CN106363638A - Gesture command robot - Google Patents
Gesture command robot Download PDFInfo
- Publication number
- CN106363638A CN106363638A CN201610906074.0A CN201610906074A CN106363638A CN 106363638 A CN106363638 A CN 106363638A CN 201610906074 A CN201610906074 A CN 201610906074A CN 106363638 A CN106363638 A CN 106363638A
- Authority
- CN
- China
- Prior art keywords
- gesture
- storage box
- instruction
- chassis
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
Abstract
The invention relates to a gesture command robot. The robot comprises a base and a storage box arranged at the upper part of the base; the service robot is further provided with an image collector; a lifting device is arranged between the base and the storage box, and a moving device is arranged at the bottom of the base; and the image collector collects gesture commands, a system compares the gesture commands with pre-stored gestures, judges the intention of users and executes the intention. The following gestures can serve as the pre-stored gestures for common operation: the rotation gesture commanding the base to drive the storage box to rotate such as the horizontal pointing gesture with the thumb parallel with a tangent line, wherein the thumb pointing direction is the rotating direction; the translation gesture commanding the base to drive the storage box to do linear motion such as the horizontal pointing gesture with the thumb perpendicular to the tangent line, wherein the thumb pointing direction is the translation direction; the lifting gesture commanding the lifting device to drive the storage box to be lifted such as the gesture with the thumb placed vertically and upwards; and the descending gesture commanding the lifting device to drive the storage box to descend such as the gesture with the thumb placed vertically and downwards.
Description
Technical field
The present invention relates to a kind of service robot, more particularly, to a kind of gesture instruction robot.
Background technology
Service robot, especially for hospital, nursing house etc. medical services place, provides certain clothes for guest
Business, particularly at dead of night, nursing staff, typically no longer in the case of field, allows service robot provide clothes by certain condition
Business.
Content of the invention
Instant invention overcomes the deficiencies in the prior art, provide a kind of a kind of gesture instruction robot that can call.
For reaching above-mentioned purpose, the technical solution used in the present invention is: a kind of gesture instruction robot, comprising: chassis and
It is arranged on the storage box of chassis upper, described service robot is additionally provided with image collection device, described chassis and described storage box
Between be provided with lowering or hoisting gear, described tray bottom be provided with mobile device it is characterised in that
By image collection device acquisition instructions gesture, system compares instruction gesture and pre-stored gesture, judges that user is intended to, and
Execute this intention.
In a preferred embodiment of the present invention, described pre-stored gesture includes:
Instruction chassis drives the rotation gesture of storage box rotation；
Instruction chassis drives the translation gesture of storage box linear motion；
The stopping gesture that instruction chassis stops；
Instruction lowering or hoisting gear drives the rising gesture that storage box rises；
Instruction lowering or hoisting gear drives the decline gesture that storage box declines.
In a preferred embodiment of the present invention, described service robot also sets up display lamp and loudspeaker.
In a preferred embodiment of the present invention, described system compares instruction gesture and pre-stored gesture, compares successfully or compares
To unsuccessful, system all can pass through the light of display lamp or/and the auditory tone cueses user comparison result of loudspeaker.
In a preferred embodiment of the present invention, the photographic head that described image collection device can rotate for camera lens.
In a preferred embodiment of the present invention, the cross section of described chassis and described storage box is circle.
In a preferred embodiment of the present invention, if described storage box is provided with dried layer drawer, and every layer includes fan-shaped three
Individual drawer.
In a preferred embodiment of the present invention, the mobile device of described tray bottom is circular wheel disc, and described wheel disc is same
Being embedded in described chassis of the heart, described wheel disc is provided with three or four rolling.
In a preferred embodiment of the present invention, described lowering or hoisting gear includes connecting the screw mandrel of motor, is vertically arranged
Described screw mandrel, by being connected at the axis of storage box with female thread bush, is gone back between described storage box and described chassis
Spacing by the guide pillar guide pin bushing that is vertically arranged.
The present invention solves defect present in background technology, and the present invention possesses following beneficial effect:
(1) by being installed to storage box on chassis, realize storage box free transfer movement indoors, the wheel of setting on chassis
Disk passes through the rotation of itself it is achieved that rotating freely of itself and storage box, just can be led to by rotating to certain angle simultaneously
Crossing roller drives service robot to move ahead.
(2) storage box passes through to arrange the space of the separation such as drawer and cabinet, can place all kinds of article, such as: medicine, medical
Article, food, beverage, other conventional article, by the lowering or hoisting gear between storage box and chassis, realize the height of storage box
Adjust, if user of service partly lies on sofa or bed, guide lowering or hoisting gear to lift the height of storage box by instruction, so real
Show user of service to raise one's hand the article that just can get in corresponding drawer or cabinet, need not sit up or move other portions
Position, easy to use.
(3) photographic head can gather image information, and by background process image to carry out specific operation.As: pass through
Collection images of gestures, can be determined the demand of user, and take accordingly and service further by gesture.
(4) as follows can be used as the pre-stored gesture of conventional operation:
Instruction chassis drives the rotation gesture of storage box rotation, such as using thumb parallel to tangent line gesture (its being horizontally directed to
He draws in finger), the direction that thumb points to is exactly the direction of rotation；
Instruction chassis drives the translation gesture of storage box linear motion, such as using thumb perpendicular to tangent line the gesture being horizontally directed to
(gathering of other fingers), the direction that thumb points to is exactly the direction of translation；
The stopping gesture that instruction chassis stops, such as using palm towards photographic head gesture；
Instruction lowering or hoisting gear drives the rising gesture that storage box rises, and such as using the vertical gesture upward of thumb, (other fingers are received
Hold together)；
Instruction lowering or hoisting gear drives the decline gesture that storage box declines, such as using thumb vertically gesture (other fingers receipts directed downwardly
Hold together).
(5) effect of display lamp and loudspeaker is to respond the instruction of user, and reports user all kinds of operation information.
Brief description
The present invention is further described with reference to the accompanying drawings and examples；
Fig. 1 is the three-dimensional structure diagram of the preferred embodiments of the present invention；
Fig. 2 be the chassis of the present invention look up three-dimensional structure diagram；
In figure: 1, chassis, 2, wheel disc, 3, roller, 4, storage box, 5, drawer, 6, photographic head, 7, loudspeaker, 8, display lamp.
Specific embodiment
Presently in connection with drawings and Examples, the present invention is further detailed explanation, and these accompanying drawings are the signal of simplification
Figure, only illustrates the basic structure of the present invention, therefore it only shows the composition relevant with the present invention in a schematic way.
As depicted in figs. 1 and 2, a kind of gesture instruction robot, comprising: chassis 1 and the storage box being arranged on chassis 1 top
4, service robot is additionally provided with image collection device, is provided with lowering or hoisting gear between chassis 1 and storage box 4, and chassis 1 bottom is arranged
There is mobile device, by image collection device acquisition instructions gesture, system compares instruction gesture and pre-stored gesture, judges user
It is intended to, and execute this intention.By being installed to storage box 4 on chassis 1, realize storage box 4 free transfer movement indoors,
On chassis 1, the wheel disc 2 of setting passes through the rotation of itself it is achieved that rotating freely of itself and storage box 4, passes through to rotate to simultaneously
Certain angle just can drive service robot to move ahead by roller 3.
Pre-stored gesture, as follows can be used as the pre-stored gesture of conventional operation:
Instruction chassis 1 drives the rotation gesture of storage box 4 rotation, such as using thumb parallel to tangent line the gesture being horizontally directed to
(gathering of other fingers), the direction that thumb points to is exactly the direction of rotation；
Instruction chassis 1 drives the translation gesture of storage box 4 linear motion, such as using thumb perpendicular to tangent line the handss being horizontally directed to
Gesture (gathering of other fingers), the direction that thumb points to is exactly the direction of translation；
The stopping gesture that instruction chassis 1 stops, such as using palm towards photographic head 6 gesture；
Instruction lowering or hoisting gear drives the rising gesture that storage box 4 rises, and such as using the vertical gesture upward of thumb, (other fingers are received
Hold together)；
Instruction lowering or hoisting gear drives the decline gesture that storage box 4 declines, such as using thumb vertically gesture (other fingers receipts directed downwardly
Hold together).
Service robot also sets up display lamp 8 and loudspeaker 7, shows that lamp and the effect of loudspeaker 7 are to respond the instruction of user,
And report user all kinds of operation information.As: system compares instruction gesture and pre-stored gesture, compares successfully or compares not become
Work(, system all can pass through the light of display lamp 8 or/and the auditory tone cueses user comparison result of loudspeaker 7.
The photographic head 6 that image collection device can rotate for camera lens, such photographic head 6 just can search the handss of user, and
All kinds of instructions that locking handss are made.
The cross section of chassis 1 and storage box 4 is circle, and circular storage box 4 freely can be revolved with convenient service robot
Turn.
If storage box 4 is provided with dried layer drawer 5, and every layer includes three fan-shaped drawers 5, and storage box 4 is taken out by setting
The space of the separation such as drawer 5 and cabinet, can place all kinds of article, such as: medicine, medical article, food, beverage, conventional other
Article, by the lowering or hoisting gear between storage box 4 and chassis 1, realize the altitude mixture control of storage box 4, if user of service's semi-lying
On sofa or bed, guide lowering or hoisting gear to lift the height of storage box 4 by instruction, be achieved in that user of service raises one's hand and just may be used
To get the article in corresponding drawer 5, other positions of need not sitting up or move, easy to use.
The mobile device of chassis 1 bottom is circular wheel disc 2, and what wheel disc 2 was concentric is embedded in chassis 1, and wheel disc 2 is arranged
There is four rolling 3, so pass through wheel disc 2 rotation and can achieve storage box 4 swiveling movement.
Lowering or hoisting gear includes connecting the screw mandrel of motor, and the screw mandrel being vertically arranged passes through to carry female thread bush even
It is connected at the axis of storage box 4, spacing also by the guide pillar guide pin bushing being vertically arranged between storage box 4 and chassis 1, guide pillar guide pin bushing
Spacing can ensure that the relative motion being merely able to make vertical direction between chassis 1 and storage box 4 it is impossible to make the rotation of horizontal direction
Motion.
Desirable embodiment according to the present invention is enlightenment above, and by above-mentioned description, related personnel is completely permissible
In the range of without departing from this invention technological thought, carry out various change and modification.The technical scope of this invention
The content being not limited in description is it is necessary to determine technical scope according to right.
Claims (9)
1. a kind of gesture instruction robot, comprising: chassis and the storage box being arranged on chassis upper, described service robot also sets
It is equipped with image collection device, between described chassis and described storage box, is provided with lowering or hoisting gear, described tray bottom is provided with movement
Device it is characterised in that
By image collection device acquisition instructions gesture, system compares instruction gesture and pre-stored gesture, judges that user is intended to, and
Execute this intention.
2. a kind of gesture instruction robot according to claim 1 it is characterised in that: described pre-stored gesture includes:
Instruction chassis drives the rotation gesture of storage box rotation；
Instruction chassis drives the translation gesture of storage box linear motion；
The stopping gesture that instruction chassis stops；
Instruction lowering or hoisting gear drives the rising gesture that storage box rises；
Instruction lowering or hoisting gear drives the decline gesture that storage box declines.
3. a kind of gesture instruction robot according to claim 1 it is characterised in that: described service robot also sets up finger
Show lamp and loudspeaker.
4. a kind of gesture instruction robot according to claim 3 it is characterised in that: described system compare instruction gesture with
Pre-stored gesture, compares successfully or compares unsuccessful, system all can be made by the auditory tone cueses of the light of display lamp or/and loudspeaker
User's comparison result.
5. a kind of gesture instruction robot according to claim 1 it is characterised in that: described image collection device be camera lens energy
The photographic head of enough rotations.
6. a kind of gesture instruction robot according to claim 1 it is characterised in that: described chassis and described storage box
Cross section is circle.
7. a kind of gesture instruction robot according to claim 6 it is characterised in that: if described storage box is provided with dried layer
Drawer, and three fan-shaped drawers of every layer of inclusion.
8. a kind of gesture instruction robot according to claim 1 it is characterised in that: the mobile device of described tray bottom
For circular wheel disc, what described wheel disc was concentric is embedded in described chassis, and described wheel disc is provided with three or four rolling.
9. a kind of gesture instruction robot according to claim 1 it is characterised in that: described lowering or hoisting gear include connect step
The screw mandrel of stepper motor, the described screw mandrel being vertically arranged by being connected at the axis of storage box with female thread bush, institute
State spacing also by the guide pillar guide pin bushing being vertically arranged between storage box and described chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610906074.0A CN106363638A (en) | 2016-10-19 | 2016-10-19 | Gesture command robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610906074.0A CN106363638A (en) | 2016-10-19 | 2016-10-19 | Gesture command robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106363638A true CN106363638A (en) | 2017-02-01 |
Family
ID=57895482
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610906074.0A Pending CN106363638A (en) | 2016-10-19 | 2016-10-19 | Gesture command robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106363638A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376251A (en) * | 2018-12-28 | 2020-07-07 | 西安光启未来技术研究院 | Logistics robot |
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| KR20080008528A (en) * | 2006-07-20 | 2008-01-24 | 주식회사 유진로봇 | Serving robot having function serving customer |
| CN102179814A (en) * | 2011-03-23 | 2011-09-14 | 浙江大学 | Method for controlling robot by using user hand commands |
| CN202933163U (en) * | 2012-12-15 | 2013-05-15 | 肖湘 | Distribution robot |
| CN204546536U (en) * | 2015-04-19 | 2015-08-12 | 张仁良 | A kind of home-services robot |
| CN104889995A (en) * | 2015-07-03 | 2015-09-09 | 陆春生 | Household and medical service robot and working method thereof |
| CN205043784U (en) * | 2015-05-22 | 2016-02-24 | 上海思岚科技有限公司 | Multifunctional machine ware people that can independently remove |
| US20160193733A1 (en) * | 2014-03-27 | 2016-07-07 | Fatemah A.J.A. Abdullah | Robot for medical assistance |
| CN105867630A (en) * | 2016-04-21 | 2016-08-17 | 深圳前海勇艺达机器人有限公司 | Robot gesture recognition method and device and robot system |
-
2016
- 2016-10-19 CN CN201610906074.0A patent/CN106363638A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080008528A (en) * | 2006-07-20 | 2008-01-24 | 주식회사 유진로봇 | Serving robot having function serving customer |
| CN102179814A (en) * | 2011-03-23 | 2011-09-14 | 浙江大学 | Method for controlling robot by using user hand commands |
| CN202933163U (en) * | 2012-12-15 | 2013-05-15 | 肖湘 | Distribution robot |
| US20160193733A1 (en) * | 2014-03-27 | 2016-07-07 | Fatemah A.J.A. Abdullah | Robot for medical assistance |
| CN204546536U (en) * | 2015-04-19 | 2015-08-12 | 张仁良 | A kind of home-services robot |
| CN205043784U (en) * | 2015-05-22 | 2016-02-24 | 上海思岚科技有限公司 | Multifunctional machine ware people that can independently remove |
| CN104889995A (en) * | 2015-07-03 | 2015-09-09 | 陆春生 | Household and medical service robot and working method thereof |
| CN105867630A (en) * | 2016-04-21 | 2016-08-17 | 深圳前海勇艺达机器人有限公司 | Robot gesture recognition method and device and robot system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111376251A (en) * | 2018-12-28 | 2020-07-07 | 西安光启未来技术研究院 | Logistics robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20170201 |