CN102229146A - Remote control humanoid robot system based on exoskeleton human posture information acquisition technology - Google Patents
Remote control humanoid robot system based on exoskeleton human posture information acquisition technology Download PDFInfo
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Abstract
The invention relates to a remote control humanoid robot system based on an exoskeleton human posture information acquisition technology, and belongs to the technical field of robots. A humanoid robot lacks freedom of the lower body, and cannot simulate the action of the human lower limb. Exoskeleton type human posture information acquisition clothes lack a posture acquisition device of ten fingers. The exoskeleton type human posture information acquisition clothes of the system are worn on a user, and human action information is acquired through a sensor action acquisition module. The human action information is transmitted to a robot control module through a wireless communication module to control the humanoid robot to perform corresponding action operation. The system is suitable for the users of different figures to use, and the humanoid robot can reproduce human upper body actions of 16 degrees of freedom in real time.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of anthropomorphic robot system based on the ectoskeleton control technology.
Background technology
21 century is with the vigorous period of the manufacturing automation development of right and wrong, as: digging, building, medical treatment, communications and transportation, agricultural or the like. the common feature of these industries is that work can't be carried out under the condition that arranges in advance, and the content of environment and work also may change at any time in the process of carrying out, Here it is so-called destructuring.The robot that exploitation is adapted to work under the non-structure environment will be the long-range direction that the robot field is developed. therefore develop a kind of man-machine system, performance analysis, judgement and the activity of decision-making contour level are finished by the people, low layer is finished by robot, make people's working face out of danger, or auxiliary people to carry out meticulousr action (as: medical robot) be a kind of in the recent period feasible, solution efficiently.Higher-level robot is that remote-controlled robot mostly is operated in the unstructuredness environment, so we have reason to believe at the foreseeable future higher-level robot and will have higher researching value and using value.
At present, remote-controlled robot is less relatively because of its free degree, so the function that realizes fixed single very all.Number of patent application is 03248108.X, and name is called the patent application of " anthropomorphic robot remote controller ", discloses a kind of remote controller of anthropomorphic robot.Keyboard links to each other with microprocessor by keyboard interface, and little processing links to each other with antenna with modem.Keyboard sends control signal, via microprocessor processes, finally sends signal by antenna.This scheme is concerning multivariant anthropomorphic robot, and the operated key that relates to is too much, and synchronism reduces with effective, and has brought many inconvenience to the operator.
Summary of the invention
For problem such as overcome that the existing remote-controlled robot free degree is few, function is simple and practicality is low, the invention provides a kind of remote control anthropomorphic robot system, respectively human body attitude information is extracted and reduced to realize the distant control function of operator to robot by exoskeleton-type human body attitude information gathering clothes and crawler type anthropomorphic robot based on ectoskeleton human body attitude information acquiring technology.This scheme has synchronism height, action characteristics such as accurate.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of remote control anthropomorphic robot system based on ectoskeleton human body attitude information acquiring technology is characterized in that: comprise exoskeleton-type human body attitude information gathering clothes, an anthropomorphic robot, action recognition module, two identical wireless communication module A, wireless communication module B and robot control module.
Action recognition module and wireless communication module A are installed on the exoskeleton-type human body attitude information gathering clothes, and wireless communication module B, robot control module and video acquisition module are installed on one's body the anthropomorphic robot.During system works, gather human action information by exoskeleton-type human body attitude information gathering clothes, and it is passed to the action recognition module, the action recognition module is discerned user action information and by wireless communication module A user action information is sent to wireless communication module B, wireless communication module B passes to the robot control module with this action message again, and anthropomorphic robot is then finished relevant action.
Exoskeleton-type human body attitude information gathering clothes comprise: head holder, head pose collector, arm attitude collector, hand attitude collector and back fixation device.
Wherein head holder comprises holder,head and crown support, crown support is fixed in the holder,head top, and the head pose collector is made up of horizontal potentiometer, vertical potentiometer, flexible connection piece, fixed support one, fixed axis, fixed support two, potentiometer support and support fixed axis; The potentiometer support is fixedly connected on the holder,head rear, horizontal potentiometer is fixedlyed connected with the potentiometer support, fixed support hold one by one with horizontal potentiometer fixedly connected, the other end fixedlys connected with fixed support two, vertically potentiometer is fixedlyed connected with fixed support two, fixed axis is fixedlyed connected with vertical potentiometer, fixedlying connected with fixed axis in the flexible connection piece upper end, fixedlys connected with the support fixed axis in the flexible connection piece lower end, and the support fixed axis is fixedly connected on the back.
The shoulder stationary pipes is arranged in the middle of the back, the left and right sides of shoulder stationary pipes is connected with two shoulder stay pipes respectively, the symmetrical configuration of both sides, the structure of a side is as follows: the shoulder stay pipe is equipped with two mutually perpendicular potentiometers by the upper end of shaft coupling and big arm telescoping tube.Big arm telescoping tube inner section is a rectangle, and big arm telescoping tube inside is with square sliding bar; Big arm telescoping tube lower end is fixedly connected with big arm bellows, and square sliding bar is in big arm telescoping tube and big arm bellows, fixedlys connected with square sliding bar lower end in big arm bellows lower end.Square sliding bar can slide in the inner and big arm bellows interior of big arm telescoping tube, but can not rotate.
The lower end of big arm telescoping tube is connected with the forearm expansion link by shaft coupling.The forearm expansion link is made up of forearm telescoping tube one, forearm telescoping tube two and forearm bellows; forearm telescoping tube one lower end is fixedly connected with the forearm bellows; forearm telescoping tube two is in forearm telescoping tube one and forearm bellows, fixedlys connected with forearm telescoping tube two lower ends in forearm bellows lower end.
Slide rail is parallel with forearm and isometric, and the slide rail upper end connects the ancon ring sleeve, and the lower end connects the wrist stationary pipes, and slide rail length can be regulated according to the little arm lengths of difference.Be fixed with the forearm casing support that has looping pit on the ancon ring sleeve, forearm telescoping tube one passes the looping pit of forearm casing support, and the forearm telescoping tube is kept and the forearm fixed-site in the process of forearm motion.The wrist stationary pipes is a terraced structure, be with the wrist ring sleeve above the step, the wrist ring sleeve is connected by belt with the synchronizing wheel that is fixed on the wrist stationary pipes outside, synchronizing wheel is fixedly linked with potentiometer is coaxial, synchronizing wheel can drive potentiometer and rotate, when wrist during along the forearm axial rotation, the wrist ring sleeve drives synchronizing wheel by belt and rotates, thereby makes potentiometer gather the attitude information of wrist along the forearm axial rotation.Ring sleeve one side is fixed with the hand potentiometer, the hand potentiometer is connected with the finger clips by shaft coupling, when wrist when forearm radially rotates, the finger fix band is started portion's potentiometer and is rotated, and radially rotates attitude information thereby make the hand potentiometer gather wrist along forearm.The finger clips is connected with the flexible plastic sheet that the flexibility sensor is housed, and flexible plastic sheet can make the flexibility sensor above the flexible plastic sheet gather the crooked information of palm with the palm bending.
Described video acquisition module sends on the exoskeleton-type human body attitude information gathering clothes video eyeglasses by wireless communication module.
As preferred version of the present invention, waist is a turntable structure, and its beneficial effect is that anthropomorphic robot is turned round neatly, has enlarged the range of movement of robot.
As preferred version of the present invention, be provided with the direction control lever above the crawler type domain, its beneficial effect is can control robot to move to all directions, has enlarged the range of movement of robot.
As preferred version of the present invention, described exoskeleton-type human body attitude information gathering clothes increase the size adjustment function at shoulder, wrist and back, and its beneficial effect is that the operating personnel of different builds use.
As preferred version of the present invention, described exoskeleton-type human body attitude information gathering clothes have been realized Telescopic at big arm and forearm place, its beneficial effect is to have improved the precision that human action is gathered, and has enlarged the range of movement of exoskeleton-type human body attitude information gathering clothes.
When the present invention worked, detailed process was as follows:
The user with exoskeleton-type human body attitude information gathering clothes through on one's body and carry out exercises, potentiometer on the head pose collector is gathered the movable information of head, potentiometer on the arm attitude is gathered the human arm shoulder joint, the movable information of elbow joint, potentiometer on the hand attitude collector is responsible for gathering the attitude information of wrist and hand, the action recognition module is by analyzing each joint angles value of action original position, each joint angles value of action final position, in the course of action each " joint angles-time " than and course of action in the information such as real-time track of each joint angles human action is discerned, and action message is passed to the robot control module by wireless communication module, and the robot control module carries out exercises according to body motion information control crawler type anthropomorphic robot.The real-time capture video information of camera of crawler type humanoid robot head and send it to video eyeglasses by wireless communication module simultaneously.
Whole beneficial effect of the present invention is:
1. exoskeleton-type human body attitude information gathering clothes use the extensible link structure, adjustable dimension, and exoskeleton-type human body attitude information gathering clothes are fit to different stature users to be used.
2, exoskeleton-type human body attitude information gathering clothes are light and dress convenient portablely, increased user's the space scope of application.
3, exoskeleton-type human body attitude information gathering clothes can be gathered the attitude information of two arms of human body and head, amount to 16 frees degree, have increased the accuracy of anthropomorphic robot motion.
Description of drawings
Fig. 1 is for the invention provides a kind of crawler type anthropomorphic robot overall structure schematic diagram;
Fig. 2 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes front schematic view;
Fig. 3 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes side schematic view;
Fig. 4 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes schematic rear view;
Fig. 5 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes head collector schematic diagram;
Fig. 6 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes back fixation device schematic diagram;
Fig. 7 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes arm attitude collector schematic diagram;
Fig. 8 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes hand attitude collector schematic diagram;
Fig. 9 is for the invention provides a kind of exoskeleton-type human body attitude information gathering clothes hand attitude collector detailed schematic;
Among the figure: 1-crawler body, 2-direction control lever, 3-chassis boot, 4-turntable, 5-main body trunk, the right mechanical arm of 6-, 7-left side mechanical arm, 8-neck turntable, 9-camera, 10-chest cabin.Among Fig. 2 to Fig. 5: 11.1-holder,head, 11.2-lock screw, 11.3-crown support, 12.1-horizontal potentiometer, the vertical potentiometer of 12.2-, 12.3-flexible connection piece, 12.4-fixed support one, 12.5-fixed axis, 12.6-fixed support two, 12.7-potentiometer support, 12.8-the support fixed axis, 13-video eyeglasses, 14.1-indicator lamp, 14.2-fixed head, the 14.3-shoulder support.Among Fig. 6: 15.01-shoulder stay pipe, 15.02-potentiometer one, 15.03-potentiometer support one, 15.04-potentiometer two, 15.05-shaft coupling one, the big arm telescoping tube of 15.06-, 15.07-big arm bellows bellows, 15.08-shaft coupling two, 15.09-potentiometer three, 15.10-potentiometer support two, 15.11-potentiometer four, 15.12 shaft couplings three, 15.13-forearm telescoping tube one, 15.14 forearm telescoping tube two, 15.15-ripple three, 15.16-universal joint, 16.01, flexible slide rail, 16.02-wrist ring sleeve ancon ring sleeve, 16.03-forearm casing support, 16.04-wrist stationary pipes, 16.05-the synchronizing wheel support, 16.06-wrist potentiometer, 16.07-synchronizing wheel, 16.08-be with synchronously, 16.09-the potentiometer support, 16.10-hand potentiometer, 16.11-wrist ring sleeve, 16.12-finger clips, 16.13-flexible plastic sheet, 16.14-forearm fixed support, 16.15-palm rest.Among Fig. 9: 17.1-fixed bar, 17.2-fixed head, 17.3-support stationary pipes, 17.4-control box, 17.5-sliding rod rack, 17.6-casing support, 17.7-shoulder stationary pipes, 17.8-pipe clamp, 17.9-screw, 17.10-support fixed axis, 17.11-pipe clamp two.
The specific embodiment
The present invention will be further described below in conjunction with drawings and embodiments.
Device embodiment:
With reference to Fig. 1, the invention provides a kind of crawler type anthropomorphic robot overall structure, comprise: the walking mechanism of forming by crawler body 1, direction control lever 2 and chassis boot 3, the motion of forming by turntable 4, main body trunk 5, right mechanical arm 6, left mechanical arm 7, neck turntable 8, camera 9 and chest cabin 10.
With reference to Fig. 2,3,4,5,6 is a kind of exoskeleton-type human body attitude information gathering clothes schematic diagram of the present invention, comprising: head holder, head pose collector, video eyeglasses 13, shoulder fixator, arm attitude collector, hand attitude collector and back fixation device.Wherein head holder is made up of holder,head 11.1, lock screw 11.2 and crown support 11.3, and crown support 11.3 is fixedly connected on holder,head 11.1 tops, and lock screw 11.2 is positioned at holder,head 11.1 the place aheads.The head pose collector is by horizontal potentiometer 12.1, vertical potentiometer 12.2, flexible connection piece 12.3, fixed support 1, fixed axis 12.5, fixed support 2 12.6, potentiometer support 12.7 and support fixed axis 12.8 are formed, potentiometer support 12.7 is fixedly connected on holder,head 11.1 rears, horizontal potentiometer 12.1 is fixedlyed connected with potentiometer support 12.7, fixed support one 12.4 one ends are fixedlyed connected with horizontal potentiometer 12.1, the other end is fixedlyed connected with fixed support 2 12.6, vertically potentiometer 12.2 is fixedlyed connected with fixed support 2 12.6, fixed axis 12.5 is fixedlyed connected with vertical potentiometer 12.2, fixedly connected with fixed axis 12.5 in flexible connection piece 12.3 upper ends, fixedly connected with support fixed axis 12.8 in the lower end, support fixed axis 12.8 fixed-link are on back bracket.The shoulder fixator is made up of indicator lamp 14.1, fixed head 14.2, shoulder support 14.3, and shoulder support 14.3 ends are fixedlyed connected with fixed head 14.2, and indicator lamp 14.1 is fixedlyed connected with fixed head 14.2.The back fixation device is by fixed bar 17.1, fixed head 17.2, support stationary pipes 17.3, controller box 17.4, sliding rod rack 17.5, casing support 17.6, shoulder stationary pipes 17.7, pipe clamp 1, screw 17.9, support fixed axis 17.10 and pipe clamp 2 17.11 are formed, support stationary pipes 17.3 and control box 17.4 are installed on fixed head 17.2, be fixedly connected with sliding rod rack 17.5 in control box 17.4 left and right sides, casing support 17.6 is fixedlyed connected with sliding rod rack 17.5 with support fixed axis 17.10 by screw 17.9, casing support 17.6 is fixedlyed connected with shoulder stationary pipes 17.7 by pipe clamp 17.8, and fixed bar 17.1 is connected with casing support 17.6 upper fixed by pipe clamp 2 17.11.
With reference to Fig. 7 is exoskeleton-type human body attitude information gathering clothes arm attitude collector schematic diagram of the present invention, comprise: shoulder stay pipe 15.01, potentiometer 1, potentiometer support 1, potentiometer 2 15.04, shaft coupling 1, the flexible aluminum pipe 15.06 of big arm, big arm bellows 15.07, shaft coupling 2 15.08, potentiometer 3 15.09, potentiometer support 2 15.10, potentiometer 4 15.11, shaft coupling 3 15.12, forearm telescoping tube 1, forearm telescoping tube 2 15.14; forearm bellows 15.15, universal joint 15.16.Wherein, shoulder stay pipe 15.01 (bilateral) can be enclosed within shoulder stationary pipes 17.7 inside, and the operator that can adapt to different shoulder breadths adjusts terminal length.Potentiometer 1 is vertically fixed on shoulder stay pipe 15.01 ends by shaft coupling, potentiometer support 1 is used for fixing two vertically arranged potentiometers 15.02 and 15.04, the outer tube end that potentiometer 1 links to each other and is vertically fixed on big arm telescoping tube 15.06 with shaft coupling 1, the square sliding bar of the inner socket of big arm telescoping tube, the limit slippage bar can only be moving up and down along the bar direction can not rotation, the big arm bellows 15.07 of sliding bar outer end socket.Shaft coupling 2 15.08 upper ends are fixed on big arm telescoping tube end, lower end and the locking of potentiometer 3 15.09 output shafts.Potentiometer support 2 15.10 connects potentiometer 3 15.09 and 15.11 two in potentiometer constitutes ancon two-freedom revolute pair, with shaft coupling 3 15.12 upper end locking forearm potentiometers 15.11 output shaft lower ends and the one 15.13 vertical applyings of forearm aluminum pipe.Forearm aluminum pipe one 15.13 socket forearm aluminum pipes 2 15.14 also constitute the forearm expansion links with forearm bellows 15.15.Forearm aluminum pipe 2 15.14 ends link to each other with universal joint 15.16 front ends, and universal joint 15.16 ends are connected on the forearm connecting rod fixed support 16.14.
With reference to Fig. 8 and Fig. 9, hand attitude collector schematic diagram for exoskeleton-type human body attitude information gathering clothes of the present invention, comprise flexible slide rail 16.01, ancon ring sleeve 16.02; forearm casing support 16.03; wrist stationary pipes 16.04; synchronizing wheel support 16.05; wrist angle of rotation displacement acquisition potentiometer 16.06; synchronizing wheel 16.07; cog belt 16.08; potentiometer support 16.09; palm potentiometer 16.10; sleeve pipe 16.11; finger clips 16.12; flexible plastic sheet 16.13; forearm connecting rod fixed support 16.14; palm rest 16.15. wherein; branches such as flexible slide rail 16.01 parallel forearm 120 degree are installed; flexible slide rail 16.01 is fixing near ancon one end and ancon ring sleeve 16.02, and ancon ring sleeve locking operation person forearm is near ancon one end.Forearm casing support 16.03 is vertically fixed on the forearm fixed support 16.14 and can freely rotates along central shaft.Flexible slide rail 16.01 ends are fixing with wrist stationary pipes 16.04.Wrist stationary pipes 16.04 is the sleeve stepped construction, and near wrist one end socket wrist sleeve pipe 16.11, wrist sleeve pipe 16.11 can be enclosed within on the wrist stationary pipes 16.04 and freely rotate around the pipe central shaft.Synchronizing wheel support 16.05 is fixed on wrist 16.04 tangent planes, is used for fixing wrist potentiometer 16.06.Synchronizing wheel 16.07 is consolidated on potentiometer 16.06 output shafts.Synchronizing wheel 16.07 be with 16.08 and wrist sleeve pipe 16.11 is common constitutes a two-wheeled chain sprocket structure synchronously.Potentiometer support 16.09 is fixed on wrist sleeve pipe 16.11 both sides.16.10 be fixed on the terminal circular hole of potentiometer support 16.09, its output shaft and palm rest 16.15 are fixing.Finger clips 16.12 is fixed on the palm rest 16.15, drives palm potentiometer 16.10 and rotates.Flexible plastic sheet 16.13 is fixed on the finger clips 16.12.
Claims (1)
1. remote control anthropomorphic robot system based on ectoskeleton human body attitude information acquiring technology is characterized in that: comprise exoskeleton-type human body attitude information gathering clothes, an anthropomorphic robot and action recognition module, two identical wireless communication module A, wireless communication module B and robot control module;
Action recognition module and wireless communication module A are installed in respectively on the exoskeleton-type human body attitude information gathering clothes, and wireless communication module B, robot control module and video acquisition module are installed on one's body the anthropomorphic robot; During system works, gather human action information by exoskeleton-type human body attitude information gathering clothes, and it is passed to the action recognition module, the action recognition module is discerned user action information and by wireless communication module A user action information is sent to wireless communication module B, wireless communication module B passes to the robot control module with this action message again, and anthropomorphic robot is then finished relevant action;
Exoskeleton-type human body attitude information gathering clothes comprise: head holder, head pose collector, arm attitude collector, hand attitude collector and back fixation device;
Wherein head holder comprises holder,head and crown support, crown support is fixed in the holder,head top, and the head pose collector is made up of horizontal potentiometer, vertical potentiometer, flexible connection piece, fixed support one, fixed axis, fixed support two, potentiometer support and support fixed axis; The potentiometer support is fixedly connected on the holder,head rear, horizontal potentiometer is fixedlyed connected with the potentiometer support, fixed support hold one by one with horizontal potentiometer fixedly connected, the other end fixedlys connected with fixed support two, vertically potentiometer is fixedlyed connected with fixed support two, fixed axis is fixedlyed connected with vertical potentiometer, fixedlying connected with fixed axis in the flexible connection piece upper end, fixedlys connected with the support fixed axis in the flexible connection piece lower end, and the support fixed axis is fixedly connected on the back;
The shoulder stationary pipes is arranged in the middle of the back, the left and right sides of shoulder stationary pipes is connected with two shoulder stay pipes respectively, the symmetrical configuration of both sides, the structure of a side is as follows: the shoulder stay pipe is equipped with two mutually perpendicular potentiometers by the upper end of shaft coupling and big arm telescoping tube; Big arm telescoping tube inner section is a rectangle, and big arm telescoping tube inside is with square sliding bar; Big arm telescoping tube lower end is fixedly connected with big arm bellows, and square sliding bar is in big arm telescoping tube and big arm bellows, fixedlys connected with square sliding bar lower end in big arm bellows lower end;
The lower end of big arm telescoping tube is connected with the forearm expansion link by shaft coupling; The forearm expansion link is made up of forearm telescoping tube one, forearm telescoping tube two and forearm bellows; forearm telescoping tube one lower end is fixedly connected with the forearm bellows; forearm telescoping tube two is in forearm telescoping tube one and forearm bellows, fixedlys connected with forearm telescoping tube two lower ends in forearm bellows lower end;
Slide rail is parallel with forearm and isometric, the slide rail upper end connects the ancon ring sleeve, the lower end connects the wrist stationary pipes, be fixed with the forearm casing support that has looping pit on the ancon ring sleeve; forearm telescoping tube one passes the looping pit of forearm casing support; the wrist stationary pipes is a terraced structure; be with the wrist ring sleeve above the step; the wrist ring sleeve is connected by belt with the synchronizing wheel that is fixed on the wrist stationary pipes outside; synchronizing wheel is fixedly linked with potentiometer is coaxial; ring sleeve one side is fixed with the hand potentiometer, the hand potentiometer is connected with the finger clips by shaft coupling, and the finger clips is connected with the flexible plastic sheet that the flexibility sensor is housed.
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