CN105292289A - Novel spherical robot capable of being carried with two different visual cameras - Google Patents
Novel spherical robot capable of being carried with two different visual cameras Download PDFInfo
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Abstract
The invention discloses a novel spherical robot capable of being carried with two different visual cameras; and the novel spherical robot mainly consists of such parts as a homogeneous spherical shell, a camera mounting structure, an internal driving mechanism, a visual module and a weight. The homogeneous spherical shell is formed to a complete sphere by connecting two half spherical shells through a connecting piece; spherical crown parts at two sides are cut off; and two flange plates are mounted. The camera mounting frame is fixed at the two ends of a hollow empty pipe, extending outside the spherical shell, through a camera connecting block, and a camera is mounted on the mounting frame, so that the shielding of the spherical shell to the viewing field of the camera is prevented. The novel spherical robot is novel and compact in structure and lower in total mass; and two visual cameras can be carried outside the spherical shell, and cannot move along with the rolling of the robot, so that stable visual image information can be obtained, the control problem of the spherical robot is preferably solved, and the exploration task of external environment is realized.
Description
Technical field:
The present invention relates to a kind of novel ball robot that can carry two kinds of different vision camera, be applicable to some workplaces needing to reconnoitre external environment condition or need extraneous information to carry out, in the task of accurately controlled reset, relating to novel robot Technical Development Area to robot.
Background technology:
Ball shape robot refers to that kinematic mechanism, sensor, controller etc. are built in a spherical shell inside, utilize spherical shell as the mobile robot of rolling walking device by a class.Compared with the mobile robots such as, crawler type wheeled with traditional, the advantage of ball shape robot is: 1. motion turns to flexibly and turn radius is less, can through the tortuous passageway of aperture slightly larger than its diameter; 2. there is the characteristic of similar tumbler, collide with obstacle or other kinematic mechanism in walking process and also can recover stable state after of short duration irregular movement; 3., when occurring the dangerous situation such as to fall from eminence, still can work on, there is not the problem of turning; 4. without sharp-pointed evagination thing, the place being operated in people's activity is applicable to.Therefore, ball shape robot operation in the wild, anti-terrorism and the field such as disaster relief and social orientation have broad application prospects.
Be limited to fully enclosed spherical housing and special rolling walking manner, existing ball shape robot often lacks externally measured sensor (as laser sensor, vision camera etc.), its environment sensing ability is more weak, be difficult to the kinematic parameter such as position, speed obtaining ball shape robot exactly, the stability of motion of ball shape robot is difficult to be guaranteed, and thus there is the problems such as controller performance is bad.Present invention employs a kind of novel ball shape robot Design of Mechanical Structure, in the ball shape robot that inner space is limited, devise vision camera installing mechanism and major and minor axis motor-driven structure, have sufficient utilization to robot interior space.The robot of design on the one hand can flexible motion, be beneficial to control, on the other hand there is external view camera installing mechanism, the relatively stable of vision camera can be kept in the process of robot motion, stable external environment condition image and robot posture information can be obtained.
Summary of the invention:
The invention of this patent is intended to design a novel ball shape robot that can carry external view camera, on the one hand robot can flexible motion, on the other hand robot has stable camera erecting stage, and can assemble two kinds of camera mounting brackets, can install two kinds of different vision camera.
The present invention mainly adopts following scheme:
The novel ball robot that can carry two kinds of different vision camera partly forms primarily of homogeneous spherical shell, camera installing mechanism, internal driving mechanism, vision module and heavily putting etc.Described spherical shell is connected to form a whole spheroid by two hemispherical Shells by connecting strap, and both sides spherical cap portion is pruned and installed two flanges.Described camera installing mechanism comprises a few part composition such as central hollow tube, camera erecting frame and camera contiguous block, wherein, camera erecting frame is fixed together by bolt and camera contiguous block, camera contiguous block is fixed on the central hollow tube two ends be connected with framework, like this, robot can not rotate at motion phase machine thereupon, and keeps stable, so that obtain stable visual pattern.Described internal driving mechanism is primarily of major and minor axis motor, large miniature gears and heavily put composition.Major axis motor-driven gear rotates, and realizes spherical shell and rolls; Minor axis motor drives heavily swing, changes robot pose, and the two interlock realizes the curvilinear motion of robot.
Described camera installing mechanism is primarily of compositions such as inner frame, central hollow tube, camera contiguous block and camera erecting frames, central hollow tube is connected by bolt and inner frame, camera contiguous block and central hollow tube two ends are stretched out spherical shell part and are adopted together with interference fit, and utilize bolt to fix its relative position.Camera erecting frame is fixed together by bolt and camera contiguous block, and like this, robot can not rotate at motion phase machine thereupon, and keeps stable, so that obtain stable visual pattern.Because robot vision disposal system may use two kinds of different vision camera, therefore camera erecting frame has two kinds of different structures.
When adopting single binocular vision camera, that do not blocked, stable binocular vision is obtained in order to enable camera, camera is needed to be arranged on above robot, the camera erecting frame of design arc, erecting frame is connected by bolt and camera contiguous block, camera mounting base and erecting frame are connected by bolt above erecting frame, vision camera and MTI gyroscope are arranged on phase machine bottom board.
When adopting two vision camera in left and right, need camera to be fixed on robot both sides, and it is constant to keep its relative position to stablize.Design another camera erecting frame, two, left and right erecting frame is bolted on camera contiguous block, and two cameras utilize bolt and camera erecting frame to be connected respectively.
Described internal driving mechanism partly forms primarily of inner frame, major and minor axis motor, large miniature gears, major axis cover and heavily putting etc.
Miniature gears is arranged on major axis motor output shaft by jackscrew, and formative gear is secondary between big gear wheel, big gear wheel is connected in major axis and puts, can drive when motor Drive pinion rotates like this major axis fixing with big gear wheel overlap together with rotate, thus drive the forward movement of spherical shell scrolling realization robot (be roll connect due to what adopt between major axis cover with framework, therefore framework can keep relative stability when major axis cover rotates).
Minor axis motor output end is by heavily pendulum attaching parts and side plate link together, heavily put by clump weight, system lithium cell used and heavily put side plate and form, minor axis motor changes robot center-of-gravity position by driving heavily pendulum to swing, thus changing the attitude of robot, major and minor axis motor linkage just can realize the curvilinear motion of robot.
Described vision module, primarily of vision mainboard, vision camera and poly (methyl methacrylate) plate composition, utilizes bolt to be fixed on poly (methyl methacrylate) plate by vision mainboard.Poly (methyl methacrylate) plate and framework are fixed together, and glass board, central hollow tube and framework have all opened the hole of a diameter 12mm in center, facilitate camera and MTI gyroscope cabling.
Central hollow tube adopts hollow design so that camera cabling, and major axis cover adopts hollow design to be beneficial to mounting center long tube.
The ball shape robot of the present invention's design has the following advantages:
1. a kind of stable vision camera installing mechanism in ball shape robot indoor design, makes camera to be stably arranged on outside spherical shell, camera light path is not blocked by spherical shell; Meanwhile, camera mounting bracket is fixed together with framework, does not roll and moves, keep a metastable position along with spherical shell, and ensure that camera can obtain stable stereovision, the extraneous information recorded is more accurate.
2. internal driving mechanism adopts major and minor axis motor differentiating control to realize, and wherein, major axis motor drives spheroid to rotate by gear mechanism, and due to gear-driven high efficiency, ball shape robot has higher running velocity; Meanwhile, minor axis driven by motor heavily puts side-sway to change robot pose, and major and minor axis motor linkage realizes robot curve motion, is beneficial to robot controlling.
3. inner frame, major axis cover and central hollow tube all adopt hollow design, are beneficial to the equipment such as mounted motor, bearing on the one hand, are beneficial to the cabling of camera and motor simultaneously; Hollow design significantly can alleviate the quality of part on the other hand, the quality of system is concentrated on more and heavily puts, make robot have larger running velocity and alerting ability, be conducive to the control of robot.
4. spherical shell adopts composite processing, and is designed to two hemispherical Shells and forms a complete spheroid by connecting strap, and this structure design makes the installation of internal mechanism and places more simple and convenient, and spherical shell stressed evenly, there is better mechanical property.
5. in spherical shell inside, driver train and camera installing mechanism are combined, make internal mechanism volume less, had larger utilization to spherical shell inner space, and also make the quality of whole robot system significantly reduce.
Accompanying drawing explanation
Fig. 1 is the ball shape robot constructional drawing installing binocular vision camera;
Fig. 2 is the ball shape robot sectional structure chart installing binocular vision camera;
Fig. 3 is the inner frame of ball shape robot and heavily puts constructional drawing;
Fig. 4 is the inner frame of ball shape robot and heavily puts lateral plan;
Fig. 5 is the ball shape robot constructional drawing installing two vision camera in left and right;
Fig. 6 is the ball shape robot sectional structure chart installing two vision camera in left and right;
Fig. 7 is the constructional drawing of camera erecting frame 1;
Fig. 8 is the constructional drawing of camera erecting frame 2;
Number in the figure: 1: homogeneous spherical shell; 2: flange; 3: long hollow shaft cover; 4: trim pouring weight; 5: connecting strap; 6: camera erecting frame 1; 7:MTI gyroscope; 8: binocular vision camera; 9: camera mounting base; 10: motor driver; 11: vision mainboard; 12: poly (methyl methacrylate) plate; 13: camera contiguous block; 14: big gear wheel; 15: miniature gears; 16: homogeneous framework; 17: lithium cell; 18: clump weight; 19: heavily put side plate; 20: frame bearing; 21: flange plate bearing; 22: central hollow tube; 23: minor axis motor frame; 24: major axis motor frame; 25: minor axis motor; 26: heavily put attaching parts 1; 27: major axis motor; 28: heavy balance staff bearing; 29: heavily put attaching parts 2; 30: camera erecting frame 2; 31: vision camera
Detailed description of the invention:
Below in conjunction with accompanying drawing and example, the invention will be further described.
Be illustrated in figure 1 the ball shape robot constructional drawing installing binocular vision camera.Fig. 2 is the ball shape robot sectional structure chart installing binocular vision camera.Fig. 3 is the inner frame of ball shape robot and heavily puts constructional drawing.Fig. 4 is the inner frame of ball shape robot and heavily puts lateral plan.Fig. 5 is the ball shape robot constructional drawing installing two vision camera in left and right.Fig. 6 is the ball shape robot sectional structure chart installing two vision camera in left and right.As shown in the figure, the ball shape robot that can carry two kinds of different vision camera is primarily of homogeneous spherical shell, camera installing mechanism, internal driving mechanism, vision module and the heavy part composition such as pendulum.Wherein homogeneous spherical shell 1 to be utilized by connecting strap 5 by two hemispherical Shells and is bolted together and forms, and wherein spherical shell two ends spherical cap portion is pruned, and has installed flange 2, is convenient to the fixing of internal mechanism and installs.Flange 2 and long hollow shaft are overlapped 3 one end and are connected by bolt, and major axis overlaps 3 other ends and is connected with being formed between framework to roll by being placed on antifriction-bearing box 20 in framework step trough.
Inner homogeneous framework adopts hollow design, is beneficial to the position of fixed electrical machinery and vision mainboard, simultaneously mitigation system quality; Wherein, homogeneous framework is bolted by minor axis motor frame 23 and major axis motor frame 24 two parts and forms; Minor axis motor is installed in framework 23, and overlaps 3 one end and formed to roll by being arranged on bearing in step trough and major axis and be connected; Major axis overlaps between the flange 2 on 3 other ends and spherical shell and utilizes bolt to be connected, and in order to mounting center blank pipe 22, major axis cover 3 adopts hollow design; Major axis motor is installed in framework 24, and by the bearing in heavy balance staff bearing 28, heavily put attaching parts 26 with heavily put side plate 19 roll be connected; Between right side major axis cover and flange, trim pouring weight 4 is installed, makes robot center of gravity remain on center position;
The mouth of major axis motor 27 is fixed with miniature gears 15 by jackscrew, and intermesh between miniature gears 15 and big gear wheel 14 and formative gear pair, big gear wheel 14 is bolted on major axis cover 3.The mouth of minor axis motor 25 is by jackscrew and heavily put attaching parts 1 (26) and be connected, and and heavily puts side plate 19 and be fixed together.So, when major axis motor 27 works, the major axis be fixed together with big gear wheel 14 just can be driven to overlap 3 and to rotate, thus drive spherical shell to roll, realize advance or the retrogressing of robot.When minor axis motor 25 works, just can drive and heavily swing, change the barycenter of ball shape robot, thus change robot pose.When major and minor axis motor linkage, the curvilinear motion of robot just can be realized.
Camera installing mechanism is primarily of compositions such as homogeneous framework 16, central hollow tube 22, camera contiguous block 13 and camera erecting frames 6.Wherein, central hollow tube 22 is fixed together by bolt and inner homogeneous framework 16, and two ends are supported by two flange plate bearings 21.Camera contiguous block 13 and central hollow tube 22 two ends are stretched out spherical shell part and are adopted together with interference fit, and utilize bolt to fix its relative position.Consider that vision processing system in the present invention may use two kinds of different vision camera, devise the camera erecting frame of two kinds of different structures: when adopting single binocular vision camera, that do not blocked, stable binocular vision information is obtained in order to enable camera, consider camera to be arranged on above robot, and design the camera erecting frame 6 of an arc; Erecting frame 6 is connected by bolt and camera contiguous block 13, is bolted the position of camera mounting base 9 above erecting frame 6, and MTI gyroscope 7 and binocular vision camera 8 are installed on camera mounting base 9;
When adopting two vision camera in left and right, camera is needed to be fixed on robot both sides, and it is constant to keep its relative position to stablize, so that formation stereovision, design camera erecting frame 30 thus, two erecting frames are bolted on camera contiguous block 13, and two, left and right camera utilizes bolt and camera erecting frame 30 to be connected respectively, and keep its relative position to stablize.
Described vision module forms primarily of vision mainboard, vision camera and transparency glass plate, due to the stereovision location algorithm more complicated adopted in vision module, calculated amount is large, so selected the composition such as Inteli7-2600 treater and 30GB solid state hard disc of high calculation process performance, utilize bolt to be fixed on poly (methyl methacrylate) plate 12 by vision mainboard 11, motor driver 10 is also installed on a glass simultaneously; Poly (methyl methacrylate) plate 12 and framework 16 are fixed together, and glass board 12, central hollow tube 22 and framework 16 have all opened the hole of a diameter 12mm in center, facilitate camera cabling; Vision camera adopts two schemes to design, and namely selects a binocular stereo vision camera and selects two vision camera in left and right to realize binocular vision.
Heavily put primarily of clump weight 16 and heavily put side plate 17 and adopt bolt to be fixed together to form, lithium cell 15 needed for system is also arranged on clump weight 16, to save robot interior space.
Claims (5)
1. the novel ball robot that can carry two kinds of different vision camera mainly comprises homogeneous spherical shell, camera installing mechanism, internal driving mechanism, vision module and the heavy part composition such as pendulum, it is characterized in that:
Described spherical shell is made up of hemispherical Shell, connecting strap and flange, is connected to each other between two hemispherical Shells by connecting strap, flange, utilizes bolt to be affixed to together, forms a complete spheroid; Described camera installing mechanism comprises a few part composition such as central hollow tube, camera erecting frame and camera contiguous block, and wherein, camera erecting frame is fixed together by bolt and camera contiguous block, and camera contiguous block is fixed on the central hollow tube two ends be connected with framework; Like this, robot can not rotate at motion phase machine thereupon, and keeps stable, so that obtain stable visual pattern; Described internal drive traveling gear is partly made up of major and minor axis motor, large miniature gears, homogeneous framework, long hollow shaft cover and heavily putting etc.; Wherein, major axis motor drives large pinion rotation thus drives spherical shell to rotate, and robot is rolled and advances; Minor axis motor drives heavily swing, changes the attitude of robot, and major and minor axis motor linkage just can control robot curve motion; Described vision module, primarily of compositions such as stereo vision camera, vision mainboards, wherein, contemplated by the invention the installation situation of two kinds of different stereo vision camera.
2. spherical shell according to claim 1, is characterized in that:
Described spherical shell is connected to form a complete spherical housing by two hemispherical Shells by connecting strap and bolt, be convenient to installation and the placement of internal mechanism, the spherical cap portion of hemispherical Shell is pruned, and installs two flanges, utilizes bolt to be connected between spherical shell and flange.
3. require that described camera installing mechanism is primarily of compositions such as inner frame, central hollow tube, camera contiguous block and camera erecting frames, is characterized in that according to right 1:
Central hollow tube is connected by bolt and inner frame, and camera contiguous block and central hollow tube two ends are stretched out spherical shell part and adopted together with interference fit, and utilize bolt to fix its relative position;
Consider that vision processing system in the present invention may use two kinds of different vision camera, therefore the camera erecting frame of two kinds of different structures is devised: when adopting single binocular vision camera, that do not blocked, stable binocular vision information is obtained in order to enable camera, consider camera to be arranged on above robot, and design the camera erecting frame 1 of an arc; Erecting frame 1 is connected by bolt and camera contiguous block, camera mounting base and erecting frame 1 is connected above erecting frame 1 by bolt, and vision camera and MTI gyroscope are arranged on phase machine bottom board;
When adopting two vision camera in left and right, camera is needed to be fixed on robot both sides, and it is constant to keep its relative position to stablize, so that formation stereovision, therefore camera erecting frame 2 is designed, two erecting frames 2 are bolted on camera contiguous block, and two, left and right camera utilizes bolt and camera erecting frame 2 to be connected respectively.
4. require that described internal driving mechanism partly forms primarily of inner frame, major and minor axis motor, large miniature gears, major axis cover and heavily putting etc. according to right 1, it is characterized in that:
Described framework adopts hollow design, is beneficial to the position of fixed electrical machinery and vision mainboard; Wherein, homogeneous framework is bolted by minor axis motor frame and major axis motor frame two parts and forms; Install minor axis motor in minor axis motor frame, and overlap one end by bearing and major axis and formed to roll and be connected, bearing is arranged in the step groove of minor axis motor frame; The flange that major axis overlaps on the other end and spherical shell utilizes bolt to be connected, and in order to mounting center blank pipe, major axis cover adopts hollow design; Major axis motor is installed in major axis motor frame, and by bearing, heavily put attaching parts with heavily put side plate roll be connected; Between right side major axis cover and flange, trim pouring weight is installed, makes robot center of gravity remain on center position;
Miniature gears in described driver train is fixed on major axis motor output shaft by jackscrew, engage with being formed between big gear wheel, big gear wheel is connected in major axis and puts, can drive when motor Drive pinion rotates like this major axis fixing with big gear wheel overlap together with rotate, thus drive the forward movement of spherical shell scrolling realization robot (be roll connect due to what adopt between major axis cover with framework, therefore framework can keep relative stability when major axis cover rotates); Minor axis motor output end is by heavily pendulum attaching parts and side plate link together, heavily put by clump weight, system lithium cell used and heavily put side plate and form, minor axis motor changes robot center-of-gravity position by driving heavily pendulum to swing, thus changing the attitude of robot, major and minor axis motor linkage just can realize the curvilinear motion of robot.
5. require that described vision module is primarily of vision mainboard, vision camera and transparency glass plate composition, is characterized in that according to right 1:
Due to the stereovision location algorithm more complicated adopted in vision module, calculated amount is large, so selected the composition such as Inteli7-2600 treater and 30GB solid state hard disc of high calculation process performance, bolt has been utilized to be fixed on poly (methyl methacrylate) plate by vision mainboard; Poly (methyl methacrylate) plate and framework are fixed together, and glass board, central hollow tube and framework 1 has all opened the hole of a diameter 12mm in center, facilitate camera cabling; Vision camera adopts two schemes to design, and namely selects a binocular stereo vision camera and selects two vision camera in left and right to realize binocular vision.
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| CN109121030B (en) * | 2018-10-29 | 2024-05-10 | 歌尔智能科技有限公司 | Intelligent display sound box and equipment |
| CN110062211A (en) * | 2019-05-20 | 2019-07-26 | 栾松巍 | A kind of dynamic stability suitable for street fighting looks around antitank grenade and its installation and application |
| CN110355773A (en) * | 2019-08-22 | 2019-10-22 | 逻腾（杭州）科技有限公司 | A kind of rolling robot with outer swing arm |
| CN112208663A (en) * | 2020-10-19 | 2021-01-12 | 重庆华渝重工机电有限公司 | Spherical vehicle |
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Application publication date: 20160203 |