CN116442243A - Intelligent control system and method of multifunctional load self-adaptive mechanical smart hand - Google Patents
Intelligent control system and method of multifunctional load self-adaptive mechanical smart hand Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J21/00—Chambers provided with manipulation devices
- B25J21/02—Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls; Gloves therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention belongs to the technical field of mechanical dexterous hands, and discloses an intelligent control system and an intelligent control method of a multifunctional load self-adaptive mechanical dexterous hand, wherein the intelligent control system of the multifunctional load self-adaptive mechanical dexterous hand comprises a glove control system, a mechanical dexterous hand control system and a wireless remote control device, wherein the glove control system is responsible for collecting analog quantity signals of flexible sensors of fingers on a glove and butting the signals with the mechanical dexterous hand control system through a wireless communication protocol; the mechanical smart hand control system is capable of self-adapting adjusting and controlling in severe conditions by receiving a 'butt joint' signal, corresponding the signal to a control instruction and driving the mechanical smart hand to act, controlling the mechanical smart hand based on specific sound and color recognition, sensing gesture gestures and performing wireless encryption communication remote control.
Description
Technical Field
The invention belongs to the technical field of mechanical dexterous hands, and particularly relates to an intelligent control system and method of a multifunctional load self-adaptive mechanical dexterous hand.
Background
At present, the robot field is developing at a high speed under the prospect of intelligent science and technology rapid development, and gradually changes into a mature high-new technology-intensive electromechanical integrated product; the development of the multifunctional load mechanical dexterous hand belongs to a staged development in the intelligent field, and researches show that the practical production and living application on the market is very few, and a lot of products are almost in the research and development stage of scientific research institutions and higher schools; in the face of the almost blank application field of the market level, the market value space of the intelligent load mechanical dexterous hand is very large in the future, and the intelligent load mechanical dexterous hand is an air port pointer in the development field of intelligent robots.
The intelligent gripping of the multi-finger mechanical dexterous hand is a technical problem of position coordination control; the multifunctional load humanoid mechanical smart hand is developed to realize intelligent automatic control of carrying, replacing dangerous cutters, assembling machines and the like, so that the labor productivity can be improved and the production cost can be reduced; in severe environmental conditions (such as high temperature, high pressure, low temperature, low pressure, dust, noise, odor, radioactivity or other toxic pollution or occasions with narrow working space), the mechanical dexterous hand can replace people to realize high-difficulty operation, and improve the production condition of complex environment; in the field of medical appliances, disabled people apply humanoid low-load mechanical dexterous hands to finish daily life self-care. In the military aspect, the humanoid mechanical smart hand is combined with the electric remote control carrying platform, so that remote mine-discharging explosion-proof and automatic weapon-launching attack targets and the like can be realized. In a word, the human-simulated mechanical dexterous hand can reduce the labor cost and accurately control the quality of the produced products with high efficiency, high quality and high precision.
In conclusion, how to effectively and practically apply mechanical dexterous hands is a necessary trend in the field of intelligent development of robots in the future; however, there are few control systems and driving devices in the market for effectively controlling the operation capability of the mechanical smart hand, and the existing mechanical smart hand has single control performance and technical aspects, disturbed real-time communication, unfriendly interaction between the machine and man, limited wireless remote control distance and poor control repeated positioning precision.
Disclosure of Invention
The invention aims to solve the main technical problem of providing an intelligent control system and method of a multifunctional load self-adaptive mechanical dexterous hand, which can be used for self-adaptive adjustment control in severe conditions, controlling the mechanical dexterous hand based on specific sound and color recognition, sensing gesture gestures and performing wireless encryption communication remote control.
In order to solve the technical problems, the invention provides the following technical scheme:
the intelligent control system of the multifunctional load self-adaptive mechanical smart hand comprises a glove control system, a mechanical smart hand control system and a wireless remote control device, wherein the glove control system is used for collecting analog quantity signals of each finger flexible sensor on the glove and butting the signals with the mechanical smart hand control system through a wireless communication protocol; the mechanical dexterous hand control system receives the 'butt joint' signal, and the signal corresponds to the control instruction, so that the mechanical dexterous hand is driven to act.
The following is a further optimization of the above technical solution according to the present invention:
the glove control system comprises a glove side upper computer system and a glove side hardware system, wherein the glove side hardware system comprises a remote control wireless glove, a power supply module A, a wireless transmission module A, a flexible sensor, a digital-to-analog conversion module A and a low-voltage alarm device A;
the power supply module A, the wireless transmission module A, the flexible sensor, the digital-to-analog conversion module A and the low-voltage alarm device are respectively and electrically connected with the glove side upper computer system.
Further optimizing: the mechanical dexterous hand control system comprises a dexterous hand side lower computer system and a dexterous hand side hardware system, wherein the dexterous hand side hardware system comprises: the steering engine comprises a power supply module B, a control module, a wireless transmission module B, a digital-to-analog conversion module B, a low-voltage alarm device B and a steering engine power module;
the power supply module B, the control module, the wireless transmission module B, the digital-to-analog conversion module B, the low-voltage alarm device B and the steering engine power module are respectively and electrically connected with the smart hand side lower computer system.
Further optimizing: the wireless transmission module A and the wireless transmission module B are connected by adopting wireless communication, the wireless transmission module A sends out an instruction, and the wireless transmission module B is used for receiving the instruction.
Further optimizing: the digital-to-analog conversion module A converts the digital-to-analog conversion into an analog signal for directly controlling the stroke of the built-in power system in proportion, and then sends the analog signal to the mechanical smart hand control system through the wireless transmission module A; the digital-to-analog conversion module B can convert the digital-to-analog conversion into an analog signal capable of directly controlling the stroke of the built-in power system in proportion.
Further optimizing: an ultrasonic array sensor and a tension induction sensor are arranged on the mechanical smart hand, and the ultrasonic sensor is used for avoiding barriers in a path and preventing collision; the tension sensing sensor is used for detecting the tension of the steering engine and the bending angle of the mechanical finger in real time and reflecting the posture and position status information of the mechanical arm in real time.
Further optimizing: the voice recognition system also comprises a specific voice recognition module, wherein the specific voice recognition module comprises a database, a voice recognition conversion module and a voice driving interface; the voice of a specific person is trained manually to the database, and when the module collects the entered keywords, the information code value is sent to the control driving interface, so that the final voice recognition control is completed.
Further optimizing: the self-induction type hand-held robot further comprises a gravity self-induction gesture balancing module, wherein the gravity self-induction gesture balancing module is composed of a gyroscope, a gesture sensor, a gravity induction integrated circuit and a power supply unit, and the gyroscope, the gesture sensor, the gravity induction and the power supply unit are respectively and electrically connected with a smart hand-held lower computer system.
Further optimizing: the steering engine power module comprises five servo digital steering engine units and a balance digital steering engine, the control module is electrically connected with the control end of the steering engine power module, and the control module performs action execution of each steering engine by receiving action program instructions sent by the specific sound and color voice control module and the wireless remote control device end.
The intelligent control method of the multifunctional load self-adaptive mechanical dexterous hand is based on the intelligent control system of the multifunctional load self-adaptive mechanical dexterous hand, and comprises the following steps:
step 1, an intelligent control system starts to operate: the manipulator of the mechanical dexterous hand starts the control system of the two warping heads of the multifunctional self-adaptive machine according to the self-needs and the correct, standard and safe operation flow;
step 2, the wireless receiving transmitter performs high-speed network receiving encryption: after the mechanical smart hand control system operates, the communication encoder module starts to work, the first time of connection encryption dialing is implemented by a manipulator, and the subsequent power-on operation can be automatically performed;
step 3, a power supply module and a balancing module: after the smart hand control system operates, the power supply module starts to power up in a servo mode, and a stable power supply is provided for each circuit integrated board and the driving motor; after the balance module is electrified, the wireless receiving transmitter in the step 2 starts self-calibrating error feedback data parameters, so that the system starts to prepare for stable control, enters standby, and prepares for entering the step 4;
step 4, coding encryption and instruction scanning waiting: after the mechanical smart hand control system is started, the instructions in three directions are circularly read through circularly scanning glove control instructions, specific human voice recognition instructions and wireless remote control device button instructions, and waiting is carried out when no signal is received;
step 5, man-machine interaction control mechanical smart hand: the embedded controller of the mechanical dexterous hand sends out a control command through the steps, the control module sends a command signal to the driving device and then drives the servo steering engine unit module and the power module, so that the mechanical dexterous hand can complete corresponding actions according to the command;
step 6, self-adaptive adjustment and data feedback: the control system feeds back compensation data to the controller in real time and performs self-optimization in the process of controlling the action of the manipulator through the sound and color recognition, the wireless remote control device and the glove gesture, and the step is accompanied with the implementation process of the step 5 in real time;
step 7, the control system finishes working: and a control software interface or a power button is turned off to send a stop signal, and a mechanical dexterous hand can automatically execute a control program for homing and returning to the operation origin.
The intelligent remote control device adopts the technical scheme, has ingenious conception and reasonable structure, adopts wireless high-speed encryption transmission dial communication, utilizes the mode of gesture change control of wireless gloves, tone training recognition of specific people and function buttons of wireless remote control device software to collect and screen effective control information in real time, and sends instructions for sound and color recognition detection and priority order to a drive control module through an intelligent control algorithm so as to finish control actions with different safety levels and high precision.
When an operator sends a single-action mechanical finger instruction, the mechanical finger can perform single-action actions in real time according to the gesture of the wireless glove, voice information of effective sound and color recognition and requirements of software function keys, and can perform actions of the finger 1, the finger 2, the finger 3, the finger 4 and the finger 5, and when the gesture action of the operator is stopped or the gesture action of the operator exceeds the action range of the mechanical hand, the mechanical dexterous hand can be correspondingly stopped.
When an operator gives out grabbing, holding, loosening and retracting actions, five mechanical fingers can simultaneously act to achieve the function of grabbing the target.
When the mechanical dexterous hand touches an obstacle, a section of safe distance avoiding action can be automatically carried out, and an automatic protection function is realized.
When the mechanical dexterous hand encounters an obstacle of a non-target object in the motion path process, the system can automatically conduct the action of obstacle avoidance path rescheduling, and meanwhile, the action can be stopped at any time. And when the mechanical dexterous hand receives a return instruction, the mechanical dexterous hand returns to an initialization state.
The mechanical smart hand communication mode of the invention carries out encryption technology setting, is not interfered by external signals, can designate a specific communication channel through dialing codes, and has strong real-time signal receiving and transmitting and interactivity.
The invention can make up the defects of single control function, poor repeated positioning precision, strong interference by external environment and insufficient autonomous protection level of the current mechanical smart hand, thereby filling the more convenient and optimal control mode of operators, realizing more friendly interaction with the mechanical smart hand and active protection between devices, and also being capable of better interaction information under the condition of specific human voice recognition and carrying out diversified and efficient control actions in real time.
The control system and the control method are obviously different from the existing manipulator control modes in the market, not only are intelligent multifunctional selection control modes (gloves, sound and color recognition and wireless remote control devices) adopted, but also can be used for automatically setting the safety protection level in the operable range, controlling the precision requirement and automatically protecting the device; the system can be integrated into social production and life, man-machine interaction and equipment interaction can be realized, the system has very wide application space, intelligent home, medical auxiliary equipment, automatic production and manufacturing, military field application and the like, and can be integrated into various production and life occasions by combining with other interface platforms.
The invention will be further described with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic block diagram of a control system in an embodiment of the invention;
FIG. 2 is a basic architecture diagram of a mechanical dexterous hand in an embodiment of the present invention;
FIG. 3 is a schematic diagram of a power module of a mechanical dexterous hand system in an embodiment of the present invention;
FIG. 4 is a schematic diagram of a mechanical dexterous hand in an embodiment of the present invention;
FIG. 5 is a schematic diagram of a wireless remote control module according to an embodiment of the present invention;
FIG. 6 is a block diagram of a speech module system according to an embodiment of the present invention;
FIG. 7 is a control block diagram of an embodiment of the present invention;
fig. 8 is a flow chart in an embodiment of the present invention.
Detailed Description
As shown in fig. 1-8: the intelligent control system of the multifunctional load self-adaptive mechanical smart hand comprises a glove control system, a mechanical smart hand control system and a wireless remote control device, wherein the glove control system is used for collecting analog quantity signals of each finger flexible sensor on the glove and butting the signals with the mechanical smart hand control system through a wireless communication protocol; the mechanical dexterous hand control system receives the 'butt joint' signal, and the signal corresponds to the control instruction, so that the mechanical dexterous hand is driven to act.
The glove control system comprises a glove side upper computer system and a glove side hardware system, wherein the glove side hardware system comprises a remote control wireless glove, a power supply module A, a wireless transmission module A, a flexible sensor, a digital-to-analog conversion module A and a low-voltage alarm device A.
The power supply module A, the wireless transmission module A, the flexible sensor, the digital-to-analog conversion module A and the low-voltage alarm device are respectively connected with the glove side upper computer system.
The mechanical dexterous hand control system comprises a dexterous hand side lower computer system and a dexterous hand side hardware system, wherein the dexterous hand side hardware system comprises: the steering engine comprises a power supply module B, a control module, a wireless transmission module B, a digital-to-analog conversion module B, a low-voltage alarm device B and a steering engine power module.
The power supply module B, the control module, the wireless transmission module B, the digital-to-analog conversion module B, the low-voltage alarm device B and the steering engine power module are respectively connected with the smart hand side lower computer system.
The flexible sensor is designed for the remote control wireless glove, the flexible sensor comprises a plurality of twisting bending sensors which are fixedly arranged on five fingers of the remote control wireless glove, the twisting bending sensors are arranged along each finger of the remote control wireless glove, the twisting bending sensors are electrically connected with the glove side upper computer system, and the twisting bending sensors feed analog electric signals back into the glove side upper computer system in real time through mechanical bending change.
The twisting and bending sensor is a device which is converted into continuous analog electric signals by changing the resistance value of the twisting and bending sensor in the prior art, and the twisting and bending sensor is arranged on the five fingers of the remote control wireless glove respectively, so that the change of the five fingers of a user is detected by the twisting and bending sensor.
The power supply module A is electrically connected with the UNO core control board, and outputs a 5-volt power supply for the wireless transmission module A.
The low-voltage alarm device A adopts a lithium battery 2-8S buzzer, and is used for displaying the total voltage in the lithium battery A in real time and giving an alarm when the voltage of the lithium battery A is too low.
The lithium battery A is arranged on the remote control wireless glove and is used for supplying power to all parts on the remote control wireless glove.
The integrated circuit of the power supply module a has overload and overcurrent protection.
The digital-to-analog conversion module A is electrically connected with the glove side upper computer system, can convert the digital-to-analog conversion module A into an analog signal capable of directly controlling the stroke of the built-in power system in a proportional manner through digital-to-analog conversion, and then sends the analog signal into the mechanical smart hand control system through the wireless transmission module A.
The power supply module B is respectively and electrically connected with the Arduino mega 2560 and the wireless transmission module B, and the power supply module B is used for supplying power to the Arduino mega 2560 and the wireless transmission module B.
The wireless transmission module A and the wireless transmission module B are connected by adopting wireless communication, the wireless transmission module A sends out an instruction, and the wireless transmission module B is used for receiving the instruction.
The digital-to-analog conversion module B is electrically connected with the smart hand side lower computer system, and the digital-to-analog conversion module B can convert the digital-to-analog conversion into an analog signal capable of directly controlling the stroke of the built-in power system in a proportional manner.
The low-voltage alarm device B adopts a lithium battery 2-8S buzzer, and is used for displaying the total voltage in the lithium battery B in real time and giving an alarm when the voltage of the lithium battery B is too low.
The lithium battery B is arranged on the mechanical smart hand and is used for supplying power to all parts of the mechanical smart hand.
The steering engine power module consists of five servo digital steering engine units, an embedded STM32 board card and a power supply control board, and is formed by casting and synthesizing a plurality of layers of patches through a mini PCB circuit integrated board which is designed independently, so that the weight is light, and the power supply is intensively distributed and protected. Even if the finger power steering engine and the balance digital steering engine are clamped in the occlusion state all the time, the steering engine cannot reach the target angle for a long time and is in the heavy current state all the time, the servo digital steering engine cannot be burned, and the action process is consistent and subjected to overload protection by the overcurrent protection unit of the power control board. The switch power supply version is dual power supply, and power module can output 12 volt power and 5 volt power, and wireless voltage regulation potentiometre + steering wheel control panel is added, the synchronous continuous action of the servo steering wheel of maximum steerable 16 ways digital, and the modularization of this kind of servo steering wheel unit module inserts design safe and reliable soon.
As shown in fig. 4, the ultrasonic array sensors and the tension induction sensors are installed at the (2) and (4) positions of the mechanical dexterous hand, and the ultrasonic sensors are used for path obstacle avoidance and collision prevention; the tension sensing sensor is used for detecting the tension of the steering engine and the bending angle of the mechanical finger in real time and reflecting the posture and position status information of the mechanical arm in real time.
The output end of the tension induction sensor is electrically connected with the lower computer system at the side of the smart hand, and the tension induction sensor feeds back the force of the servo steering engine to prevent the force from exceeding a set size range and damaging equipment.
In the embodiment, all the sensors of the mechanical dexterous hand are pluggable and movable, so that the replacement and maintenance are convenient.
As shown in fig. 4, the (3) position of the mechanical dexterous hand can be inserted into a binocular vision camera for remote control assistance, so that a pair of eyes is added to the mechanical dexterous hand, and the remote video remote control is facilitated.
The remote control wireless glove is a 'remote control side' of the control system, and mainly comprises a flexible sensor, a wireless transmission module A and a power supply module A, and can send instructions to a mechanical smart hand control system through wireless communication.
The wireless transmission module A is a bridge for remotely controlling communication between the wireless glove and the mechanical smart hand, and achieves the function of wireless data information transmission.
The wireless remote control device is another option except for a remote control wireless glove, and the wireless remote control device sends out a control signal and is in butt joint with the mechanical smart hand control system through a wireless communication protocol; the mechanical smart hand control system receives the 'butt joint' signal, and corresponds the signal to a control instruction so as to drive a corresponding steering engine to act.
The wireless remote control device uses two apple APP development languages of Objective-C, swift, and based on an integrated development tool XCODE running on an operating system Mac OS X, and combines the current popular software APP open source code to autonomously develop a designed control software used in an OS system.
The wireless remote control device is connected with the wireless transmission module B through the communication coding module in an encrypted communication mode, and the wireless remote control device performs data transmission with the mechanical smart hand control system through the communication coding module and the wireless transmission module B.
Through wireless encryption communication connection, data transmission, a mechanical dexterous hand operator can independently program continuous actions through controlling keys on a software interface, can remotely control single-step actions of the mechanical hand in real time, can store a section of programming actions, and can circularly and repeatedly control actions.
Basic movement control (single movements of fingers 1, 2, 3, 4 and 5, grabbing/loosening actions, tightening/retracting actions and the like) of the mechanical dexterous hand is realized, real-time and high-precision data transmission feedback is combined, the mechanical dexterous hand can be effectively applied to remote operation (intelligent production and manufacturing, medical auxiliary equipment, military operation and the like), and manpower substitution under special severe environmental conditions is realized.
The wireless transmission module A and the wireless transmission module B are shown in fig. 1 and 2, and are long-distance and stable communication networks formed by local area network communication, ACII code encryption transmission technology protocol and infrared NRF24L01 Bluetooth modules.
At the transmitting end, the flexible sensor converts physical signals into analog electrical signals in the glove bending process, and real-time variable quantity and weight data are subjected to full duplex, point-to-point and real-time signal handshake interaction with a mechanical smart hand at the receiving end through the wireless communication coding module, so that perfect anti-interference is realized. The new version Nano V3.0 CH340G modified version Atmega328P development board USB changes TTL stability strong, and the probability that receives external environment to influence is very little, verifies through many prototype experiments that its control reliability, long distance communication instantaneity are very stable, if through AP reinforcing signal transmission, furthest test communication distance can prolong to the distance of up kilometer, in addition, if be equipped with long-range binocular vision assistance, can be near even effect of action of real person.
The wireless transmission module A and the wireless transmission module B are used as interface bridges between software and hardware in a control system, so that high-speed transmission interaction of signals without interference is realized, and the wireless transmission module A and the wireless transmission module B are very important unit modules in the control system; the camera also has an interface expansion function, and is used for laying a cushion for the placement of the binocular vision camera.
The figure 3 is a schematic diagram of providing a switching power supply version as a dual power supply, wherein the power supply module can output 12-volt power supply and 5-volt power supply; the integrated circuit has overload and overcurrent protection, and can effectively protect an important steering engine power module, so that the serious loss is avoided.
The model of the servo steering engine can be replaced automatically according to different application occasions, so that the requirements of different load object targets are met; the steering engine of the steering engine power module can realize single action of five fingers through the wireless remote control device, glove gesture control and voice recognition instruction output, and the control system is matched to complete terminal execution action; in addition, the operator can also perform continuous and cyclic motion control requirements.
The intelligent control system of the multifunctional load self-adaptive mechanical dexterous hand further comprises a specific human voice recognition module, wherein the specific human voice recognition module is shown in fig. 6 and comprises a database, a voice recognition conversion module and a voice driving interface.
The manual work is used for training the voice of the specific person to the database, and when the module collects the entered keywords, the 64-byte information code value is sent to the control driving interface through the recognition algorithm, so that the final voice recognition control is completed.
As can be seen from fig. 6, the voice detection is performed through the keyword and the existing holder database, through the voice recognition conversion module, screening, recognition and conversion are performed, and the conclusion is obtained through the experimental data of the first prototype, so that the accuracy of voice recognition of the specific person is as high as 93%; the recognition control of the specific voice recognition module can be combined with remote coding communication to realize all the function control with the wireless remote control device software, and the detailed description is omitted here.
The specific human voice recognition module is based on a cloud service platform voice library, an STM32 chip module, and aims at training to form specific human voice control output, and combines an optimal algorithm, and the specific human voice recognition module comprises a template matching method (dynamic time bending is utilized to align training and testing feature sequences and is mainly used for fixing phrase application), a nearest neighbor method (all feature vectors are reserved during training, K nearest in training vectors are found for each vector during recognition, and accordingly recognition is performed), a neural network method, a hidden Markov model method, a clustering method, a polynomial classifier method and the like, so that a soft-hard combined modularized interface design is formed, a manipulator can burn a voice program in three modes through high-speed 3.0 serial communication, and in addition, the manipulator can directly insert memory card reading information; the module can screen the specific human voice trained by the user from the complex voice environment, and reject useless voice information. The module scanning mode has three modes: one is a circular scanning type, one is a coded encryption password input mode, the last is a single selection action mode, and a specific operator can select an optimal scheme by himself as required.
The intelligent control system of the multifunctional load self-adaptive mechanical dexterous hand further comprises a gravity self-induction gesture balancing module, wherein the gravity self-induction gesture balancing module is shown in fig. 2 and consists of a gyroscope, a gesture sensor, a gravity induction integrated circuit and a power supply unit.
And the gyroscope, the gesture sensor, the gravity sensing and the power supply unit are respectively and electrically connected with the smart hand side lower computer system.
In the case of a mechanically smart hand gripping an object, the goal of a balanced state is maintained, reached, or restored throughout the gesture motion activity.
In fig. 8, it can be known that the gravity sensing balance data is fed back to the three directions in which the control command is sent in real time, so as to calibrate and complement the error data parameters in real time, thereby achieving the real-time control requirement of high precision and improving the accuracy.
The control module is electrically connected with the control end of the steering engine power module, and the control module performs the action execution of the mechanical dexterous hand by receiving action program instructions sent by the specific sound and color voice control module and the wireless remote control device end.
The instructions of the control module comprise: the control module is used for realizing the final target requirements of operators through the control module, wherein the final target requirements of the operators are realized through the control module, and the final target requirements comprise a finger 1 action instruction, a finger 2 action instruction, a finger 3 action instruction, a finger 4 action instruction, a finger 5 action instruction, a manipulator grabbing instruction, a manipulator loosening instruction, a manipulator tightening instruction, a manipulator retracting instruction, a manipulator collision avoidance self-protection instruction, a manipulator autonomous obstacle avoidance instruction, a manipulator weight sensing instruction, a manipulator forward hand and reverse hand instruction, an autonomous programming storage action instruction 1, an autonomous programming storage action instruction 2, an autonomous programming storage action instruction 3 and the like.
The instructions of the control module include the following:
1) When the control module sends out a finger 1 action instruction, the wireless glove, the specific sound and voice control module or the wireless remote control device recognizes and detects the sent instruction signal, the instruction is fed back to the control system after being confirmed, instruction information is analyzed for the steering engine power module, and the pulling force servo digital steering engine of the finger 1 is driven to act for a certain distance at the moment, so that the stretching action of the finger 1 is generated.
2) When the control module sends out a finger 2 action instruction, the wireless glove, the specific sound and voice control module or the wireless remote control device recognizes and detects the sent instruction signal, the instruction is fed back to the control system after confirmation, instruction information is analyzed for the steering engine power module, the tension servo digital steering engine of the finger 2 is driven to act for a certain distance, and the stretching action of the finger 2 is generated.
3) When the control module sends out a finger 3 action instruction, the wireless glove, the specific sound and voice control module or the wireless remote control device recognizes and detects the sent instruction signal, the instruction is fed back to the control system after being confirmed, instruction information is analyzed for the steering engine power module, the tension servo digital steering engine of the finger 3 is driven to act for a certain distance, and the stretching action of the finger 3 is generated.
4) When the control module sends a finger 4 action instruction, the wireless glove, the specific sound and voice control module or the wireless remote control device recognizes and detects the sent instruction signal, the instruction is fed back to the control system after confirmation, instruction information is analyzed for the steering engine power module, the tension servo digital steering engine of the finger 4 is driven to act for a certain distance, and the stretching action of the finger 4 is generated.
5) When the control module sends out a finger 5 action instruction, the wireless glove, the specific sound and voice control module or the wireless remote control device recognizes, detects and sends out an instruction signal, after confirming the instruction, feeds back the instruction signal to the control system, analyzes instruction information to the steering engine power module, drives the tension servo digital steering engine of the finger 5 to act for a certain distance, and generates the stretching action of the finger 5.
6) When the control module sends out a grabbing action instruction, the wireless glove, the specific sound-color voice control module or the wireless remote control device recognizes and detects the sending instruction signal, the instruction signal is fed back to the control system after confirmation, instruction information is analyzed for the steering engine power module, the tension servo digital steering engines of the five fingers are driven to act for a certain distance at the same time, and the grabbing action of the mechanical dexterous hand is generated.
7) When the control module sends out a loosening action command, the wireless glove, the specific sound-color voice control module or the wireless remote control device recognizes and detects the sent command signal, the command signal is fed back to the control system after confirmation, command information is analyzed for the steering engine power module, the tension servo digital steering engines of the five fingers are driven to act for a certain distance at the same time, and the mechanical dexterous hand loosening action is generated.
8) When the control module sends out a tightening action instruction, the wireless glove, the specific sound-color voice control module or the wireless remote control device recognizes and detects the sent instruction signal, the instruction signal is fed back to the control system after confirmation, instruction information is analyzed to the driving device, and the tension servo digital steering engines of the five fingers are driven to act for a certain distance at the same time, so that the tightening action of the mechanical dexterous hand is generated.
9) When the control module sends a retraction action command, the wireless glove, the specific sound-color voice control module or the wireless remote control device recognizes and detects the sent command signal, the command is confirmed and then fed back to the control system, command information is analyzed and fed to the steering engine power module, and the tension servo digital steering engines of the five fingers are driven to simultaneously act for a certain distance, so that the action of retracting the mechanical dexterous hand is generated.
10 When the control module sends out an action instruction, the mechanical smart hand touches an obstacle and activates a collision avoidance protection instruction, and the mechanical hand retreats a certain safety distance to realize self protection.
11 When the control module sends out an action instruction, the mechanical dexterous hand-operated process can automatically avoid the obstacle before encountering the obstacle, and the path is re-planned, so that self-protection is realized.
As shown in fig. 8, the invention also discloses an intelligent control method of the multifunctional load self-adaptive mechanical dexterous hand, which comprises the following steps: a wireless receiving transmitter; a power supply module balancing module; code encryption and instruction scanning waiting; identifying the sound and color; a wireless remote control device; wireless transmission instruction conversion; self-adaptive adjustment, scram and data feedback.
The control method comprises the following detailed steps:
firstly, in step 1, the intelligent control system starts to operate: the manipulator of the mechanical dexterous hand starts the control system of the two warping heads of the multifunctional self-adaptive machine according to the self-needs and the correct, standard and safe operation flow.
Step 2, the wireless receiving transmitter performs high-speed network receiving encryption: after the mechanical smart hand control system operates, the communication encoder module starts to work, the first time of connection encryption dialing is implemented by a manipulator, and the subsequent power-on operation can be automatically connected. Therefore, a connecting bridge is provided for the control system, and an information instruction transmission pivot is provided for the manipulator body. This step requires maintenance of the operating state while the control system is operating.
Step 3, a power supply module and a balancing module: after the smart hand control system operates, the power supply module starts to power up in a servo mode, and a stable power supply is provided for each circuit integrated board and the driving motor. After the balance module is electrified, the wireless receiving transmitter in the step 2 starts self-calibrating error feedback data parameters, so that the system starts to prepare for stable control, enters standby, and prepares for entering the step 4.
Step 4, coding encryption and instruction scanning waiting: after the mechanical smart hand control system is started, the instructions in three directions are circularly read through circularly scanning glove control instructions, specific human voice recognition instructions and wireless remote control device button instructions, and waiting is performed when no signal is received.
Step 5, man-machine interaction control mechanical smart hand: the embedded controller of the mechanical smart hand sends a control command through the steps, the control module sends a command signal to the driving device, and then drives the servo steering engine unit module and the power module, so that the mechanical smart hand can complete corresponding actions according to the command, such as finger 1 action, finger 2 action, finger 3 action, finger 4 action, finger 5 action, mechanical hand grabbing, mechanical hand loosening, mechanical hand tightening, mechanical hand retracting, mechanical hand collision avoidance self-protection, mechanical hand autonomous obstacle avoidance, mechanical hand weight perception, mechanical hand positive hand and negative hand, autonomous programming storage action 1, autonomous programming storage action 2, autonomous programming storage action 3 and the like.
And 6, self-adaptive adjustment and data feedback. And (3) feeding back compensation data to the controller in real time by the control system in the process of controlling the action of the manipulator through the sound and color recognition, the wireless remote control device and the glove gesture, and performing self-optimization through an algorithm, wherein the step is accompanied with the implementation process of the step 5 in real time.
Step 7, the control system finishes working: through the 6 steps, the mechanical smart hand control system realizes the effective control of the mechanical smart hand with different safety levels and different loads through specific sound and color recognition, gesture sensing, wireless encryption communication remote control and other modes, and can adapt to the work of regulation control in the environment with non-structure, high strength and severe conditions. If the work of the control system of the mechanical dexterous hand is to be finished, the control software interface or the power button is turned off to send a stop signal, and then the mechanical dexterous hand automatically executes a control program of homing and returning to the working origin.
The following table shows the model and name of each hardware in the glove control system and the mechanical smart hand control system:
| model number | Name of the name | Size of the device | Description of the invention | Remarks |
| Overrunning MG995 | RB-150MG Steering engine | 40.8mm X 20.1mm X 38mm | Operating voltage of 5V-7.2V | 13Kg·cm(5V) 15KG·cm(6V) 16KG·cm(7.2V) |
| flex 4.5″ bend Curve sensor | Bending sensor Device for preventing and treating cancer | Length x is wide: 112.24mmx6 .35mm | bending resistance change of 60K to 110K Resistance in ohmic straight state: 10K Ohm-meter | Bending direction: the side with the character is the inner side when bending. Avoiding when in use Bent end pin portions (i.e., non-bent sensing portions) that are otherwise susceptible to Causing damage. |
| Arduino Nano | Arduino Nano control Board board | Length x is wide: 45mmx18mm | the main frequency is 16 MHz; memory 2KB; IO (input/output) 22 ports; flash memory 32KB; | ATmega328 based controller (same as UNO). It is combined with DuemiLanove The functions are similar, and a Mini-USB interface is adopted. |
| Nano sensor expander Display board | Nano sensing Expansion board for device | Length x is wide: 65mmx52mm | module power: +5V | Expansion 14 digital IO ports (14 steering engine interfaces) and power supply |
| NRF24L01 | 2.4G Wireless Module | Length x is wide: 15mmx29mm | maximum transmission rate is 2Mbps, which can To provide drive code for STM32 | Low version demonstration and later use of high power connector |
| Lithium battery 2-8S bee Buzzer voltage display Alarm device | Low voltage alarm Device and method for controlling the same | 40mm×25mm ×11mm | Voltage of each cell of lithium battery pack and total Voltage real-time display and alarm | |
| 22KΩ | Metal film electric Resistance resistor | 1/2W metal film resistor | ||
| 7.4V1500mAH | 2s lithium battery | Two lithium nos. five Battery composition | SM plug | Charging and discharging separation (two plugs) |
| 1800mAh 7.4V | Polymer lithium Battery cell | 90mm×30mm ×16mm | SM plug | |
| Gyroscope number 1 | Balancer | 30mm×15mm ×10mm | Module plug-in type |
Alterations, modifications, substitutions and variations of the embodiments herein will be apparent to those of ordinary skill in the art in light of the teachings of the present invention without departing from the spirit and principles of the invention.
Claims (10)
1. The intelligent control system of the multifunctional load self-adaptive mechanical dexterous hand is characterized in that: the glove control system is responsible for collecting analog quantity signals of each finger flexible sensor on the glove and butting the signals with the mechanical smart hand control system through a wireless communication protocol; the mechanical dexterous hand control system receives the 'butt joint' signal, and the signal corresponds to the control instruction, so that the mechanical dexterous hand is driven to act.
2. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand according to claim 1, wherein: the glove control system comprises a glove side upper computer system and a glove side hardware system, wherein the glove side hardware system comprises a remote control wireless glove, a power supply module A, a wireless transmission module A, a flexible sensor, a digital-to-analog conversion module A and a low-voltage alarm device A;
the power supply module A, the wireless transmission module A, the flexible sensor, the digital-to-analog conversion module A and the low-voltage alarm device are respectively and electrically connected with the glove side upper computer system.
3. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand according to claim 2, wherein: the mechanical dexterous hand control system comprises a dexterous hand side lower computer system and a dexterous hand side hardware system, wherein the dexterous hand side hardware system comprises: the steering engine comprises a power supply module B, a control module, a wireless transmission module B, a digital-to-analog conversion module B, a low-voltage alarm device B and a steering engine power module;
the power supply module B, the control module, the wireless transmission module B, the digital-to-analog conversion module B, the low-voltage alarm device B and the steering engine power module are respectively and electrically connected with the smart hand side lower computer system.
4. The intelligent control system of a multi-functional load-adaptive mechanical dexterous hand of claim 3, wherein: the wireless transmission module A and the wireless transmission module B are connected by adopting wireless communication, the wireless transmission module A sends out an instruction, and the wireless transmission module B is used for receiving the instruction.
5. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand according to claim 4, wherein: the digital-to-analog conversion module A converts the digital-to-analog conversion into an analog signal for directly controlling the stroke of the built-in power system in proportion, and then sends the analog signal to the mechanical smart hand control system through the wireless transmission module A; the digital-to-analog conversion module B can convert the digital-to-analog conversion into an analog signal capable of directly controlling the stroke of the built-in power system in proportion.
6. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand according to claim 5, wherein: an ultrasonic array sensor and a tension induction sensor are arranged on the mechanical smart hand, and the ultrasonic sensor is used for avoiding barriers in a path and preventing collision; the tension sensing sensor is used for detecting the tension of the steering engine and the bending angle of the mechanical finger in real time and reflecting the posture and position status information of the mechanical arm in real time.
7. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand according to claim 6, wherein: the voice recognition system also comprises a specific voice recognition module, wherein the specific voice recognition module comprises a database, a voice recognition conversion module and a voice driving interface; the voice of a specific person is trained manually to the database, and when the module collects the entered keywords, the information code value is sent to the control driving interface, so that the final voice recognition control is completed.
8. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand according to claim 7, wherein: the self-induction type hand-held robot further comprises a gravity self-induction gesture balancing module, wherein the gravity self-induction gesture balancing module is composed of a gyroscope, a gesture sensor, a gravity induction integrated circuit and a power supply unit, and the gyroscope, the gesture sensor, the gravity induction and the power supply unit are respectively and electrically connected with a smart hand-held lower computer system.
9. The intelligent control system of the multifunctional load-adaptive mechanical dexterous hand of claim 8, wherein: the steering engine power module comprises five servo digital steering engine units and a balance digital steering engine, the control module is electrically connected with the control end of the steering engine power module, and the control module performs action execution of each steering engine by receiving action program instructions sent by the specific sound and color voice control module and the wireless remote control device end.
10. An intelligent control method of a multifunctional load self-adaptive mechanical dexterous hand is characterized in that: the intelligent control system based on the multifunctional load self-adaptive mechanical dexterous hand of claim 9, wherein the control method comprises the following steps:
step 1, an intelligent control system starts to operate: the manipulator of the mechanical dexterous hand starts the control system of the two warping heads of the multifunctional self-adaptive machine according to the self-needs and the correct, standard and safe operation flow;
step 2, the wireless receiving transmitter performs high-speed network receiving encryption: after the mechanical smart hand control system operates, the communication encoder module starts to work, the first time of connection encryption dialing is implemented by a manipulator, and the subsequent power-on operation can be automatically performed;
step 3, a power supply module and a balancing module: after the smart hand control system operates, the power supply module starts to power up in a servo mode, and a stable power supply is provided for each circuit integrated board and the driving motor; after the balance module is electrified, the wireless receiving transmitter in the step 2 starts self-calibrating error feedback data parameters, so that the system starts to prepare for stable control, enters standby, and prepares for entering the step 4;
step 4, coding encryption and instruction scanning waiting: after the mechanical smart hand control system is started, the instructions in three directions are circularly read through circularly scanning glove control instructions, specific human voice recognition instructions and wireless remote control device button instructions, and waiting is carried out when no signal is received;
step 5, man-machine interaction control mechanical smart hand: the embedded controller of the mechanical dexterous hand sends out a control command through the steps, the control module sends a command signal to the driving device and then drives the servo steering engine unit module and the power module, so that the mechanical dexterous hand can complete corresponding actions according to the command;
step 6, self-adaptive adjustment and data feedback: the control system feeds back compensation data to the controller in real time and performs self-optimization in the process of controlling the action of the manipulator through the sound and color recognition, the wireless remote control device and the glove gesture, and the step is accompanied with the implementation process of the step 5 in real time;
step 7, the control system finishes working: and a control software interface or a power button is turned off to send a stop signal, and a mechanical dexterous hand can automatically execute a control program for homing and returning to the operation origin.
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| CN117931609A (en) * | 2024-03-22 | 2024-04-26 | 深圳市浩瀚卓越科技有限公司 | Performance analysis method, device and equipment for cradle head and storage medium |
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| CN117931609A (en) * | 2024-03-22 | 2024-04-26 | 深圳市浩瀚卓越科技有限公司 | Performance analysis method, device and equipment for cradle head and storage medium |
| CN117931609B (en) * | 2024-03-22 | 2024-06-07 | 深圳市浩瀚卓越科技有限公司 | Performance analysis method, device and equipment for cradle head and storage medium |
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