CN108161887A - Two-wheeled vision robot with manipulator - Google Patents
Two-wheeled vision robot with manipulator Download PDFInfo
- Publication number
- CN108161887A CN108161887A CN201810058496.6A CN201810058496A CN108161887A CN 108161887 A CN108161887 A CN 108161887A CN 201810058496 A CN201810058496 A CN 201810058496A CN 108161887 A CN108161887 A CN 108161887A
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- Prior art keywords
- mechanical arm
- module
- manipulator
- control mainboard
- control
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- 230000033001 locomotion Effects 0.000 claims abstract description 36
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000003993 interaction Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 7
- 238000001914 filtration Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000006399 behavior Effects 0.000 description 2
- 244000309464 bull Species 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 230000015654 memory Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a kind of two-wheeled vision robots with manipulator, are related to service robot technical field.Including self-balancing movement platform, control mainboard, laser ranging module, gyroscope, camera module and mechanical arm module, the laser ranging module is located on the self-balancing movement platform, it is bi-directionally connected with the control mainboard, the camera module is located on the platform, it is bi-directionally connected with the control mainboard, the gyroscope is located on the platform, it is bi-directionally connected with the control mainboard, the driving mechanism is controlled by the control mainboard, control mainboard is used for basis, laser ranging module, gyroscope and the information of camera module acquisition control the motion platform and mechanical arm module to be acted.The robot can realize self-balancing, and have the advantages that automatic obstacle-avoiding and flexibility are strong.
Description
Technical field
The present invention relates to service robot technical field more particularly to a kind of two-wheeled vision robots with manipulator.
Background technology
As the research field of an emphasis, existing service robot is common four-wheel drive in service robot field
Formula, small wheeled, the two bull wheels drive Universal wheel types of two bull wheels drive two, however the service robot of few double-wheel self-balancings.
Service robot needs the direction to more light and flexible to develop, and the service robot of four-wheel driving type has well gently
Just flexibility.
Invention content
The technical problems to be solved by the invention are how to provide a kind of achievable self-balancing, automatic obstacle-avoiding and flexibility
The strong two-wheeled vision robot with manipulator.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of two-wheeled vision machine with manipulator
Device people, it is characterised in that：Including self-balancing movement platform, control mainboard, laser ranging module, gyroscope, camera module and
Mechanical arm module, the laser ranging module are located on the self-balancing movement platform, are bi-directionally connected with the control mainboard, use
In being positioned under the control of control mainboard to object；The camera module is located on the platform, is led with the control
Plate is bi-directionally connected, for carrying out Image Acquisition to object under the control of control mainboard；The gyroscope is located on the platform,
It is bi-directionally connected with the control mainboard, for measuring the inclination angle of the motion platform and inclination angle speed；The motion platform and machine
Driving mechanism is provided in tool arm module, the driving mechanism is controlled by the control mainboard, and control mainboard is used for basis, laser
The information of range finder module, gyroscope and camera module acquisition controls the motion platform and mechanical arm module into action
Make.
Further technical solution is：The self-balancing movement platform include two wheels, two wheel drive motors,
Bottom plate and support plate, the bottom plate are located at downside, and support plate is located at upside, is connected together between bottom plate and support plate by connecting pole,
The wheel drive motors are fixed on the lower surface of the bottom plate, and two wheels are symmetrically set to the both sides of the motor, and
The power output end of the motor is connect with the axle center of the wheel, the control of the control terminal of the motor and the control mainboard
Output terminal connects, for being acted under the control of the control mainboard.
Further technical solution is：The control mainboard is arranged on the upper surface of bottom plate；The mechanical arm module
It is arranged on the upper surface of support plate；The laser ranging module is arranged on lower middle position immediately ahead of the self-balancing movement platform
It puts, and the lower surface for passing through connecting plate and the bottom plate is fixed, the center of laser ranging module and the center of testee are same
On one horizontal plane；The camera module is arranged on the surface of laser ranging module, and passes through connecting plate and consolidate with the bottom plate
Fixed connection.
Further technical solution is：The mechanical arm module includes first mechanical arm, second mechanical arm, mechanical arm and drives
Dynamic model block, steering engine and manipulator, the lower end of the first mechanical arm and the self-balancing movement platform, the first mechanical arm
Upper end be rotatably connected with drive shaft, one end of the second mechanical arm is fixedly connected with the drive shaft, mechanical arm drive
Dynamic model block is fixed in the first mechanical arm, and the power output end of the mechanical arm drive module connects with the drive shaft
It connects, for driving the drive shaft turns, drive shaft drives the second mechanical arm to act again, and the steering engine is fixed on described the
On two mechanical arms, the power output end of steering engine is connect with the manipulator, and the steering engine presss from both sides for the manipulator to be driven to realize
The control terminal of tight or release, the mechanical arm drive module and steering engine is connect with the control output end of the control mainboard.
Further technical solution is：The mechanical arm drive module includes mechanical arm driving motor, synchronous belt and same
Belt wheel is walked, the mechanical arm driving motor is fixed in the first mechanical arm, the power output of the mechanical arm driving motor
Driving wheel is provided on end, the axle center of the synchronous pulley is fixedly connected with the drive shaft, the synchronous pulley and the master
It is attached and is driven by the synchronous belt between driving wheel.
Further technical solution is：First mechanical arm includes lower connecting portion, middle connecting portion and upper connecting portion, described
One end of lower connecting portion is fixedly connected with the motion platform, and the upper end of the lower connecting portion and the lower end of the middle connecting portion are consolidated
Fixed connection, the upper end of the middle connecting portion are connect with the lower end of the upper connecting portion, and the lower connecting portion and upper connecting portion are vertical
Setting, the middle connecting portion are in 45° angle with vertical direction.
Further technical solution is：The robot further includes short range wireless transmission module, the short distance without
Line transmission module is bi-directionally connected with the control mainboard, for carrying out data interaction with mobile terminal.
Preferably：The short range wireless transmission module includes bluetooth module or WIFI module.
Preferably：The control mainboard is using STM32 series monolithics as processing chip.
Preferably：The gyroscope uses MPU6050 type gyroscopes, and the camera module uses Openmv cameras.
It is using advantageous effect caused by above-mentioned technical proposal：The robot uses two-wheeled mobile mechanism, with reference to
Self-balancing technology so that the movement of robot has more flexibility, and based on a variety of filtering techniques, the self-balancing system of the robot is more
Has stability；Manipulator with double-wheel self-balancing system is combined, effectively expands the application range of manipulator；Merge visual identity
Technology and automatic obstacle-avoiding technology, a whole set of robot system strict logic have higher intelligence degree；Have both automatic work with
Two kinds of operating modes of control manually.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the structure diagram of robot described in the embodiment of the present invention；
Fig. 2 is the structure diagram at another visual angle of robot described in the embodiment of the present invention；
Fig. 3 is the circuit diagram of robot described in the embodiment of the present invention；
Wherein：1st, wheel 2, wheel drive motors 3, laser ranging module 4, camera module 5, bottom plate 6, support plate 7, first
Mechanical arm 71, lower connecting portion 72, middle connecting portion 73, upper connecting portion 8, second mechanical arm 9, manipulator 10, driving wheel 11, mechanical arm
Driving motor 12, synchronous belt 13, steering engine 14, connecting pole 15, drive shaft 16, synchronous pulley.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented using other different from other manner described here, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
As shown in Figs. 1-2, the embodiment of the invention discloses a kind of two-wheeled vision robot with manipulator, including self-balancing
Motion platform, control mainboard, laser ranging module 3, gyroscope, camera module 4 and mechanical arm module.The laser ranging mould
Block 3 is located on the self-balancing movement platform, is bi-directionally connected with the control mainboard, under the control of control mainboard to object
Body is positioned；The camera module 4 is located on the platform, is bi-directionally connected with the control mainboard, for being led in control
Image Acquisition is carried out to object under the control of plate；The gyroscope is located on the platform, is bi-directionally connected with the control mainboard,
For measuring the inclination angle of the motion platform and inclination angle speed；Driving machine is provided in the motion platform and mechanical arm module
Structure, the driving mechanism are controlled by the control mainboard, and control mainboard is used for according to laser ranging module 3, gyroscope and takes the photograph
As the information that head module 4 acquires controls the motion platform and mechanical arm module to be acted.
Further, as depicted in figs. 1 and 2, the self-balancing movement platform includes two wheels, 1, two wheel driving
Motor 2, bottom plate 5 and support plate 6.The bottom plate 5 is located at downside, and support plate 6 is located at upside, passes through connecting pole between bottom plate 5 and support plate 6
14 connect together, and the wheel drive motors 2 are fixed on the lower surface of the bottom plate 5, and two wheels 1 are symmetrically set to institute
The both sides of motor are stated, and the power output end of the motor is connect with the axle center of the wheel 1.The control terminal of the motor and institute
The control output end connection of control mainboard is stated, for being acted under the control of the control mainboard.
Further, as depicted in figs. 1 and 2, the control mainboard is arranged on the upper surface of bottom plate 5；The mechanical arm
Module is arranged on the upper surface of support plate 6；The laser ranging module 3 is arranged on intermediate inclined immediately ahead of the self-balancing movement platform
Lower position, and the lower surface for passing through connecting plate and the bottom plate 5 is fixed, in the center and testee of laser ranging module 3
The heart is in same level；The camera module 4 is arranged on the surface of laser ranging module 3, and passes through connecting plate and institute
Bottom plate 5 is stated to be fixedly connected.
Further, as depicted in figs. 1 and 2, the mechanical arm module includes first mechanical arm 7, second mechanical arm 8, machine
Tool arm drive module, steering engine 13 and manipulator 9.The lower end of the first mechanical arm 7 and the self-balancing movement platform, it is described
The upper end of first mechanical arm 7 is rotatably connected with drive shaft 15, and one end of the second mechanical arm 8 is solid with the drive shaft 15
Fixed connection.Mechanical arm drive module is fixed in the first mechanical arm 7, and the power output end of the mechanical arm drive module
It is connect with the drive shaft 15, for the drive shaft 15 to be driven to rotate, drive shaft 15 drives the second mechanical arm 8 dynamic again
Make.The steering engine 13 is fixed in the second mechanical arm 8, and the power output end of steering engine 13 is connect with the manipulator 9, described
Steering engine 13 is clamped or is unclamped for the manipulator 9 to be driven to realize, the control terminal of the mechanical arm drive module and steering engine 13
It is connect with the control output end of the control mainboard.
Further, as depicted in figs. 1 and 2, the mechanical arm drive module includes mechanical arm driving motor 11, synchronous belt
12 and synchronous pulley 16.The mechanical arm driving motor 11 is fixed in the first mechanical arm 7, the mechanical arm driving motor
Driving wheel 10 is provided on 11 power output end, the axle center of the synchronous pulley 16 is fixedly connected with the drive shaft 15, institute
It states and is attached and is driven by the synchronous belt 12 between synchronous pulley 16 and the driving wheel 10.
Further, as depicted in figs. 1 and 2, first mechanical arm 7 includes lower connecting portion 71, middle connecting portion 72 and upper company
Socket part 73, one end of the lower connecting portion 71 are fixedly connected with the motion platform, the upper end of the lower connecting portion 71 with it is described
The lower end of middle connecting portion 72 is fixedly connected, and the upper end of the middle connecting portion 72 is connect with the lower end of the upper connecting portion 73, described
Lower connecting portion 71 and upper connecting portion 73 are vertically arranged, and the middle connecting portion 72 is in 45° angle with vertical direction.
Further, the robot further includes short range wireless transmission module, the short range wireless transmission module with
The control mainboard is bi-directionally connected, for carrying out data interaction with mobile terminal.Preferably, the short range wireless transmission module
Including bluetooth module or WIFI module.
Gyroscope can use MPU6050 gyroscopes, as shown in figure 3, VCC, GND of the MPU6050 gyroscopes (U2),
The pin electrical connection corresponding with STM32 control mainboards of SCL, SDA, XOA, XCL, ADO, INT pin；Pass through MPU6050 gyroscopes
It is flat to eliminate the movement to measure the acceleration of motion platform wheel described in the inclination angle of the motion platform and inclination angle speed control
The inclination angle of platform successively carries out low order filtering (first-order filtering, second-order filter), high-grade filting (Kalman Filtering), then is directly obtained by DMP
To angle (starting MPU6050 internal arithmetics, read data in DMP memories)；
Described two high power DC electric machines are electrically connected with M1, M2 interface of STM32 control mainboards, by STM32 cores
Device output pulse and direction signal are managed, is further converted by motor-drive circuit and realizes that robot self-balancing is walked with exporting；
5V, GND, TXD, RXD of the bluetooth module are electrically connected with 5V, GND, RXD, TXD of STM32 control mainboards, the bluetooth mould
Block is used to receive the instruction that mobile phone or PC are sent, that is, manual control machine device people is realized, including robot ambulation, manipulator behavior.
The mechanical arm driving motor is electrically connected with the M3 interfaces of STM32 control mainboards, and arteries and veins is exported by STM32 control mainboards
The rotary motion of signal and direction signal control machinery arm is rushed, i.e., manipulator is driven to move up and down by second mechanical arm, machine
When device people system initialization is completed, manipulator is located above, when robot accurately identifies tennis (testee), the second machinery
Arm is by rotary motion so that manipulator is located just at the horizontal plane where the tennis centre of sphere；
The steering engine is connect with the steering engine interface of STM32 control mainboards, by STM32 control mainboards output pulse signal and side
Manipulator clamping is realized to signal control steering engine rotation or is unclamped, that is, grips object and release object；
The pwm interfaces of the laser ranging module are electrically connected with PA11 (TIM1_CH14) interface of STM32 control mainboards,
For laser ranging module on the one hand for detecting obstacle distance, preset avoidance distance is BL values, on the other hand, laser ranging mould
Block, if meeting the condition that correctly identification tennis and robot face Tennis Center before this, works as Laser Measuring for positioning tennis
Detecting distance away from module is equal to preset object detection distance (WL values, BL values<WL values), that is, it positions tennis and completes, in next step
It can carry out gripping tennis；
5v, TXD, RXD, GND interface of the Openmv cameras respectively with STM32 control mainboards 5v, USART1_RX
(PA10), USART1_TX (PA9), the electrical connection of GND interfaces, Openmv cameras carry out serial communication with STM32 control mainboards,
Openmv cameras are for acquiring image, image procossing is instructed with sending；
The robot is operable with automatic operation mode or MANUAL CONTROL mode；Robot powers on, motor driven systems,
Vision system brings into operation, and initializes parameters；Under automatic operation mode, using coloured image write mode, close white flat
Weighing apparatus carries out green filtering, captures blue target, before blue target is not captured, robot can pass through spinning one at a slow speed
Circle and mobile fixed step length searching blue target, until successfully capturing blue target；Further to input picture side
Edge detects, and calculates the gradient of figure, and determine circumference, the gradient of wherein circumference is exactly its normal, in two-dimensional Huffman space
Inside draw the gradient straight line of all figures, coordinate points add up sum value it is bigger, then the number of straight line intersection is more on the aspect, the point
The center of circle is more likely to be, non-maximum value inhibition is carried out in 4 neighborhoods of hough space, a threshold value is set, tires out in hough space
The point summed it up more than the threshold value then corresponds to the center of circle；Meet two conditions of green characteristic and circular contour when simultaneously, robot is true
Fixed its is green tennis；Further, Openmv cameras are converted into specifically according to the position deviation in the center of circle and picture centre
Coding information is transferred to STM32 control mainboards by serial communication, controls motor with direction signal so as to export pulse, adjusts machine
Device people faces the center of tennis, and further robot straight line is gone ahead, when laser ranging module detect front away from
With a distance from equal to preset object detection (WL values), robot halts, further, STM32 control mainboard control machineries
Hand moves from top to bottom, rotates fixed angle, and the manipulator of opening is just parked in the horizontal plane where the tennis centre of sphere, manipulator
It clamps, realizes gripping tennis；Under manual mode, robot receives the instruction of host computer, STM32 control mainboards by bluetooth module
Command information is identified and is converted, further output signal control robot ambulation and manipulator behavior.
The robot uses two-wheeled mobile mechanism, with reference to self-balancing technology so that and the movement of robot has more flexibility,
Based on a variety of filtering techniques, the self-balancing system of the robot has more stability；Manipulator is combined with double-wheel self-balancing system,
Effectively expand the application range of manipulator；Merge Visual identification technology and automatic obstacle-avoiding technology, a whole set of robot system logic
Tightly, there is higher intelligence degree；Have both automatic work and two kinds of operating modes of control manually.
Claims (10)
1. a kind of two-wheeled vision robot with manipulator, it is characterised in that：Including self-balancing movement platform, control mainboard, swash
Ligh-ranging module (3), gyroscope, camera module (4) and mechanical arm module, the laser ranging module (3) positioned at it is described from
It on balance exercise platform, is bi-directionally connected with the control mainboard, for being positioned under the control of control mainboard to object；Institute
Camera module (4) is stated on the platform, is bi-directionally connected with the control mainboard, for right under the control of control mainboard
Object carries out Image Acquisition；The gyroscope is located on the platform, is bi-directionally connected with the control mainboard, described for measuring
The inclination angle of motion platform and inclination angle speed；Driving mechanism, the driving machine are provided on the motion platform and mechanical arm module
Structure is controlled by the control mainboard, and control mainboard is used for according to laser ranging module (3), gyroscope and camera module (4)
The information of acquisition controls the motion platform and mechanical arm module to be acted.
2. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that：The self-balancing movement platform
Including two wheels (1), two wheel drive motors (2), bottom plate (5) and support plate (6), the bottom plate (5) is positioned at downside, support plate
(6) it is connected together between upside, bottom plate (5) and support plate (6) by connecting pole (14), the wheel drive motors (2)
It is fixed on the lower surface of the bottom plate (5), two wheels (1) are symmetrically set to the both sides of the motor, and the motor
Power output end is connect with the axle center of the wheel (1), the control output end of the control terminal of the motor and the control mainboard
Connection, for being acted under the control of the control mainboard.
3. the two-wheeled vision robot with manipulator as claimed in claim 2, it is characterised in that：The control mainboard is arranged on
The upper surface of bottom plate (5)；The mechanical arm module is arranged on the upper surface of support plate (6)；Laser ranging module (3) setting
The lower middle position immediately ahead of the self-balancing movement platform, and the lower surface for passing through connecting plate and the bottom plate (5) is fixed,
The center of laser ranging module (3) and the center of testee are in same level；The camera module (4) is arranged on sharp
The surface of ligh-ranging module (3), and pass through connecting plate and be fixedly connected with the bottom plate (5).
4. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that：The mechanical arm module includes
First mechanical arm (7), second mechanical arm (8), mechanical arm drive module, steering engine (13) and manipulator (9), first machinery
The lower end of arm (7) and the self-balancing movement platform, the upper end of the first mechanical arm (7) is rotatably connected with drive shaft
(15), one end of the second mechanical arm (8) is fixedly connected with the drive shaft (15), and mechanical arm drive module is fixed on described
In first mechanical arm (7), and the power output end of the mechanical arm drive module is connect with the drive shaft (15), for driving
Drive shaft (15) rotation, drive shaft (15) drive the second mechanical arm (8) to act again, and the steering engine (13) is fixed on institute
It states in second mechanical arm (8), the power output end of steering engine (13) is connect with the manipulator (9), and the steering engine (13) is for driving
The dynamic manipulator (9), which is realized, to clamp or unclamps, control terminal and the control of the mechanical arm drive module and steering engine (13)
The control output end connection of mainboard processed.
5. the two-wheeled vision robot with manipulator as claimed in claim 4, it is characterised in that：The mechanical arm drive module
Including mechanical arm driving motor (11), synchronous belt (12) and synchronous pulley (16), the mechanical arm driving motor (11) is fixed on
On the first mechanical arm (7), driving wheel (10) is provided on the power output end of the mechanical arm driving motor (11), it is described
The axle center of synchronous pulley (16) is fixedly connected with the drive shaft (15), the synchronous pulley (16) and the driving wheel (10) it
Between be attached and be driven by the synchronous belt (12).
6. the two-wheeled vision robot with manipulator as claimed in claim 4, it is characterised in that：First mechanical arm (7) includes
Lower connecting portion (71), middle connecting portion (72) and upper connecting portion (73), one end of the lower connecting portion (71) and the movement are flat
Platform is fixedly connected, and the upper end of the lower connecting portion (71) is fixedly connected with the lower end of the middle connecting portion (72), the middle connection
The upper end in portion (72) is connect with the lower end of the upper connecting portion (73), and the lower connecting portion (71) and upper connecting portion (73) are set vertically
It puts, the middle connecting portion (72) is in 45° angle with vertical direction.
7. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that：The robot further includes short
Range wireless transmission module, the short range wireless transmission module are bi-directionally connected with the control mainboard, are used for and mobile terminal
Carry out data interaction.
8. the two-wheeled vision robot with manipulator as claimed in claim 7, it is characterised in that：The short range wireless transmission
Module includes bluetooth module or WIFI module.
9. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that：The control mainboard uses
STM32 series monolithics are as processing chip.
10. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that：The gyroscope uses
MPU6050 type gyroscopes, the camera module (4) is using Openmv cameras.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810058496.6A CN108161887A (en) | 2018-01-22 | 2018-01-22 | Two-wheeled vision robot with manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810058496.6A CN108161887A (en) | 2018-01-22 | 2018-01-22 | Two-wheeled vision robot with manipulator |
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| CN108161887A true CN108161887A (en) | 2018-06-15 |
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| CN201810058496.6A Pending CN108161887A (en) | 2018-01-22 | 2018-01-22 | Two-wheeled vision robot with manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109315144A (en) * | 2018-07-27 | 2019-02-12 | 湖南人文科技学院 | Intelligent fruits picker and its picking method |
| CN109343523A (en) * | 2018-09-30 | 2019-02-15 | 大连海事大学 | The detecting caves climbing robot of 3D map and real-time Transmission image can be drawn |
| CN109623774A (en) * | 2019-01-07 | 2019-04-16 | 安徽工程大学 | A kind of Double-wheel self-balancing robot |
| CN111203849A (en) * | 2020-01-08 | 2020-05-29 | 浙江大学 | Mobile robot grabbing operation system and control method |
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