Laboratory collaborative robot and control method thereof

Abstract

The present invention discloses a laboratory collaborative robot and a control method thereof, wherein the robot includes a mobile base, a central control module, a robotic arm, a sensor module, a tool quick-changer, a tool compartment, a teaching tablet, and a voice input module; an experimenter selects required program packages from a program library on the teaching tablet according to the experimental content and its operation sequence and combines them to generate an experimental collaborative program corresponding to the experimental content, and controls the robot based on the experimental collaborative program, thereby realizing collaborative control of the robot during the experiment. The present invention utilizes visual recognition, drag-to-teach, voice control, and module drag-to-program combination to generate the experimental collaborative program. The experimenter does not need to access the program code, but only needs to drag the required program packages to combine them, thus realizing low-threshold application for the experimenter and reducing the difficulty for the experimenter to operate the robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a laboratory collaborative robot and a control method thereof. Background Art

[0002] A collaborative laboratory robot is a robot designed to work collaboratively with lab personnel in a laboratory environment. Specific collaborative tasks include sample handling and preparation, experimental operation assistance, and data recording. These robots can significantly reduce human involvement, lowering the error rate and safety risks of experimental operations, and improving experimental accuracy and efficiency.

[0003] At present, research on laboratory collaborative robots mainly focuses on automatic cleaning of experimental containers, material transfer, automatic operation of specific experiments, experimental recording, etc. There is no general collaborative robot for laboratories, and it is impossible to connect existing stand-alone equipment; the ease of operation for non-robot professionals such as experimental personnel is not considered, resulting in difficulty in use; there is a lack of maintenance and cleaning of robot operating tools; and there is no systematic automatic organization and safety verification of experimental parameters, processes, and results that experimental personnel are concerned about. Summary of the Invention

[0004] The purpose of the present invention is to provide a laboratory collaborative robot and a control method thereof, so as to solve the problems that traditional technology cannot connect stand-alone devices and that it is difficult for experimenters to operate the robot.

[0005] The present invention solves the above technical problems through the following technical solutions: A laboratory collaborative robot, comprising a mobile base, a central control module, a robotic arm, a sensor module, a tool quick changer, a tool compartment, a teaching tablet, and a voice input module;

[0006] The mobile base is used to achieve omnidirectional movement under the control of the central control module;

[0007] The central control module is arranged in the mobile base, is the control center of the entire robot, and is used to build a program library, and generate experimental cooperation programs based on the program library and the manual operation on the teaching flat panel; wherein, the program library includes a navigation motion program package, a posture adjustment program package, an action program package, a conditional program package and a loop program package, the navigation motion program package is generated by the central control module according to the laser scanning data of the laser navigation radar and the input target device information to control the robot to perform autonomous navigation to the target device position; the posture adjustment program package is generated by the central control module based on the posture adjustment of the robot arm completed by manually dragging the end of the robot arm; the action program package is generated by the central control module according to the input voice command to control the robot arm to perform corresponding actions; the conditional program package is generated by the central control module according to the information of the object to be cooperated of the action perception sensor and the input judgment condition; the loop program package is generated by the central control module according to the input number of executions;

[0008] The robotic arm is disposed above the mobile base and is used to perform various actions under the control of the central control module;

[0009] The sensor module includes a laser navigation radar, an environmental perception sensor, and a motion perception sensor; the laser navigation radar is arranged on the side of the mobile base and is used to collect laser scanning data of the laboratory, so that the central control module can realize autonomous navigation of the robot in the laboratory according to the laser scanning data; the environmental perception sensor is arranged on the mobile base and is used to collect experimental operation process and experimental environment information, and transmit it to the central control module; the motion perception sensor is arranged on the robotic arm and is used to collect information of the object to be coordinated, so that the central control module can identify the object to be coordinated according to the information of the object to be coordinated;

[0010] The tool quick change device includes a male head and a plurality of female heads matching the male head, each tool in the tool compartment is equipped with a female head, and the male head is provided at the end of the robotic arm;

[0011] The teaching tablet is connected to the central control module and serves as the human-machine interface of the robot; based on the teaching tablet, the required program packages are manually selected from the program library and the selected program packages are combined to generate the experimental collaboration program;

[0012] The voice input module is connected to the central control module and is used to obtain voice instructions.

[0013] The laboratory collaborative robot of the present invention is equipped with a six-axis manipulator, which collaborates in experimental operations by controlling the six-axis manipulator. The six-axis manipulator is equipped with an anti-collision sensor and a drag teaching function. Before using the robot for experimental collaboration, a program library is first constructed by dragging teaching, voice control, etc. The program library contains a navigation motion program package, a posture adjustment program package, an action program package, a conditional program package, and a loop program package; then the experimenter can select the required program package from the program library on the teaching flat panel according to the experimental content and its operation sequence and combine them to generate an experimental collaboration program corresponding to the experimental content. Finally, the robot is controlled based on the experimental collaboration program, and collaborative control of the robot during the experiment can be achieved. The present invention generates an experimental collaboration program by using visual recognition, dragging teaching, voice control, and module dragging programming. The experimenter does not need to contact the program code, but only needs to drag the required program package for combination, thereby achieving a low-threshold application for the experimenter and reducing the difficulty of the experimenter operating the robot. During the experiment, the scattered experimental equipment in the laboratory is linked together through the collaboration of robots to form an intelligent collaborative laboratory, which improves the intelligence of the experiment, reduces human participation, reduces the error rate and safety risks of experimental operations, and improves the accuracy and efficiency of the experiment.

[0014] Furthermore, the environmental perception sensor includes a first camera and a temperature and humidity sensor, the first camera is used to collect video of the experimental operation process, and the temperature and humidity sensor is used to collect temperature and humidity information of the experimental environment.

[0015] The collected experimental operation process video and temperature and humidity information facilitate the investigation of factors affecting the experiment.

[0016] Furthermore, the motion sensing sensor includes a second camera, which is used to capture images of the object to be collaborated with. The central control module is used to identify the object to be collaborated with through a hierarchical recognition method based on the images of the object to be collaborated with captured by the second camera.

[0017] The vision-based hierarchical recognition method ensures the accuracy of the objects to be collaborated, and improves the accuracy and security of collaboration.

[0018] Furthermore, the central control module is used to identify the object to be coordinated by a hierarchical recognition method based on the image of the object to be coordinated captured by the second camera, specifically including:

[0019] Acquire the device template image and the position of the robotic arm when acquiring the device template image, adjust the robotic arm according to the position of the robotic arm when acquiring the device template image, and use the second camera to acquire the image of the device to be coordinated;

[0020] The template matching method is used to match the collaborative device image with the device template image. If the match is successful, the next level of recognition is carried out; otherwise, an alarm is issued;

[0021] Acquire the regional template image and the position of the robotic arm when acquiring the regional template image, adjust the robotic arm according to the position of the robotic arm when acquiring the regional template image, and use the second camera to acquire the image of the area to be coordinated;

[0022] The template matching method is used to match the collaborative area image with the regional template image. If the match is successful, the next level of recognition is carried out; otherwise, an alarm is issued;

[0023] Acquire a state template image and the position of the robotic arm when the state template image is acquired, adjust the robotic arm according to the position of the robotic arm when the state template image is acquired, and use a second camera to acquire a state image of the area to be coordinated;

[0024] It is determined whether the state of the area to be coordinated belongs to the state to be coordinated according to the state image of the area to be coordinated and the state template image.

[0025] The present invention ensures the accuracy of the objects to be collaborated through three-level visual recognition of equipment, area, and status, thereby improving the safety and reliability of robot collaboration.

[0026] Furthermore, a dirt bin and a tool bin are provided in the mobile base, a tool rack for placing tools, a cleaning bin and a spray rod are provided in the tool bin, the cleaning bin is located below the tool rack, and the cleaning bin is connected to the dirt bin through a dirt channel.

[0027] The tools in the tool bin can be flushed and disinfected with liquid or gas through the spray rod, and the waste liquid after cleaning is discharged into the sewage bin through the sewage channel for storage.

[0028] Furthermore, a groove for placing a teaching tablet is provided on the top of the tool compartment, and a first magnetic plate and a first power interface are arranged in the groove; an adjustable bracket that can rotate with damping around the outer periphery of the robotic arm is provided on the robotic arm, and a second magnetic plate and a second power interface are provided on the adjustable bracket.

[0029] When the teaching tablet is placed in the groove at the top of the tool compartment, the first magnetic plate can firmly attract the teaching tablet, preventing it from falling when the tool compartment cover is flipped over. The user can remove the teaching tablet from the top of the tool compartment and magnetically attach it to the second magnetic plate. The teaching tablet can be adjusted at any angle on the robot arm, making it convenient for users to use the teaching tablet during operations such as robot arm teaching. The first power port or the second power port provides continuous power to the teaching tablet.

[0030] Based on the same concept, the present invention also provides a control method for the laboratory collaborative robot as described above, comprising:

[0031] Construct a program library; wherein the program library includes a navigation motion program package, a posture adjustment program package, an action program package, a conditional program package and a loop program package, wherein the navigation motion program package is generated by the central control module controlling the robot to perform autonomous navigation to the target device position based on the laser scanning data of the laser navigation radar and the input target device information; the posture adjustment program package is generated by manually dragging the end of the robot arm to complete the posture adjustment of the robot arm; the action program package is generated by the central control module controlling the robot arm to perform corresponding actions based on the input voice command; the conditional program package is generated by the central control module based on the information of the object to be coordinated by the action perception sensor and the input judgment condition; the loop program package is generated by the central control module based on the input execution number;

[0032] Based on the teaching tablet, a person manually selects a required program package from the program library according to the experimental content;

[0033] Based on the teaching tablet, the selected program packages are combined manually according to the operation sequence of the experimental content to generate the experimental collaboration program;

[0034] The central control module controls the robot based on the experimental collaboration program to achieve collaborative control of the robot during the experiment.

[0035] Furthermore, the control method further includes:

[0036] Integrate the equipment operation procedures in the experimental collaboration program into an equipment operation package, and integrate the experimental operation process procedures in the experimental collaboration program into an experimental process package;

[0037] Select the equipment operation package and experimental process package according to the experimental content, and generate the experimental collaboration program by combining the input variable information and input and output information.

[0038] For similar experimental collaborations, the equipment operation and experimental operation processes are integrated into a program package. Experimenters only need to drag the program package and input information on the teaching tablet to generate the experimental collaboration program, further realizing low-threshold application for experimenters.

[0039] Furthermore, the control method further includes:

[0040] During the collaboration process, the collaboration steps in the experimental collaboration program are converted into a table form, and time tags and experimental environment information are added to generate a detailed experimental record table to facilitate result analysis and experimental process backtracking.

[0041] Furthermore, the control method further includes:

[0042] Generate a safety verification process based on the safety operating specifications of the experimental equipment and experimental operation process in the experimental collaboration program;

[0043] Before collaboration, a safety check is performed according to the safety check process, and the experimental collaboration program is executed after the safety check is passed.

[0044] The safety verification process improves the safety of experimental collaboration and reduces experimental risks.

[0045] Compared with the prior art, the advantages of the present invention are:

[0046] This invention utilizes visual recognition, drag-to-learn, voice control, and module drag-to-programming to generate collaborative experimental programs. Experimenters do not need to access program code; they only need to drag the required program packages to assemble them. This achieves a low-threshold application for experimenters and reduces the difficulty of operating robots. During the experiment, the robot's collaboration links the scattered experimental equipment in the laboratory to form an intelligent collaborative laboratory, which improves the intelligence of the experiment, reduces human involvement, reduces the error rate and safety risks of experimental operations, and improves the accuracy and efficiency of the experiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0048] Figure 1 This is a schematic diagram of the structure of a laboratory collaborative robot in an embodiment of the present invention;

[0049] Figure 2 2. This is a schematic diagram of the internal structure of the tool compartment of the laboratory collaborative robot according to an embodiment of the present invention;

[0050] Figure 3 Schematic diagram of the cleaning chamber structure of the laboratory collaborative robot in an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the structure of a robotic arm in an embodiment of the present invention;

[0052] Figure 5 is a schematic diagram of a teaching tablet on a robotic arm in an embodiment of the present invention;

[0053] Figure 6 is a schematic diagram of a teaching tablet on top of a tool compartment in an embodiment of the present invention;

[0054] Figure 7 This is a flowchart of identifying objects to be collaborated with in an embodiment of the present invention;

[0055] Figure 8 This is a schematic diagram of identifying objects to be collaborated with in an embodiment of the present invention;

[0056] Figure 9 Schematic diagram of the construction of each program package in the embodiment of the present invention;

[0057] Figure 10 is a flowchart of an experimental collaboration program generated according to a constructed program package in an embodiment of the present invention;

[0058] Figure 11 is a schematic diagram of generating a device operation packet in an embodiment of the present invention;

[0059] Figure 12 is a schematic diagram of generating an experimental process package in an embodiment of the present invention;

[0060] Figure 13 This is a safety check flow chart in an embodiment of the present invention;

[0061] Figure 14 It is a flowchart of generating an experimental collaboration program in an embodiment of the present invention.

[0062] Explanation of the accompanying drawings: 1-mobile base, 11-control button, 12-ring light strip, 13-dirt bin, 2-robotic arm, 21-adjustable bracket, 22-second camera, 23-laser ranging sensor, 24-microphone, 3-male head, 4-tool bin, 41-tool rack, 42-warehouse door, 421-sealing strip, 43-female head, 44-calibration rod, 45-cleaning bin, 451-dirt channel, 46-UV lamp, 47-warm air channel, 48-spray rod, 5-laser navigation radar, 6-teaching tablet, 61-first power interface, 62-first magnetic plate, 7-first camera, 8-temperature and humidity sensor. DETAILED DESCRIPTION

[0063] The following is a clear and complete description of the technical solutions of the present invention in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are within the scope of protection of the present invention.

[0064] The following specific embodiments are used to describe the technical solution of the present invention in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0065] Example 1

[0066] like Figures 1 to 4 As shown, the laboratory collaborative robot provided by the embodiment of the present invention mainly includes a mobile base 1, a central control module, a robotic arm 2, a sensor module, a tool quick change device, a tool compartment 4, a teaching tablet 6 and a voice input module.

[0067] The mobile base 1 is the mobile carrier and support carrier of the robot. During autonomous navigation or experimental collaboration, the movement of the mobile base 1 is controlled by the central control module to realize the movement of the entire robot.

[0068] A robotic arm 2 is positioned above the mobile base 1 and serves as the primary execution component during the collaborative experiment. The robotic arm 2 in this embodiment is a six-axis robotic arm, characterized by human-machine collaboration. It features a built-in anti-collision sensor and a drag-to-teach function. The anti-collision sensor prevents the robotic arm 2 from colliding with obstacles while performing tasks, thereby improving safety. By manually dragging the robotic arm 2 to adjust its posture (i.e., position and attitude), the robotic arm 2 can be taught from one posture to another. This method eliminates the need for the experimenter to access program code. This drag-to-teach method allows the robotic arm 2 to be programmed with its posture adjustment program package, reducing the difficulty for the experimenter to operate the robot.

[0069] The central control module is arranged in the mobile base 1 and is connected to the robotic arm 2, the sensor module, the teaching tablet 6 and the voice input module. It is the control center of the entire robot.

[0070] The sensor module includes a laser navigation radar 5, an environment perception sensor and a motion perception sensor. Figure 1 As shown, the laser navigation radar 5 is arranged on the side of the mobile base 1 and is connected to the central control module. The laser navigation radar 5, the central control module and the mobile base 1 are used to realize autonomous navigation of the robot in a complex laboratory environment. Specifically, the laser navigation radar 5 collects laser scanning data of the laboratory, and the central control module establishes an environmental map based on the laser scanning data. The environmental map includes the location of each experimental device. When the central control module obtains the input target device information, the central control module generates a moving path from the robot to the target device location based on the environmental map, and controls the movement of the mobile base 1 according to the moving path to realize autonomous navigation of the robot to the target device, thereby obtaining a navigation motion program package from the robot to the target device. By analogy, a navigation motion program package from the robot to all experimental devices can be obtained. In this embodiment, the target device information can be input into the central control module through the voice input module or the teaching tablet 6.

[0071] like Figure 1As shown, the environmental perception sensor is arranged on the mobile base 1, and the experimental operation process and experimental environment information in the robot experimental collaboration process are collected through the environmental perception sensor, and transmitted to the central control module. In a specific embodiment of the present invention, the environmental perception sensor includes a first camera 7 and a temperature and humidity sensor 8, and the experimental operation process video is collected by the first camera 7, and the temperature and humidity information of the experimental environment is collected by the temperature and humidity sensor 8. The experimental operation process video and the temperature and humidity information can be used to check the factors affecting the experiment. According to the needs of the experiment, other environmental perception sensors can be added, such as various gas, smoke and other detection sensors. These detection sensors collect environmental abnormality information. When an environmental abnormality is sensed (for example, the detection value exceeds the set threshold), the central control module issues an alarm through the teaching tablet 6, a remotely connected user terminal (such as a mobile phone), etc.

[0072] like Figure 4 As shown, the motion sensing sensor is provided on the robot arm 2, and is used to collect information about the object to be cooperated, so that the central control module can identify the object to be cooperated based on the information about the object to be cooperated. In a specific embodiment of the present invention, the motion sensing sensor includes a second camera 22, and the second camera 22 is provided near the fifth joint of the robot arm 2. The image of the object to be cooperated is collected by the second camera 22. The central control module can identify the object to be cooperated through a hierarchical recognition method based on the image of the object to be cooperated collected by the second camera 22. For example, the experimental equipment to be cooperated, the area to be cooperated on the experimental equipment, and the status of the area are sequentially identified, thereby ensuring the accuracy of the corresponding objects to be cooperated, and further ensuring the safety and reliability of the cooperation. In a specific embodiment of the present invention, as Figure 7 and Figure 8 As shown, the central control module identifies the object to be coordinated through a hierarchical recognition method based on the image of the object to be coordinated collected by the second camera 22, specifically including:

[0073] Step S1.1: Obtain an image of the device to be coordinated, and use the template matching method to match the image of the device to be coordinated with the pre-acquired device template image. If the match is successful, proceed to the next level of recognition; otherwise, an alarm is issued;

[0074] Step S1.2: Obtain an image of the area to be coordinated, and use the template matching method to match the image of the area to be coordinated with the pre-acquired area template image. If the match is successful, proceed to the next level of recognition; otherwise, an alarm is issued;

[0075] Step S1.3: Obtain the state image of the area to be coordinated, identify whether the state of the area to be coordinated belongs to the state to be coordinated based on the state image of the area to be coordinated and the state template image obtained in advance, and perform subsequent actions according to user needs.

[0076] Based on the image of the object to be collaborated (including the image of the device to be collaborated, the image of the area to be collaborated, and the image of the status of the area to be collaborated) captured by the second camera 22, the central control module identifies the area on the experimental device to be collaborated and the status of the area through three levels to ensure that the area to be collaborated is accurate and the status of the area to be collaborated is in a normal state. When judging the status to be collaborated, it can be achieved through template matching, character recognition technology, color recognition technology, etc., for example, matching pointer values, indicator light colors, screen characters, images, etc. The device template image, area template image and status template image can be pre-acquired by the second camera 22. When these template images are collected, the experimenter can adjust the posture of the robot arm 2 to ensure the accuracy of the template image; at the same time, the posture of the robot arm 2 when each template image is collected is stored to facilitate positioning compensation when collecting the image of the object to be collaborated.

[0077] Before identifying the object to be collaborated with, the robot must first be moved to the location of the device to be collaborated with based on the autonomous navigation of the laser navigation radar 5. Since there is usually a centimeter-level deviation in the positioning of the laser navigation radar 5, after the robot moves to the device to be collaborated with, the second camera 22 is always in a certain posture relative to the device to be collaborated with and cannot be aligned with the device to be collaborated with. At this time, the robot arm 2 is adjusted according to the posture of the robot arm 2 when the device template image is pre-acquired, and then the second camera 22 is used to capture the image of the device to be collaborated with; when executing step S1.2, the robot arm 2 is first adjusted according to the posture of the robot arm 2 when the area template image is pre-acquired, and then the second camera 22 is used to capture the image of the area to be collaborated with; when executing step S1.3, the robot arm 2 is first adjusted according to the posture of the robot arm 2 when the state template image is pre-acquired, and then the second camera 22 is used to capture the state image of the area to be collaborated with.

[0078] For each target object, the central control module can identify it through a hierarchical recognition method based on the target object image captured by the second camera 22. Based on the target object information from the motion sensing sensor, the central control module identifies the specific target object (i.e., the target area and its status). This process generates a conditional program package, thereby obtaining the corresponding conditional program package for the target object. This allows the pre-construction of conditional program packages for all targets. The central control module can also generate conditional program packages based on input judgment conditions. It can also generate a looping program package based on an input execution count, such as executing 10 times with a count greater than 10.

[0079] Depending on experimental needs, the second camera 22 can be a two-dimensional or three-dimensional camera. Furthermore, the motion sensing sensor can also include a laser ranging sensor 23, which is used to measure the distance between the robotic arm 2 and the experimental equipment or experimental area. Because the measurement accuracy of the laser ranging sensor 23 is higher than that of three-dimensional vision, it can serve as a high-precision supplement to the distance measurement of the three-dimensional camera when processing thin experimental materials that require high thickness precision.

[0080] like Figure 4 As shown, the tool quick changer includes a male head 3 and multiple female heads 43 that match the male head 3. Each tool in the tool compartment 4 is equipped with a female head 43, and the male head 3 is located at the end of the robot arm 2. If the robot arm 2 does not grasp a tool and needs to grasp a tool, the position of the robot arm 2 is adjusted so that the male head 3 at the end of the robot arm 2 is docked with the female head 43 configured for the tool to be grasped. The locking mechanism is controlled by electricity, gas, or magnetism, thereby quickly grasping the tool. If the robot arm 2 has grasped a tool and needs to replace it with a new one, the position of the robot arm 2 is first adjusted so that the old tool is placed on the tool holder 41. The locking mechanism is then disconnected by electricity, gas, or magnetism, thereby disconnecting the male head 3 at the end of the robot arm 2 from the female head 43 configured for the old tool. The position of the robot arm 2 is then adjusted so that the male head 3 at the end of the robot arm 2 is docked with the female head 43 configured for the new tool. The locking mechanism is then controlled by electricity, gas, or magnetism, thereby quickly grasping the new tool.

[0081] During the tool change process, the posture adjustment of Robot Arm 2 can be achieved by manual dragging. A posture adjustment program package is generated based on the posture adjustment process of Robot Arm 2 during each tool change. For example, if the posture adjustment of Robot Arm 2 for changing Tool No. 1 is completed by manual dragging, a posture adjustment program package for changing Tool No. 1 is generated accordingly.

[0082] like Figure 2 and Figure 3 As shown, a tool compartment 4 is located within the mobile base 1. A tool rack 41 for placing tools is located within the tool compartment 4. Depending on experimental needs, multiple spare tools, such as pneumatic or electric grippers, electric pipettes, stirring rods, and thermometers, can be placed on the tool rack 41. Each tool is equipped with a female connector 43 for a tool changer. Furthermore, different media (such as gas, electrical signals, and liquids) can be connected along the robotic arm 2 to the tool at the end of the robotic arm 2 as needed.

[0083] like Figure 2 and Figure 3As shown, a waste bin 13 is provided within the mobile base 1, and a cleaning bin 45 and a spray rod 48 are provided within the tool bin 4. The cleaning bin 45 is located below the tool rack 41 and is connected to the waste bin 13 via a waste channel 451. The spray rod 48 allows the tools within the tool bin 4 to be flushed and disinfected with liquid or gas. The waste liquid after cleaning is discharged through the waste channel to the waste bin 13 for storage. The tool bin 4 can clean and disinfect the tools, eliminating the impact of tool contamination on experimental results.

[0084] like Figure 2 As shown, the tool bin 4 is provided with a warehouse door 42 that can be opened automatically. A sealing strip 421 is installed on the warehouse door 42. The sealing strip 421 and the edge of the cleaning bin 45 form a sealed cavity to ensure the sealing of the tool bin 4 and prevent the cleaning liquid in the tool bin 4 from leaking out.

[0085] like Figure 3 As shown, ultraviolet lamps 46 and warm air ducts 47 are further provided on both sides and the bottom of the tool compartment 4. The ultraviolet lamps 46 are used to disinfect the tools, and the warm air ducts 47 are used to dry the tools. A calibration rod 44 is also provided on the tool rack 41. The top of the calibration rod 44 is a conical tip. The tip of the calibration rod 44 can be used as a calibration reference point for establishing a tool coordinate system when the robot arm 2 changes different tools, facilitating the establishment of a tool coordinate system inside the robot arm for different tools.

[0086] like Figure 1 As shown, a circular light strip 12 connected to the central control module is located in the middle of the robot's body. This light strip 12 provides status indicators, such as alarms, for various statuses. The light strip 12 can use various colors, such as steady lighting or flashing, to alert nearby personnel of the device's status. Control buttons 11, connected to the central control module, are located on the sides of the robot's body. These buttons include an emergency stop button, a start button, and a stop button.

[0087] The teaching tablet 6 communicates with the central control module and serves as the robot's human-machine interface. It not only serves as the robot's input and display device, but also allows the experimenter to select the required program packages from a library based on the experiment content. These selected packages are then combined according to the experimental operation sequence to generate the experimental collaboration program. The library, primarily constructed by the central control module, includes navigation and motion packages, posture adjustment packages, action packages, conditional packages, and loop packages.

[0088] like Figure 6As shown, a groove for placing the teaching tablet 6 is provided on the top of the tool compartment 4, and a first magnetic plate 62 and a first power interface 61 are arranged in the groove. When the teaching tablet 6 is placed in the groove on the top of the tool compartment 4, the first magnetic plate 62 can firmly attract the teaching tablet 6 so that the teaching tablet 6 does not fall when the top cover of the tool compartment 4 is turned over. Figure 4 and Figure 5 As shown, the robotic arm 2 is equipped with an adjustable bracket 21 that can rotate with damping around the periphery of the robotic arm 2. A second magnetic plate and a second power port are provided on the adjustable bracket 21. The user can remove the teaching tablet 6 from the top of the tool compartment 4 and magnetically attach it to the second magnetic plate. The angle of the teaching tablet 6 on the robotic arm 2 can be adjusted at will, making it easier for the user to use the teaching tablet 6 when performing operations such as teaching the robotic arm 2. The first power port 61 or the second power port provides continuous power to the teaching tablet 6.

[0089] like Figure 4 As shown, the voice input module is installed on the robot arm 2 and is connected to the central control module. The voice input module is used to obtain voice commands. The central control module controls the robot arm 2 to perform the corresponding action based on the voice command input by the voice input module, thereby generating an action program package. For example, if the voice command is "wake-up word, clamp tool No. 1", the central control module controls the robot arm 2 to perform the clamping action based on the voice command, generating an action program package for clamping tool No. 1.

[0090] In this embodiment, the voice input module is a microphone 24, which receives user voice commands through the microphone 24, recognizes the preset reminder words, matches the voice commands with the content set in the central control module, performs the action operation, tool replacement operation, delay, etc. of the end tool of the robot arm 2, and generates an action program package.

[0091] The control method of the laboratory collaborative robot provided by the present invention comprises the following steps:

[0092] Step S2.1: Build a program library.

[0093] The program library includes a navigation motion program package, a posture adjustment program package, an action program package, a conditional program package and a loop program package. The navigation motion program package is generated by the central control module to control the robot to perform autonomous navigation to the target device position based on the laser scanning data of the laser navigation radar and the input target device information; the posture adjustment program package is generated by the central control module based on manually dragging the end of the robotic arm to complete the posture adjustment of the robotic arm; the action program package is generated by the central control module to control the robotic arm to perform corresponding actions based on the input voice commands; the conditional program package is generated by the central control module based on the information of the object to be coordinated by the motion perception sensor and the input judgment conditions; the loop program package is generated by the central control module based on the input number of executions.

[0094] Step S2.2: Based on the teaching tablet, the experimenter selects the required program package from the program library according to the experimental content;

[0095] Step S2.3: Based on the teaching tablet, the experimenter combines the selected program packages according to the operation sequence of the experimental content to generate an experimental collaboration program;

[0096] Step S2.4: The central control module controls the robot based on the experimental collaboration program to achieve collaborative control of the robot during the experiment.

[0097] In step S2.3, the selected program packages are combined by dragging to complete the generation of the experimental collaboration program in the form of a flowchart.

[0098] Example 2

[0099] The pre-experimental teaching preparation and experimental collaboration program generation process of the present invention are illustrated using the process of transferring experimental materials between devices A and B ten times at different temperatures and times. During the experiment, tool No. 1 holds the untested material, while tool No. 2 holds the post-experimental material. Device A is the experimental heating device, and device B is the post-experimental material storage device. Tool No. 1 refers to the tool numbered 1 in the tool bin, and tool No. 2 refers to the tool numbered 2 in the tool bin.

[0100] (1) Preparation work before the experiment:

[0101] Step 1: The experimenter operates the teaching tablet to control the robot to move autonomously to device B using the laser navigation radar;

[0102] Step 2: The experimenter uses the voice command "wake-up word, change tool No. 1" to replace tool No. 1 on the robotic arm. The position of the robotic arm after replacing tool No. 1 is recorded on the teaching tablet as P1.

[0103] Step 3: The experimenter manually drags the robotic arm from P1 to the 10 positions required for the work, and operates the teaching tablet to record them as [Pi1, Pi2, ..., Pi10];

[0104] Step 4: The experimenter uses the voice command "wake-up word, clamp tool No. 1" to enable the robot arm to clamp tool No. 1.

[0105] Step 5: The experimenter manually drags the robotic arm from P1 to the required working position, and the operation teaching tablet records it as P2;

[0106] Step 6: The experimenter uses the voice command "wake-up word, release tool No. 1" to release tool No. 1 on the robotic arm.

[0107] Step 7: The experimenter operates the teaching tablet to control the robot arm to move autonomously to position P1;

[0108] Step 8: The experimenter uses the voice command "wake-up word, change tool No. 2" to replace the robot arm's tool No. 2. After the replacement, the robot arm's posture remains P1.

[0109] Step 9: The experimenter manually drags the robotic arm from P1 to the required working position, and the operation teaching tablet records it as P3;

[0110] Step 10: The experimenter uses the voice command "wake-up word, clamp tool No. 2" to achieve the clamping action of tool No. 2 on the machine;

[0111] Step 11: The experimenter operates the teaching tablet to control the robotic arm to move autonomously to position P1;

[0112] Step 12: The experimenter operates the teaching tablet to control the robot to move autonomously to device A using the laser navigation radar;

[0113] Step 13: The experimenter manually drags the robotic arm from P1 to the 10 positions required for the work, and operates the teaching tablet to record them as [Pj1, Pj2, ..., Pj10];

[0114] Step 14: The experimenter uses the voice command "wake-up word, release tool No. 2" to release tool No. 2 on the robotic arm.

[0115] Step 15: The experimenter uses the voice command "wake-up word, clean tool No. 2" to automatically clean and store tool No. 2 of the robotic arm.

[0116] Through the above steps, the material posture during the experiment is simulated, and the posture data required for the entire experiment is recorded before the experiment. After obtaining all the required posture data, the experimenter drags the required navigation motion package, posture adjustment package, action package, conditional package and loop package on the teaching tablet to combine them, and completes the generation of the robot's experimental collaboration program in the form of a flowchart, such as Figure 9 and Figure 10 shown.

[0117] The operation of experimental equipment is mostly repetitive. Experimental differences mainly come from changes in materials and equipment parameters. The operation actions and processes of similar experimental equipment are usually the same. After the experimental collaboration program is generated, a program package for experimental equipment operation or experimental process can be generated, and the user can select the variable links and inputs and outputs in the program. Figure 11 and Figure 12As shown, equipment operation procedures can be integrated into equipment operation packages, and experimental operation process procedures can be integrated into experimental process packages. When in use, the experimenter can directly drag the flowchart on the teaching tablet, enter variable information, and input and output information to coordinate with the previous and next processes, realizing low-threshold application for experimenters.

[0118] The operation of experimental equipment involves many safety operating specifications, such as operation sequence requirements, operation interval requirements, equipment parameter usage range, equipment working time limit, etc. Figure 13 As shown, the safety operation specifications are set as restriction conditions and defined as a safety verification process. Before the experimental collaboration program is executed, the safety verification process is used to verify the safety of the experimental collaboration program and issue reminders for non-conformities to reduce experimental risks.

[0119] Table 1 Example of data recorded by environmental perception sensors

[0120]

[0121] Convert the modular program into a table format, adding time stamps, ambient temperature and humidity, and other experimental environment information to form a detailed experimental record. Space is reserved for experimenters to comment on the results, facilitating analysis and exporting them as a general table file. The central control module can segment and store data collected by environmental perception sensors according to the time stamps of experimental operations. This time stamp allows for quick location of the video footage during the operation, facilitating backtracking of the experimental process, as shown in Table 1.

[0122] The generated experimental record table and the modular program have a corresponding relationship with each other. When conducting similar experiments again, the experimental parameters in the table can be directly modified to generate a new experimental collaborative program without reprogramming. That is, the experimental record table is converted into a program-driven robot, such as Figure 14 shown.

[0123] The above disclosure is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of changes or modifications within the technical scope disclosed in the present invention, and they should all be covered by the scope of protection of the present invention.

Claims

1. A laboratory collaborative robot, characterized in that: The robot includes a mobile base, a central control module, a robotic arm, a sensor module, a tool quick changer, a tool compartment, a teaching tablet, and a voice input module; The mobile base is used to achieve omnidirectional movement under the control of the central control module; The central control module is arranged in the mobile base, is the control center of the entire robot, and is used to build a program library, and generate experimental cooperation programs based on the program library and the manual operation on the teaching flat panel; wherein, the program library includes a navigation motion program package, a posture adjustment program package, an action program package, a conditional program package and a loop program package, the navigation motion program package is generated by the central control module according to the laser scanning data of the laser navigation radar and the input target device information to control the robot to perform autonomous navigation to the target device position; the posture adjustment program package is generated by the central control module based on the posture adjustment of the robot arm completed by manually dragging the end of the robot arm; the action program package is generated by the central control module according to the input voice command to control the robot arm to perform corresponding actions; the conditional program package is generated by the central control module according to the information of the object to be cooperated of the action perception sensor and the input judgment condition; the loop program package is generated by the central control module according to the input number of executions; The robotic arm is disposed above the mobile base and is used to perform various actions under the control of the central control module; The sensor module includes a laser navigation radar, an environmental perception sensor, and a motion perception sensor; the laser navigation radar is arranged on the side of the mobile base and is used to collect laser scanning data of the laboratory, so that the central control module can realize autonomous navigation of the robot in the laboratory according to the laser scanning data; the environmental perception sensor is arranged on the mobile base and is used to collect experimental operation process and experimental environment information, and transmit it to the central control module; the motion perception sensor is arranged on the robotic arm and is used to collect information of the object to be coordinated, so that the central control module can identify the object to be coordinated according to the information of the object to be coordinated; The tool quick change device includes a male head and a plurality of female heads matching the male head, each tool in the tool compartment is equipped with a female head, and the male head is provided at the end of the robotic arm; The teaching tablet is connected to the central control module and serves as the human-machine interface of the robot; based on the teaching tablet, the required program packages are manually selected from the program library and the selected program packages are combined to generate an experimental collaboration program; The voice input module is connected to the central control module and is used to obtain voice instructions; The central control module is used to identify the object to be coordinated by a hierarchical recognition method based on the image of the object to be coordinated collected by the second camera, specifically including: Acquire the device template image and the position of the robotic arm when acquiring the device template image, adjust the robotic arm according to the position of the robotic arm when acquiring the device template image, and use the second camera to acquire the image of the device to be coordinated; The template matching method is used to match the collaborative device image with the device template image. If the match is successful, the next level of recognition is carried out; otherwise, an alarm is issued; Acquire the regional template image and the position of the robotic arm when acquiring the regional template image, adjust the robotic arm according to the position of the robotic arm when acquiring the regional template image, and use the second camera to acquire the image of the area to be coordinated; The template matching method is used to match the collaborative area image with the regional template image. If the match is successful, the next level of recognition is carried out; otherwise, an alarm is issued; Acquire a state template image and the position of the robotic arm when the state template image is acquired, adjust the robotic arm according to the position of the robotic arm when the state template image is acquired, and use a second camera to acquire a state image of the area to be coordinated; It is determined whether the state of the area to be coordinated belongs to the state to be coordinated according to the state image of the area to be coordinated and the state template image.

2. The laboratory collaborative robot according to claim 1, characterized in that The environmental perception sensor includes a first camera and a temperature and humidity sensor. The first camera is used to collect video of the experimental operation process, and the temperature and humidity sensor is used to collect temperature and humidity information of the experimental environment.

3. The laboratory collaborative robot according to claim 1, characterized in that: The motion sensing sensor includes a second camera, which is used to capture images of the object to be collaborated with. The central control module is used to identify the object to be collaborated with through a hierarchical recognition method based on the images of the object to be collaborated with captured by the second camera.

4. The laboratory collaborative robot according to claim 1, characterized in that: A dirt bin and a tool bin are provided in the mobile base. A tool rack for placing tools, a cleaning bin and a spray rod are provided in the tool bin. The cleaning bin is located below the tool rack and is connected to the dirt bin through a dirt channel.

5. The laboratory collaborative robot according to any one of claims 1 to 4, characterized in that: A groove for placing a teaching tablet is provided on the top of the tool compartment, and a first magnetic plate and a first power interface are arranged in the groove; an adjustable bracket that can rotate with damping around the outer periphery of the robotic arm is provided on the robotic arm, and a second magnetic plate and a second power interface are provided on the adjustable bracket.

6. A control method for a laboratory collaborative robot according to any one of claims 1 to 5, characterized in that: The control method includes: Construct a program library; wherein the program library includes a navigation motion program package, a posture adjustment program package, an action program package, a conditional program package and a loop program package, wherein the navigation motion program package is generated by the central control module controlling the robot to perform autonomous navigation to the target device position based on the laser scanning data of the laser navigation radar and the input target device information; the posture adjustment program package is generated by manually dragging the end of the robot arm to complete the posture adjustment of the robot arm; the action program package is generated by the central control module controlling the robot arm to perform corresponding actions based on the input voice command; the conditional program package is generated by the central control module based on the information of the object to be coordinated by the action perception sensor and the input judgment condition; the loop program package is generated by the central control module based on the input execution number; Based on the teaching tablet, a person manually selects a required program package from the program library according to the experimental content; Based on the teaching tablet, the selected program packages are combined manually according to the operation sequence of the experimental content to generate the experimental collaboration program; The central control module controls the robot based on the experimental collaboration program to achieve collaborative control of the robot during the experiment.

7. The control method of the laboratory collaborative robot according to claim 6, characterized in that: The control method further includes: Integrate the equipment operation procedures in the experimental collaboration program into an equipment operation package, and integrate the experimental operation process procedures in the experimental collaboration program into an experimental process package; Select the equipment operation package and experimental process package according to the experimental content, and generate the experimental collaboration program by combining the input variable information and input and output information.

8. The control method of the laboratory collaborative robot according to claim 6 or 7, characterized in that: The control method further includes: During the collaboration process, the collaboration steps in the experimental collaboration program are converted into a table form, and time stamps and experimental environment information are added to generate a detailed experimental record table.

9. The control method of the laboratory collaborative robot according to claim 6 or 7, characterized in that: The control method further includes: Generate a safety verification process based on the safety operating specifications of the experimental equipment and experimental operation process in the experimental collaboration program; Before collaboration, a safety check is performed according to the safety check process, and the experimental collaboration program is executed after the safety check is passed.

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