Operation device based on robot dog and mechanical arm and control method thereof

Abstract

The invention discloses an operation device based on a robot dog and a mechanical arm and a control method of the operation device. The mechanical arm module is arranged on the robot dog module; the tail end device connecting seat is arranged on the mechanical arm module; the camera connecting piece is arranged on the tail end device connecting seat; and the camera is arranged on the camera connecting piece. By virtue of the advantages of high maneuverability, strong adaptability and the like of the robot dog module, the robot dog can flexibly pass through various terrains to reach places difficult to reach. And the mechanical arm module provides fine operation capability and can complete various operation tasks such as grabbing, placing and cutting. The robot and the robot work cooperatively, various operation requirements can be met efficiently and accurately, and therefore the adaptability and operation efficiency of the robot in the unstructured environment are improved, and meanwhile the operation precision and multifunctionality of the robot are enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of operating devices, and particularly to an operating device based on a quadruped robot and a robotic arm and its control method. Background Art

[0002] In industries such as industrial production and logistics, end-effector devices are widely used. However, traditional end-effector devices (such as fixed robotic arms, rotary robotic arms, etc.) all have the disadvantage of poor flexibility, mainly manifested in that fixed devices lack the ability to move and can only work within a specific range, which greatly restricts the application of end-effector devices. Summary of the Invention

[0003] The present invention provides an operating device based on a quadruped robot and a robotic arm and its control method, which improves the adaptability and operation efficiency of the robot in an unstructured environment.

[0004] The present invention provides an operating device based on a quadruped robot and a robotic arm, including: a quadruped robot module, a robotic arm module, an end-device connecting seat, a camera connecting member, and a camera; the robotic arm module is arranged on the quadruped robot module; the end-device connecting seat is arranged on the robotic arm module; the camera connecting member is arranged on the end-device connecting seat; the camera is arranged on the camera connecting member.

[0005] Specifically, the robotic arm module includes: a base, a first link, a second link, a base rotation joint, a shoulder pitch joint, and an elbow bend joint; the base is arranged on the quadruped robot module; the upper end of the base is hinged to the lower end of the first link through the base rotation joint; the upper end of the first link is hinged to the lower end of the second link through the shoulder pitch joint; the upper end of the second link is hinged to the end-device connecting seat through the elbow bend joint; the base rotation joint, the shoulder pitch joint, and the elbow bend joint are all internally provided with drive motors.

[0006] Specifically, it further includes: an end effector; the end effector is arranged on the end-device connecting seat.

[0007] The present invention also provides a control method for an operating device based on a quadruped robot and a robotic arm, which is applicable to the operating device based on a quadruped robot and a robotic arm as described above, and includes:

[0008] Receiving a control instruction and driving the quadruped robot module to move to a target position;

[0009] Sending an instruction to the robotic arm module to drive the robotic arm module to move into place;

[0010] Sending an operation instruction to the end effector to perform an operation.

[0011] Specifically, the receiving of the control instruction to drive the robotic dog module to move to the target position includes:

[0012] Receiving the control instruction; the control instruction includes: operation information, target position;

[0013] Generating a navigation path based on the current position, the target position, and a preset map, and driving the robotic dog module to move to the target position along the navigation path;

[0014] Sending an instruction to the robotic arm module to drive the robotic arm module to move into place; sending an operation instruction to the end effector for operation, including:

[0015] Sending an instruction to the robotic arm module according to the operation information to control the driving motor built in the joint to work, and driving the robotic arm module to move into place;

[0016] Sending an operation instruction to the end effector for operation according to the operation information.

[0017] Specifically, it further includes:

[0018] The camera sends the captured video data to the control terminal in real time.

[0019] One or more technical solutions provided in the present invention have at least the following technical effects or advantages:

[0020] The robotic arm module is arranged on the robotic dog module; the end device connecting seat is arranged on the robotic arm module; the camera connecting piece is arranged on the end device connecting seat; the camera is arranged on the camera connecting piece. Relying on the advantages of the high mobility and strong adaptability of the robotic dog module, it can flexibly cross various terrains and reach inaccessible places. The robotic arm module provides fine operation capabilities and can complete various operation tasks such as grasping, placing, and cutting. The two work together to efficiently and accurately complete various operation requirements, thereby improving the adaptability and operation efficiency of the robot in an unstructured environment, while enhancing its operation accuracy and versatility. Description of the Drawings

[0021] Figure 1 It is a schematic structural diagram of the operation device based on the robotic dog and the robotic arm provided by the embodiment of the present invention;

[0022] Figure 2 It is a schematic structural diagram of the robotic arm module 2 in the operation device based on the robotic dog and the robotic arm provided by the embodiment of the present invention;

[0023] Figure 3Flowchart of the control method for the operation device based on a robotic dog and a robotic arm provided by an embodiment of the present invention;

[0024] Among them, 1 - robotic dog module, 2 - robotic arm module, 3 - end device connector, 4 - camera connector, 5 - base, 6 - first link, 7 - second link, 8 - base rotation joint, 9 - shoulder pitch joint, 10 - elbow bend joint. Detailed implementation manners

[0025] An embodiment of the present invention provides an operation device based on a robotic dog and a robotic arm and its control method, which improves the adaptability and operation efficiency of the robot in an unstructured environment.

[0026] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0027] As Figure 1 shown, the operation device based on a robotic dog and a robotic arm provided by an embodiment of the present invention includes: a robotic dog module 1, a robotic arm module 2, an end device connector 3, a camera connector 4, and a camera; the robotic arm module 2 is arranged on the robotic dog module 1; the end device connector 3 is arranged on the robotic arm module 2; the camera connector 4 is arranged on the end device connector 3; the camera is arranged on the camera connector 4.

[0028] Specifically describe the structure of the robotic arm module 2. As Figure 2 shown, the robotic arm module 2 includes: a base 5, a first link 6, a second link 7, a base rotation joint 8, a shoulder pitch joint 9, and an elbow bend joint 10; the base 5 is arranged on the robotic dog module 1; the upper end of the base 5 is hinged to the lower end of the first link 6 through the base rotation joint 8; the upper end of the first link 6 is hinged to the lower end of the second link 7 through the shoulder pitch joint 9; the upper end of the second link 7 is hinged to the end device connector 3 through the elbow bend joint 10; the base rotation joint 8, the shoulder pitch joint 9, and the elbow bend joint 10 are all internally provided with drive motors. Specifically, the base rotation joint 8 controls the rotation of the robotic arm module 2 on the horizontal plane and provides the azimuth adjustment ability; the shoulder pitch joint 9 controls the up and down lifting of the robotic arm module 2 and provides the height adjustment ability; the elbow bend joint 10 controls the front and back extension of the robotic arm module 2 and provides the distance adjustment ability. These three joints are arranged in the order of base - shoulder - elbow to form a typical robotic arm structure. Through the combination of the rotation and displacement of the joints, a six - degree - of - freedom motion space is realized. The coordinated movement of these three joints can realize the adjustment of any position and posture of the robotic arm module 2 in three - dimensional space, so as to complete various operations such as grasping, placing, and cutting.

[0029] In this embodiment, the first link 6 and the second link 7 are made of high-strength aluminum alloy or carbon fiber composite material.

[0030] The structure of the operation device based on the robot dog and the robotic arm provided by the embodiment of the present invention will be specifically described. It further includes: an end effector; the end effector is arranged on the end device connecting seat 3.

[0031] In this embodiment, the end effector is a parallel gripper, a three-finger gripper, a vacuum chuck, a magnetic chuck, a saw, a laser cutting head, etc.

[0032] As Figure 3 shown, the control method of the operation device based on the robot dog and the robotic arm provided by the embodiment of the present invention is applicable to the operation device based on the robot dog and the robotic arm as described above, and includes:

[0033] Step S110: Receive a control instruction and drive the robot dog module 1 to move to the target position;

[0034] Step S120: Send an instruction to the robotic arm module 2 to drive the robotic arm module 2 to move into place;

[0035] Step S130: Send an operation instruction to the end effector to perform an operation.

[0036] Specifically describing the control method provided by the embodiment of the present invention, receiving a control instruction and driving the robot dog module 1 to move to the target position includes:

[0037] Receive a control instruction; the control instruction includes: operation information, target position;

[0038] Generate a navigation path based on the current position, the target position, and the preset map, and drive the robot dog module 1 to move to the target position along the navigation path;

[0039] Sending an instruction to the robotic arm module 2 to drive the robotic arm module 2 to move into place; sending an operation instruction to the end effector to perform an operation includes:

[0040] Send an instruction to the robotic arm module 2 according to the operation information, control the driving motor built in the joint to work, and drive the robotic arm module 2 to move into place;

[0041] Send an operation instruction to the end effector according to the operation information to perform an operation.

[0042] In this embodiment, the operation information includes: operation type, operation parameters, and other contents.

[0043] Further describing the control method provided by the embodiment of the present invention, it further includes:

[0044] The camera sends the captured video data to the control terminal in real time.

[0045] In summary, the embodiments of the present invention perfectly combine mobile robots with precise operation capabilities, providing a brand-new solution for task execution in complex environments. The intelligent control and scalable design of this device make its application scope more extensive, showing great potential in various fields from industrial manufacturing to agricultural production, from disaster relief to scientific research and exploration.

[0046] Those skilled in the art should understand that the embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0047] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0048] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0049] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0050] Where the embodiments of the present invention are not described in detail, they are all well-known technologies to those skilled in the art. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A working device based on a robot dog and a robot arm, characterized in that: include: A robot dog module, a mechanical arm module, a terminal device connection socket, a camera connector and a camera; the mechanical arm module is arranged on the robot dog module; the terminal device connection socket is arranged on the mechanical arm module; the camera connector is arranged on the terminal device connection socket; the camera is arranged on the camera connector.

2. The working device based on the robot dog and the robot arm as claimed in claim 1, characterized in that: The robotic arm module includes: a base, a first connecting rod, a second connecting rod, a base rotating joint, a shoulder pitch joint and an elbow bending joint; the base is arranged on the robot dog module; the upper end of the base and the lower end of the first connecting rod are hinged through the base rotating joint; the upper end of the first connecting rod and the lower end of the second connecting rod are hinged through the shoulder pitch joint; the upper end of the second connecting rod and the end device connecting seat are hinged through the elbow bending joint; the base rotating joint, the shoulder pitch joint and the elbow bending joint are all equipped with built-in drive motors.

3. The working device based on the robot dog and the robot arm as claimed in claim 1, characterized in that: Also includes: End effector; The end effector is arranged on the end effector connection seat.

4. A control method for a working device based on a robot dog and a mechanical arm, applicable to the working device based on a robot dog and a mechanical arm as claimed in any one of claims 1 to 3, characterized in that: include: Receiving control instructions and driving the robot dog module to move to a target position; Sending instructions to the robotic arm module to drive the robotic arm module to move into place; Send operation instructions to the end-effector to perform the operation.

5. The control method of the working device based on the robot dog and the robot arm as claimed in claim 4, characterized in that: The receiving control instruction and driving the robot dog module to move to the target position includes: receiving the control instruction; the control instruction includes: operation information and target position; Generate a navigation path based on the current position, the target position and a preset map, and drive the robot dog module to move to the target position along the navigation path; The sending of instructions to the robotic arm module to drive the robotic arm module to move into position; and the sending of operation instructions to the end effector to perform the operation include: Sending instructions to the robotic arm module according to the operation information to control the drive motor built into the joint to work and drive the robotic arm module to move into place; Send an operation instruction to the end execution device to perform the operation according to the operation information.

6. The control method of the working device based on the robot dog and the robot arm according to claim 4 or 5, characterized in that: Also includes: The camera sends the video data to the control end in real time.

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