance between the first end of the robotic arm and the target position is less than a first length L. 1 , indicating that in the current state, the robot's mechanical arm can reach the target position to perform the specified operation; when the first end of the mechanical arm is at the edge of the first target range, the distance between the first end of the mechanical arm and the target position is equal to the first length L 1 , at this time, the robot's mechanical arm can also reach the target position to perform the specified operation; when the first end of the mechanical arm is outside the first target range, the distance between the first end of the mechanical arm and the target position is greater than the first length L 1 ,At this time, the robot's mechanical arm cannot reach the target position to perform the specified operation, and the robot body needs to be further adjusted.

[0070] When the robot body is moved to the second position 24, due to the error during movement or other situations, the first end of the robot arm may appear in the above three situations. When the first end of the robot arm is outside the first target range, the first distance d between the first end of the robot arm and the edge of the first target range is calculated. 1(i.e. the shortest distance), determine whether the first distance is greater than the preset distance. If so, further move the first end of the robotic arm to the first target range by adjusting the traction rope, otherwise adjust the length of the robotic arm to make it reach the target position for operation.

[0071] In some embodiments, after S102, the step of: S1021, determine whether the minimum distance is greater than a preset distance, if so, proceed to S103, otherwise execute S108.

[0072] The minimum distance is judged in advance before moving. When the robot body is close to the first target range, there is no need to move the robot body by the traction rope. Instead, the length of the robot arm is adjusted to fine-tune its working range. There is no need to repeatedly control the traction rope for adjustment, which simplifies the control process and effectively improves its work efficiency.

[0073] In summary, this scheme dually controls the robot's working range through the traction rope and the length of the robotic arm. First, when the robot body is far away from the target to be operated, the traction rope is pulled to drive the robot body to move, thereby roughly adjusting its working range. Furthermore, after the movement, the distance between the robot body and the target to be operated is judged again. When the distance is small, fine-tuning is performed by extending the robotic arm, which can quickly and accurately enable the robot's actuator to reach the target position to perform the specified operation.

[0074] Embodiment 3 Different from the first embodiment, see Fig.21 In this embodiment, the control cabin is integrated with: Data acquisition module: configured to acquire the target position of the target to be operated in the operation area of ​​the space capsule, and the shortest distance from the target position to the first plane, and define a first target range according to the shortest distance and the first length of the manipulator in the first working state; the first target range is a circular area defined by taking the projection point of the target position on the first plane as the center and the first radius as the reference; and acquire the first position where the first end of the manipulator of the robot body is currently located; wherein the first radius is calculated using the following formula: ; Among them, L 1 is the first length, R is the first radius, and X is the shortest distance; The first plane is parallel to the plane where the operating area is located, and accordingly, the shortest distance refers to the distance between the two planes.

[0075] A path planning module: configured to calculate the minimum distance between the first position and the first target range, and calculate the moving path of the robot body according to the minimum distance; the moving path includes the distance moved by the robot body along the X-axis and the distance moved along the Z-axis, or the length of each traction rope in each traction mechanism group being contracted or extended; A first control module: configured to control the traction rope to contract or extend based on the movement path, thereby driving the robot body to move, so that the first end of the robot arm moves to the second position; A first determination module: configured to determine whether the second position is within the first target range; A second control module: configured to control the actuator to perform a specified operation when it is determined that the second position is within the first target range; A second determination module: configured to calculate a first distance between the second position and an edge of the first target range, and determine whether the first distance is greater than a preset distance when it is determined that the second position is not within the first target range; The third control module is configured to, when it is determined that the first distance is greater than a preset distance, control each traction rope in each group of traction mechanisms to contract or extend according to the first distance, thereby driving the robot body to move, so that the first end of the robotic arm moves to the first target range; when it is determined that the first distance is less than or equal to the preset distance, adjust the robotic arm from the first state to the second state, so that the length of the robotic arm is adjusted from the first length to the second length, wherein the second length is greater than the first length.

[0076] In some embodiments, the second determination module is further configured to determine whether the minimum distance is greater than a preset distance.

[0077] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are 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 other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0078] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A rope-pulled in-cabin service robot, characterized in that: The robot comprises a robot body, and two groups of traction mechanisms symmetrically arranged on the left and right sides of the robot body, each group of the traction mechanisms comprises at least two traction devices and at least two traction ropes, and each traction device corresponds to one traction rope; the first end of the traction rope is connected to the traction device, the second end of the traction rope is arranged on the inner wall of the space capsule, and the first plane where at least four traction ropes are located is parallel to the plane where the X-axis and the Z-axis are located; When at least two traction ropes in the two groups located on the first side of the robot body are contracted, and at least two traction ropes in the two groups located on the second side of the robot body are extended; or when at least two traction ropes in the two groups located on the second side of the robot body are contracted, and at least two traction ropes in the two groups located on the first side of the robot body are extended, the traction ropes drive the robot body to move along the Z-axis direction; wherein the first side and the second side are arranged opposite to each other; When at least two traction ropes in any group are contracted and at least two traction ropes in the other group are extended, the traction ropes drive the robot body to move along the X-axis direction; A mechanical arm is rotatably arranged on the robot body, and an actuator is arranged at the free end of the mechanical arm; The mechanical arm at least comprises a first sub-mechanical arm and a second sub-mechanical arm, wherein a first end of the first sub-mechanical arm is connected to the robot body via a first rotation joint, a first end of the second sub-mechanical arm is connected to a second end of the first sub-mechanical arm via a second rotation joint, and the actuator is connected to the second end of the second sub-mechanical arm via a third rotation joint; When the first rotational joint is driven to rotate along the first direction, the first rotational joint drives the first sub-robotic arm, the second sub-robotic arm and the actuator to rotate around the robot body along the first direction; when the second rotational joint is driven to rotate, the second rotational joint drives the second sub-robotic arm and the actuator to rotate around the first sub-robotic arm along the second direction; when the third rotational joint is driven to rotate, the third rotational joint drives the actuator to rotate around the second sub-robotic arm along the first direction.

2. The rope-pulled in-cabin service robot according to claim 1, characterized in that: The robot body includes a left power cabin, a left function cabin, a control cabin, a right function cabin and a right power cabin, which are arranged in sequence from left to right, and also includes a rotating shaft, which passes through the left function cabin, the control cabin and the right function cabin, and the two ends of the rotating shaft are respectively fixed to the left power cabin and the right power cabin, so that the left function cabin, the control cabin and the right function cabin can rotate relative to the left power cabin and the right power cabin respectively through the rotating shaft; The at least two traction devices of the two groups of traction mechanisms are respectively arranged on the left power cabin and the right power cabin; the mechanical arm is rotatably arranged on the left functional cabin and / or the right functional cabin.

3. The rope-pulled in-cabin service robot according to claim 1, characterized in that: A suction cup is provided at the second end of the traction rope, and the traction rope is fixed to the inner wall of the space capsule through the suction cup.

4. The rope-pulled in-cabin service robot according to claim 1, characterized in that: A plurality of slide rails are arranged in the space capsule along the Y-axis extension direction, and a slider is arranged at the second end of the traction rope, and the slider is slidably arranged on the slide rails; When the plurality of sliders slide synchronously on the slide rail, the sliders drive the traction rope and the robot body to move synchronously in the space capsule along the Y-axis extension direction.

5. The rope-pulled in-cabin service robot according to claim 2, characterized in that: The control cabin is respectively provided with a storage box, an inspection port and an operation keyboard.

6. The rope-pulled in-cabin service robot according to claim 2, characterized in that: A radar is rotatably arranged on the left power cabin. When the radar is rotated so as to be in a retracted state, an outer surface of the radar smoothly transitions to an outer wall of the left power cabin.

7. The rope-pulled in-cabin service robot according to claim 2, characterized in that: The control cabin integrates: A data acquisition module: configured to acquire a target position of a target to be operated in an operation area in a space capsule, and a shortest distance between the target position and a first plane, and define a first target range according to the shortest distance and a first length of the manipulator in a first working state; the first target range is a circular area defined by taking a projection point of the target position on the first plane as the center and a first radius as the reference; And obtain the first position where the first end of the mechanical arm of the robot body is currently located; wherein the first plane is parallel to the plane where the operation area is located, and the first radius is calculated using the following formula: ； Wherein, L1 is the first length, R is the first radius, and X is the shortest distance; A path planning module: configured to calculate the minimum distance between the first position and the first target range, and plan the moving path of the robot body according to the minimum distance; the moving path includes the distance moved by the robot body along the X-axis and / or the distance moved along the Z-axis, or the length of each traction rope in each traction mechanism being contracted or extended; A first control module: configured to control the traction rope to contract or extend based on the movement path, thereby driving the robot body to move, so that the first end of the robot arm moves to the second position; A first determination module: configured to determine whether the second position is within the first target range; A second control module: configured to control the actuator to perform a specified operation when it is determined that the second position is within the first target range; A second determination module: configured to calculate a first distance between the second position and an edge of the first target range, and determine whether the first distance is greater than a preset distance when it is determined that the second position is not within the first target range; The third control module is configured to, when it is determined that the first distance is greater than a preset distance, control each traction rope in each group of traction mechanisms to contract or extend according to the first distance, thereby driving the robot body to move, so that the first end of the robotic arm moves to the first target range; when it is determined that the first distance is less than or equal to the preset distance, adjust the robotic arm from the first state to the second state, so that the length of the robotic arm is adjusted from the first length to the second length, wherein the second length is greater than the first length.

8. The rope-pulled in-cabin service robot according to claim 7, characterized in that: The second judgment module is further configured to judge whether the minimum distance is greater than a preset distance.

9. A control method for a rope-pulled in-cabin service robot, characterized in that: The rope-pulled in-cabin service robot adopts the rope-pulled in-cabin service robot according to any one of claims 1 to 8, and the control method comprises the steps of: S101, obtaining a target position of a target to be operated in an operation area in a space capsule, and a shortest distance between the target position and a first plane, and defining a first target range according to the shortest distance and a first length of the manipulator in a first working state; the first target range is a circular area defined by taking the projection point of the target position on the first plane as the center and taking a first radius as the reference; wherein the first plane is parallel to the plane where the operation area is located, and the first radius is calculated using the following formula: ； Wherein, L1 is the first length, R is the first radius, and X is the shortest distance; S102, obtaining a first position where the first end of the robotic arm is currently located, and calculating a minimum distance between the first position and the first target range; S103, planning a moving path of the robot body according to the minimum distance; the moving path includes a moving distance of the robot body along the X-axis and / or a moving distance along the Z-axis, or a contraction or extension length of each traction rope in each traction mechanism group; S104, controlling the traction rope to contract or extend based on the movement path, thereby driving the robot body to move, so that the first end of the robot arm moves to a second position; S105, determining whether the second position is within the first target range, if so, controlling the actuator to perform a specified operation, otherwise proceeding to S106; S106, calculating a first distance between the second position and the edge of the first target range, and determining whether the first distance is greater than a preset distance; if so, executing S107, otherwise executing S108; S107, controlling each traction rope in each traction mechanism to contract or extend according to the first distance, thereby driving the robot body to move, so that the first end of the robot arm moves into the first target range; S108, adjusting the robotic arm from the first state to the second state, so that the length of the robotic arm is adjusted from the first length to the second length, wherein the second length is greater than the first length.

10. The control method of a rope-pulled in-cabin service robot according to claim 9, characterized in that: After S102, the step further includes: S1021, determine whether the minimum distance is greater than a preset distance, if so, proceed to S103, otherwise execute S108.

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