Method for remotely controlling mechanical arm of robot to reach target position through mobile phone

Abstract

The invention discloses a method for remotely controlling a mechanical arm of a robot to reach a target position through a mobile phone, and the method comprises the steps: firstly, collecting images of the mechanical arm and the surrounding environment of the mechanical arm through a camera, transmitting laser points to target objects in different directions through a laser ranging module, and measuring the distances between the target objects and the laser ranging module; images collected by the camera are displayed on the mobile phone, the distance measured by the laser ranging module is transmitted to the mobile phone, the mechanical arm receives a control signal remotely sent by the mobile phone, and the mechanical arm is remotely controlled by the mobile phone to move to the position of a target object in a linear motion mode, a rotary motion mode, a single-axis motion mode or an automatic mode. The mechanical arm is remotely controlled by the mobile phone to move to the position of the target object in a linear motion mode, a rotary motion mode, a single-axis motion mode or an automatic mode, so that the maneuverability of remotely controlling the robot to reach the target position is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a method for remotely controlling a robot's mechanical arm to reach a target position by using a mobile phone. Background Art

[0002] With the development of industrial automation, more and more tasks are being performed by mobile robots, bringing convenience to people's lives and production, such as service mobile robots and logistics mobile robots. Currently, robots use a single switch to remotely control the rotation of a single joint, which is not convenient for remotely manipulating the robot to reach the target location.

[0003] The present invention proposes a method for remotely controlling a robot's mechanical arm to reach a target position by using a mobile phone. The mechanical arm is remotely controlled by the mobile phone to move in a linear motion mode, a rotational motion mode, a single-axis motion mode or an automatic mode, thereby improving the maneuverability of the remotely controlled robot to reach the target position. Summary of the Invention

[0004] The purpose of the present invention is to solve the technical problems existing in the prior art and provide a method for remotely controlling a robot's mechanical arm to reach a target position by using a mobile phone.

[0005] To achieve the above-mentioned object, the present invention provides a technical solution: a method for remotely controlling a robot's mechanical arm to reach a target position using a mobile phone, comprising a target object, a robot, a mobile phone, a controller, and a wireless network communication module, wherein the robot comprises a walking trolley, on which a mechanical arm and a support rod are provided, the mechanical arm comprises multiple joint groups, each joint group comprises a joint motor, a flip motor is provided on the support rod, a connecting frame is provided on the flip motor, a deflection motor is provided on the connecting frame, a rotating platform is provided on the deflection motor, and a camera and a laser ranging module are installed on the rotating platform; The method comprises the following steps: firstly, a camera captures images of the robotic arm and its surroundings, and the images captured by the camera are displayed on a mobile phone; secondly, a laser ranging module emits laser points to target objects in different directions, thereby measuring the distance between the target objects and the laser ranging module; the distance information measured by the laser ranging module is transmitted to a controller; the mobile phone remotely sends a control signal for controlling the robotic arm to the controller via a wireless network communication module; the controller sends a control signal to the joint motors in each joint group of the robotic arm, thereby enabling the mobile phone to remotely control the robotic arm to perform a linear motion mode, a rotational motion mode, a single-axis motion mode, or an automatic motion mode to reach a target position; Linear motion mode: The mobile phone remotely controls the end of the robotic arm along 、 、 Move in three mutually perpendicular axis directions; Rotational motion mode: The mobile phone remotely controls the end of the robotic arm to rotate 、 、 Rotation about three mutually perpendicular axes; Single-axis motion mode: The mobile phone remotely controls the rotation of a single joint group of the robotic arm; Automatic motion mode: The controller remotely controls the end of the robotic arm to automatically reach the target object.

[0006] Preferably, a switch for deflecting the rotating platform around the vertical axis and flipping around the horizontal axis is provided in the mobile phone interface. In the automatic motion mode, the operator continuously presses the switch for deflecting the rotating platform around the vertical axis and flipping around the horizontal axis on the mobile phone interface. Before the operator releases the mobile phone interface, the mobile phone continuously sends a control signal to the controller remotely through the wireless network communication module. The controller controls the deflection motor and the flipping motor to rotate continuously. When the operator releases the mobile phone interface, the deflection motor drives the rotating platform to deflect around the vertical axis by an angle The flip motor drives the rotating platform to flip around the horizontal axis. , so that the camera collects images of target objects at different directions, and the laser ranging module emits laser points to target objects at different directions, thereby measuring the distance between the target object and the laser ranging module ; The position coordinates of the target object relative to the laser ranging module are: , , , ,The controller controls the rotation of each joint motor according to the position coordinates of the target object, so that the end of the robotic arm automatically reaches the position of the target object.

[0007] Preferably, a single joint group rotation switch is provided in the mobile phone interface, and the current rotation angle of the single joint group of the robotic arm is When the operator continuously presses the single joint group rotation switch on the mobile phone interface, the mobile phone continuously sends the single joint group rotation control signal to the controller remotely through the wireless network communication module. The controller controls the single joint motor of the robotic arm to continuously rotate, making the single joint group of the robotic arm rotate per second. Angle, when the operator releases the single joint group rotation switch on the mobile phone interface, the single joint group of the robotic arm stops rotating, and the rotation angle of the single joint group of the robotic arm is , And the time of continuously pressing the mobile phone interface switch The relationship between .

[0008] Preferably, an interface movement switch is provided in the mobile phone interface, and the interface movement switch includes Axis movement, Axis movement, Switch for axis movement; In linear motion mode, the current coordinate position of the end of the robot arm is , the operator continues to press the Axis movement, Axis movement, When the switch of the axis movement is on, before the operator releases the mobile phone interface, the mobile phone continues to send the movement control signal to the controller remotely through the wireless network communication module. The controller controls the joint motors of the robot arm to rotate continuously, so that the ends of the robot arms move along mutually perpendicular axes. axis, axis, Axis movement per second Distance, when the operator releases the switch on the mobile phone interface, the end of the robotic arm stops moving, and the position coordinates of the end of the robotic arm are , And the time of continuously pressing the mobile phone interface switch The relationship between , , .

[0009] Preferably, an interface rotary switch is provided in the mobile phone interface, and the interface rotary switch includes Axis rotation, Axis rotation, Switch for shaft rotation; In the rotational motion mode, the current posture angle of the end of the robot arm is , the operator continues to press the Axis rotation, Axis rotation, When the axis rotation switch is on, before the operator releases the mobile phone interface, the mobile phone continues to send rotation control signals to the controller remotely through the wireless network communication module. The controller controls the joint motors of the robotic arm to rotate continuously, so that the end of the robotic arm rotates around axis, axis, Axis rotations per second Angle, when the operator releases the interface rotation switch on the mobile phone interface, the end of the robotic arm stops rotating; the end of the robotic arm rotates around axis, axis, The pose angle after axis rotation is , And the time of continuously pressing the mobile phone interface switch The relationship between , , .

[0010] Beneficial effects of the present invention: The present invention uses a mobile phone to remotely control the robot arm to move in linear motion mode, rotational motion mode, single-axis motion mode or automatic mode; in the linear motion mode, the mobile phone remotely controls the end of the robot arm to move along the 、 、 The robot moves in three mutually perpendicular axes; in the rotational motion mode, the mobile phone remotely controls the end of the robot arm to rotate 、 、 Three mutually perpendicular axes rotate; in single-axis motion mode, the mobile phone remotely controls the rotation of a single joint group of the robotic arm; in automatic motion mode, the mobile phone remotely controls the end of the robotic arm to automatically reach the target object, thereby improving the maneuverability of the remote-controlled robot to reach the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0012] Figure 1 It is a signal transmission path diagram of a robot remotely monitored by a mobile phone of the present invention; Figure 2 It is a schematic diagram of the movement of the robot remotely monitored by a mobile phone of the present invention.

[0013] Figure annotation: 1-Mobile phone, 2-Robot arm, 3-Camera, 4-Target object, 5-Laser ranging module, 6-Rotation platform, 7-Wireless network communication module, 8-Controller, 9-Joint motor, 10-Yaw motor, 11-Flip motor. DETAILED DESCRIPTION

[0014] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it should not be understood as a limitation on the scope of protection of the present invention.

[0015] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0016] In the description of the present invention, "several" means one or more, "many" means more than two, "greater than," "less than," and "exceed" are understood to exclude the number itself, while "above," "below," and "within" are understood to include the number itself. The use of "first" and "second" in the description is solely for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance, implicitly specifying the number of the indicated technical features, or implicitly specifying the order of the indicated technical features.

[0017] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, and connecting should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0018] Reference Figure 1-Figure 2 , a preferred embodiment of the present invention, a method for remotely controlling a robot's mechanical arm to reach a target position by a mobile phone, comprising a target object 4, a robot, a mobile phone 1, a controller 8 and a wireless network communication module 7, wherein the robot comprises a walking trolley, a mechanical arm 2 and a support rod are provided on the walking trolley, the mechanical arm 2 comprises a plurality of joint groups, the joint groups comprise joint motors 9, a flip motor 11 is provided on the support rod, a connecting frame is provided on the flip motor 11, a deflection motor 10 is provided on the connecting frame, a rotating platform 6 is provided on the deflection motor 10, a camera 3 and a laser ranging module 5 are installed on the rotating platform 6, the method is as follows: the camera 3 first collects mechanical The image of the arm 2 and its surrounding environment, and the image captured by the camera 3 are displayed on the mobile phone 1. Secondly, the laser ranging module 5 emits laser points to the target object 4 in different directions, thereby measuring the distance between the target object 4 and the laser ranging module 5. The distance information measured by the laser ranging module 5 is transmitted to the controller 8. The mobile phone 1 remotely sends a control signal for controlling the robotic arm 2 to the controller 8 through the wireless network communication module 7. The controller 8 sends a control signal to the joint motor 9 in each joint group of the robotic arm 2, thereby realizing that the mobile phone 1 remotely controls the robotic arm 2 to perform linear motion mode, rotational motion mode, single-axis motion mode or automatic mode to reach the target position; Linear motion mode: Mobile phone 1 remotely controls the end of robotic arm 2 along 、 、 Move in three mutually perpendicular axis directions; Rotational motion mode: Mobile phone 1 remotely controls the end of the robotic arm 2 to rotate 、 、 Rotation about three mutually perpendicular axes; Single-axis motion mode: mobile phone 1 remotely controls the rotation of a single joint group of the robotic arm 2; it should be noted that the specific mechanism of the robotic arm 2 has been disclosed in patent application number "202420446386.8", so it will not be described in detail.

[0019] Automatic motion mode: Mobile phone 1 remotely controls the end of robotic arm 2 to automatically reach the target object.

[0020] In this embodiment, a switch for deflecting the rotating platform 6 around the vertical axis and flipping around the horizontal axis is provided in the interface of the mobile phone 1; in the automatic motion mode, the operator continuously presses the switch for deflecting the rotating platform 6 around the vertical axis and flipping around the horizontal axis on the interface of the mobile phone 1. Before the operator releases the interface of the mobile phone 1, the mobile phone 1 continuously sends a control signal to the controller 8 remotely through the wireless network communication module 7. The controller 8 controls the deflection motor 10 and the flipping motor 11 to rotate continuously. When the operator releases the interface of the mobile phone 1, the deflection motor 10 drives the rotating platform 6 to deflect around the vertical axis by an angle of 0. The turning motor 11 drives the rotating platform 6 to turn around the horizontal axis by an angle of , so that the camera 3 collects images of the target object 4 at different positions, and the laser ranging module 5 emits laser points to the target object 4 at different positions, thereby measuring the distance between the target object 4 and the laser ranging module 5 ; The position coordinates of the target object 4 relative to the laser ranging module 5 are , , , The controller 8 controls the rotation of each joint motor 9 according to the position coordinates of the target object 4, so that the end of the robot arm 2 automatically reaches the position of the target object 4. Further, the controller 8 controls the robot arm 2 by controlling the joint motors 9 of each joint group.

[0021] In this embodiment, a single joint group rotation switch is set in the mobile phone interface, and the current rotation angle of the single joint group of the robot arm 2 is When the operator keeps pressing the single joint group rotation switch on the mobile phone 1 interface, the mobile phone 1 continuously sends the single joint group rotation control signal to the controller 8 remotely through the wireless network communication module 7. The controller 8 controls the single joint motor 9 of the robot arm 2 to rotate continuously, so that the single joint group of the robot arm 2 rotates per second. Angle, when the operator releases the single joint group rotation switch on the mobile phone 1 interface, the single joint group of the robot arm 1 stops rotating, and the rotation angle of the single joint group of the robot arm 2 is , The time of continuously pressing the interface switch of mobile phone 1 The relationship between .

[0022] In this embodiment, an interface movement switch is provided in the interface of the mobile phone 1, and the interface movement switch includes Axis movement, Axis movement, Switch for axis movement; In linear motion mode, the current coordinate position of the end of robot arm 2 is , the operator continues to press the Axis movement, Axis movement, When the switch of the axis movement is on, before the operator releases the interface of the mobile phone 1, the mobile phone 1 continues to send the movement control signal to the controller 8 remotely through the wireless network communication module 7, and the controller 8 controls the joint motors 9 of the robot arm 2 to rotate continuously, so that the ends of the robot arm 2 are respectively along mutually perpendicular axes. axis, axis, Axis movement per second Distance, when the operator releases the switch on the mobile phone 1 interface, the end of the robotic arm 2 stops moving, and the position coordinates of the end of the robotic arm 2 are , The time of continuously pressing the interface switch of mobile phone 1 The relationship between , , .

[0023] In this embodiment, an interface rotary switch is provided in the interface of the mobile phone 1, and the interface rotary switch includes Axis rotation, Axis rotation, Switch for shaft rotation; In the rotational motion mode, the current posture angle of the end of the robot arm 2 is , the operator continues to press the Axis rotation, Axis rotation, When the axis rotation switch is on, before the operator releases the mobile phone 1 interface, the mobile phone 1 continues to send a rotation control signal to the controller 8 remotely through the wireless network communication module 7, and the controller 8 controls the joint motors 9 of the robot arm 2 to rotate continuously, so that the ends of the robot arm 2 rotate around axis, axis, Axis rotations per second Angle, when the operator releases the interface rotation switch on the mobile phone 1 interface, the end of the robot arm 2 stops rotating; the end of the robot arm 2 rotates around axis, axis, The pose angle after axis rotation is , The time of continuously pressing the interface switch of mobile phone 1 The relationship between , , .

[0024] Under the premise that no conflict occurs, those skilled in the art may freely combine and superimpose the above-mentioned additional technical features.

[0025] The above descriptions are only preferred embodiments of the present invention. Any technical solution that achieves the purpose of the present invention by substantially the same means shall fall within the scope of protection of the present invention.

Claims

1. A method for remotely controlling a robot's mechanical arm to reach a target position using a mobile phone, comprising a target object, a robot, a mobile phone, a controller, and a wireless network communication module, wherein the robot comprises a traveling carriage, on which a mechanical arm and a support rod are disposed, the mechanical arm comprising multiple joint groups, each joint group comprising a joint motor, a tilting motor disposed on the support rod, a connecting frame disposed on the tilting motor, a deflection motor disposed on the connecting frame, a rotating platform disposed on the deflection motor, a camera and a laser ranging module mounted on the rotating platform, and characterized in that: The method comprises the following steps: firstly, a camera captures images of the robotic arm and its surroundings, and the images captured by the camera are displayed on a mobile phone; secondly, a laser ranging module emits laser points to target objects in different directions, thereby measuring the distance between the target objects and the laser ranging module; the distance information measured by the laser ranging module is transmitted to a controller; the mobile phone remotely sends a control signal for controlling the robotic arm to the controller via a wireless network communication module; the controller sends a control signal to the joint motors in each joint group of the robotic arm, thereby enabling the mobile phone to remotely control the robotic arm to perform a linear motion mode, a rotational motion mode, a single-axis motion mode, or an automatic motion mode to reach a target position; Linear motion mode: The mobile phone remotely controls the end of the robotic arm along 、 、 Move in three mutually perpendicular axis directions; Rotational motion mode: The mobile phone remotely controls the end of the robotic arm to rotate 、 、 Rotation about three mutually perpendicular axes; Single-axis motion mode: The mobile phone remotely controls the rotation of a single joint group of the robotic arm; Automatic motion mode: The controller remotely controls the end of the robotic arm to automatically reach the target object.

2. The method of claim 1, wherein: The mobile phone interface is provided with switches for deflecting the rotating platform around the vertical axis and flipping around the horizontal axis. In the automatic motion mode, the operator continuously presses the switches for deflecting the rotating platform around the vertical axis and flipping around the horizontal axis on the mobile phone interface. Before the operator releases the mobile phone interface, the mobile phone continuously sends control signals to the controller remotely through the wireless network communication module. The controller controls the deflection motor and flip motor to rotate continuously. When the operator releases the mobile phone interface, the deflection motor drives the rotating platform to deflect around the vertical axis. The flip motor drives the rotating platform to flip around the horizontal axis. , so that the camera collects images of target objects at different directions, and the laser ranging module emits laser points to target objects at different directions, thereby measuring the distance between the target object and the laser ranging module ; The position coordinates of the target object relative to the laser ranging module are: , , ,The controller controls the rotation of each joint motor according to the position coordinates of the target object, so that the end of the robotic arm automatically reaches the position of the target object.

3. The method of remotely controlling a robot arm to reach a target position using a mobile phone according to claim 2, characterized in that: The mobile phone interface is equipped with a single joint group rotation switch. The current rotation angle of a single joint group of the robot arm is When the operator continuously presses the single joint group rotation switch on the mobile phone interface, the mobile phone continuously sends the single joint group rotation control signal to the controller remotely through the wireless network communication module. The controller controls the single joint motor of the robotic arm to continuously rotate, making the single joint group of the robotic arm rotate per second. Angle, when the operator releases the single joint group rotation switch on the mobile phone interface, the single joint group of the robotic arm stops rotating, and the rotation angle of the single joint group of the robotic arm is , And the time of continuously pressing the mobile phone interface switch The relationship between .

4. The method of remotely controlling a robot arm to reach a target position using a mobile phone according to claim 3, characterized in that: The mobile phone interface is equipped with an interface mobile switch, which includes Axis movement, Axis movement, Switch for axis movement; In linear motion mode, the current coordinate position of the end of the robot arm is , the operator continues to press the Axis movement, Axis movement, When the switch of the axis movement is on, before the operator releases the mobile phone interface, the mobile phone continues to send the movement control signal to the controller remotely through the wireless network communication module. The controller controls the joint motors of the robot arm to rotate continuously, so that the ends of the robot arms move along mutually perpendicular axes. axis, axis, Axis movement per second Distance, when the operator releases the switch on the mobile phone interface, the end of the robotic arm stops moving, and the position coordinates of the end of the robotic arm are , And the time of continuously pressing the mobile phone interface switch The relationship between , , .

5. The method of remotely controlling a robot's mechanical arm to reach a target position using a mobile phone according to claim 4, characterized in that: The mobile phone interface is equipped with an interface rotation switch, which includes Axis rotation, Axis rotation, Switch for shaft rotation; In the rotational motion mode, the current posture angle of the end of the robot arm is , the operator continues to press the Axis rotation, Axis rotation, When the axis rotation switch is on, before the operator releases the mobile phone interface, the mobile phone continues to send rotation control signals to the controller remotely through the wireless network communication module. The controller controls the joint motors of the robotic arm to rotate continuously, so that the end of the robotic arm rotates around axis, axis, Axis rotations per second Angle, when the operator releases the interface rotation switch on the mobile phone interface, the end of the robotic arm stops rotating; the end of the robotic arm rotates, axis, axis, The pose angle after axis rotation is , And the time of continuously pressing the mobile phone interface switch The relationship between , , .

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