CN106362338B - A kind of fire-fighting robot of motion sensing control, control system and control method - Google Patents
A kind of fire-fighting robot of motion sensing control, control system and control method Download PDFInfo
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- CN106362338B CN106362338B CN201611079871.2A CN201611079871A CN106362338B CN 106362338 B CN106362338 B CN 106362338B CN 201611079871 A CN201611079871 A CN 201611079871A CN 106362338 B CN106362338 B CN 106362338B
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- motion sensing
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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Abstract
The embodiment of the invention discloses a kind of fire-fighting robots of motion sensing control, including crawler-type mobile platform, several storage tanks, manipulator, the manipulator is by first servo motor rotary setting on crawler-type mobile platform front end, the manipulator includes support arm, rotary setting spray gun on the support arm end, the second servo motor is provided on the support arm, second servo motor controls the rotation of the spray gun by connecting rod, and the camera with holder is equipped on the manipulator.The embodiment of the invention also discloses a kind of control system of the fire-fighting robot of motion sensing control and control methods.Using the present invention, allows user flexibly to control robot and complete corresponding movement.The present invention not only meets robot operation under complex space, but also ensure that the efficient utilization to spatial position, while realizing the long-range control of robot, has significant progress, has stronger market value.
Description
Technical field
The present invention relates to disappearing for a kind of both arms fire-fighting robot of crawler type motion sensing control more particularly to a kind of motion sensing control
Anti- robot, control system and control method.
Background technique
Robot is a kind of new device to grow up during mechanization, automated production.In modern production mistake
Cheng Zhong, robot are widely used in automatic production line, and the development and production of robot have become high-tech sector
The new technology inside developed rapidly, it more promotes machine man-based development, enables robot that machine is better achieved
The combination of tool and automation.
Currently, occur some robots on the market, but on the one hand they are single serial or parallel connection robot mostly；
On the other hand, the process control machine people that they mostly use greatly technical staff to finish writing in advance is acted by fixed routine.By above-mentioned machine
Device people applies with fire-fighting, and there are many shortcomings, so that it is lost movement as robot can not cope with emergency situations and high temperature
The disadvantages of ability.
Summary of the invention
The technical problem to be solved by the embodiment of the invention is that providing a kind of fire-fighting robot of motion sensing control, control
System and control method.It can make fire-fighting robot that can not only act under the manipulation of programmer, but also can change into and use
It is acted under the gesture of person according to the demand of user.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of fire-fighting robots of motion sensing control, including
Crawler-type mobile platform, several storage tanks being removably mounted on the crawler-type mobile platform, manipulator, the manipulator
By first servo motor rotary setting on crawler-type mobile platform front end, the manipulator includes support arm, described
Rotary setting spray gun on support arm end, the spray gun pass through conduit and solenoid valve are cooperated to connect with the storage tank, the branch
The second servo motor is provided in brace, second servo motor controls the rotation of the spray gun, the machinery by connecting rod
Camera with holder is installed on hand.
Wherein, be provided with venting conduit on crawler-type mobile platform two sides, the venting conduit by high pressure valve with
The storage tank connection, the venting conduit upper surface, which is arranged side by side, several micropores.
Wherein, several storage tank peripheries are arranged with the first heat-insulating shield, and the venting conduit is located at described first
Except heat-insulating shield.
Wherein, hook column, institute are provided on the side of first heat-insulating shield and crawler-type mobile platform closure
It states and is provided with double leval jib hook on the two sides of crawler-type mobile platform front end, the double leval jib hook has to be taken with the hook column activity
The hook of button.
Wherein, the first servo motor is fixedly mounted downwards in the support arm, and the shaft end of the first servo motor is solid
Dingan County is equipped with pedestal, and the pedestal is fixedly connected with the crawler-type mobile platform.
Further, the support arm roots periphery is provided with the second heat-insulating shield.
Correspondingly, the embodiment of the invention also provides a kind of control system of the fire-fighting robot of motion sensing control, including it is upper
Fire-fighting robot, master controller, the wireless receiving module being set in the fire-fighting robot and the control for the motion sensing control stated
Module, the master controller include PC machine, the motion sensing control device, the transmitting module that are connected in the PC machine, and the PC machine obtains
The gesture-type of the motion sensing control device is simultaneously converted to, machine mobile to the corresponding crawler-type mobile platform of the fire-fighting robot
The control instruction that tool is made manually, spray gun acts.
Correspondingly, the embodiment of the invention also provides a kind of controlling parties of the control system of the fire-fighting robot of motion sensing control
Method the following steps are included:
S1: the gesture gesture library corresponding with the control instruction of the fire-fighting robot of the motion sensing control device is established；
S2: the hand exercise data and the gesture library for acquiring the motion sensing control device compare, and identify corresponding institute
The control instruction for stating fire-fighting robot is sent to the control module and is executed.
Wherein, the gesture library includes the switching hand of two kinds of hand gesture recognition modes and described two hand gesture recognition modes
Gesture.
Wherein, described two hand gesture recognition modes respectively include right-hand man and hold respectively to each component of the fire-fighting robot
Row control gesture.
The implementation of the embodiments of the present invention has the following beneficial effects: the present invention carries out body-sensing technology and robot technology just
When combination, it is strict dynamic using LeapMotion() motion sensing control device by the bimanual input of user controls crawler-type mobile platform
Movement, the left rotation and right rotation of manipulator, in holder camera be rotated up and down and arm end spray gun it is upper and lower praise etc. it is dynamic
Make, allows user flexibly to control robot and complete corresponding movement.Exquisite structure design of the invention adds machine
The design feature of people both arms itself not only meets robot operation under complex space, but also ensure that the height to spatial position
Effect utilizes, while realizing the long-range control of robot, and relative to traditional fire-fighting robot, the present invention has significant progress,
With stronger market value.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of front end of the invention；
Fig. 2 is the structural schematic diagram of side view of the present invention；
Fig. 3 is the structural schematic diagram of the first heat-insulating shield of the invention in conjunction with crawler-type mobile platform；
Fig. 4 is the structural schematic diagram that crawler-type mobile platform combines；
Fig. 5 is the structural schematic diagram of manipulator；
Fig. 6 is the structural schematic diagram of three-link hook the first heat-insulating shield of locking；
Fig. 7 is the structural schematic diagram of three-link hook the first heat-insulating shield of unlock；
Fig. 8 is the overall structure block diagram of control system of the invention；
Fig. 9 is the control flow schematic diagram of control method of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, the present invention is made into one below in conjunction with attached drawing
Step ground detailed description.
The structural schematic diagram as shown in Fig. 1 ~ Fig. 4.
A kind of fire-fighting robot the embodiment of the invention provides motion sensing control includes crawler-type mobile platform 10, detachable
Several storage tanks 20, the manipulator 30 being installed on crawler-type mobile platform 10.
Crawler-type mobile platform 10 is made of carrying platform and crawler belt, and in the present embodiment, manipulator 30 is two and sets
It is placed on the front end of crawler-type mobile platform 10, the freedom degree of manipulator 30 is 2.
Structural schematic diagram referring to Figure 5.
Manipulator 30 includes support arm 31, rotary setting spray gun 32 on 31 end of support arm, and spray gun 32 passes through conduit and matches
Solenoid valve 33 is closed to connect with storage tank 20.Solenoid valve 33 is normally closed solenoid valve, and closed state is handled when not powering.
Storage tank 20 is removably installed in the carrying platform of crawler-type mobile platform 10, and multiple storages can be arranged as needed
Tank 20, in the present embodiment, storage tank 20 are four and are juxtaposed on carrying platform.
The root of support arm 31 is fixed with first servo motor 34, and the shaft end of first servo motor 34 is fixedly installed with pedestal
35, pedestal 35 and carrying platform pass through flanged joint.
The second servo motor 36 is additionally provided on support arm 31, the shaft end of the second servo motor 36 passes through the control spray of connecting rod 37
Rifle 32 is rotated up and down.
The camera 40 of holder is additionally provided on the root of support arm 31.
20 periphery of storage tank on crawler-type mobile platform 10 is arranged with the first heat-insulating shield 21, crawler-type mobile platform
Be provided with venting conduit 22 on 10 on the two sides of the first heat-insulating shield 21,22 upper surface of venting conduit be arranged side by side have it is several
A micropore, venting conduit 22 connect storage tank 20 by high pressure valve 23.
When storage tank 20 is excessively heated, when internal pressure increases to the threshold values of high pressure valve 23, high pressure valve 23 is connected, so that depositing
Extinguishing chemical or coolant liquid in storage tank 20 are sprayed through the micropore on venting conduit 22, make the whole cage of fire-fighting robot of the invention
It covers in " misty rain " of extinguishing chemical formation, it is temporary to be isolated with fire field environment, to make body-sensing both arms fire-fighting robot by ring
The influence in border reduces.
The root periphery of support arm 31 is provided with the second heat-insulating shield 38, so that the fire-fighting machine of the embodiment of the present invention
People integrally achievees the purpose that heat-insulated protection, protects electronic component and servo motor on manipulator etc. to thermo-responsive component.
Structural schematic diagram as shown in Figure 6,7.
In order to be fixed on the first heat-insulating shield 21 on crawler-type mobile platform 10, and reach easy-to-dismount purpose, the
The side that one heat-insulating shield 21 is closed with crawler-type mobile platform 10 is attached by hook 11 derived from four-bar mechanism,
More specifically, be provided with hook column 24 on the first heat-insulating shield 21, hook 11 with end successively hinged connecting rod 11a,
11b, 11c, and its whole first and last end is articulated on crawler-type mobile platform 10, and hook is provided on the hinged end of connecting rod 11a
Pawl 11d, hook 11d are fixed under the linkage of hook 11 with 24 movable snap of hook column.
The embodiment of the invention also provides a kind of control systems of the fire-fighting robot of motion sensing control, include above-mentioned body
Fire-fighting robot, master controller 50, the wireless receiving module 51 being set in fire-fighting robot and the control module 52 of sensing control,
Master controller 50 includes PC machine 53, the motion sensing control device 54 being connected in PC machine 53, wireless transmitter module 55.
Motion sensing control device 54 is LeapMotion controller, and LeapMotion controller passes through signal wire I and PC machine 53
Signal input part is connected；The signal output end of PC machine 53 is connected by signal wire II with the input port of wireless transmitter module 55,
The signal input part of control module 52 is connected by signal wire III with the output port of wireless receiving module 51, control module 52
It is mounted on crawler-type mobile platform with wireless receiving module 51；The output port of control module 52 is connected by signal wire and is driven
Servo motor, driving manipulator left rotation and right rotation and the spray that stepper motor, the driving camera of dynamic tracked mobile platform rotate upwardly and downwardly
The servo motor connection that rifle is praised up and down.
PC machine 53 obtains the gesture-type of motion sensing control device 54 and is converted to the corresponding crawler type shifting to fire-fighting robot
The control instruction that moving platform movement, manipulator behavior, spray gun act.
The embodiment of the invention also provides a kind of controlling parties of the control system of the fire-fighting robot of above-mentioned motion sensing control
Method, specific as follows:
T01 binds real time data provided by manipulator within the vision, spray gun or tool by LeapMotion,
For these data by set or frame data expression, equipment will assign each basic binding data series unique ID number code as mark
Note establishes the gesture library of control crawler belt body-sensing tow-armed robot, the left side including hand gesture recognition mode once by different gestures
Camera is upper and lower in gesture corresponding to the translation motion of hand control crawler-type mobile platform and right hand control camera holder
The corresponding gesture of left rotation and right rotation movement, the left rotation and right rotation movement of the lower left hand control left side mechanical hand of hand gesture recognition mode two with
Upper and lower praise of spray gun is praised with the left rotation and right rotation movement of right hand control right side mechanical hand and the upper and lower of spray gun, hand gesture recognition mode
Switch the gesture and formal switching gesture of waiting between one and hand gesture recognition mode two；
When T02 presses initialization button, all servo motors of crawler type body-sensing tow-armed robot are resetted, machine
People's hand gesture recognition mode is switched to hand gesture recognition mode one；
T03 forms different gestures, LeapMotion by operation of operator's left hand and right hand on LeapMotion
Hand exercise data are acquired in real time and are compared with gesture library；
T04 is waited by the way that whether comparison identification operator's left hand and right hand gesture belongs to the switching of robot hand gesture recognition mode
Mode, into T09, enters T05 if belonging to this operation if being not belonging to；
T05 is right by the translation motion institute whether comparison identification operator's Left-hand gesture belongs to crawler-type mobile platform
The gesture answered, into T06, is back to T03 if belonging to this operation if being not belonging to, and continues to identify；
T06, which is sent, represents character data that robot crawler-type mobile platform is accordingly translatable to master controller, passes through master control
Device processed issues the translation motion that control signal realizes robot crawler-type mobile platform, and system is back to T03 and has carried out subsequent behaviour
Make；
Whether T07 belongs to gesture corresponding to the upper and lower pitching of camera by comparison identification operator's right hand gesture,
If belonging to this operation, into T08, T03 is back to if being not belonging to；
T08 sends the character data for representing robot camera or more pitching to master controller, is issued by master controller
The pitching motion that signal realizes robot camera is controlled, system is back to T03 and has carried out subsequent operation；
T09 is by comparing whether identification operator's right hand gesture belongs to corresponding to the formal switching of gesture mode identification
Gesture, into T10, is back to T03 if belonging to this operation if being not belonging to；
T10 sends the character data for representing the switching of robot hand gesture recognition mode to master controller, is sent out by master controller
Robot hand gesture recognition mode is switched to another mode by control signal out；
T11 by comparison identification operator's Left-hand gesture whether belong to robot left side mechanical makees manually corresponding to
Gesture, into T12, enters T13 if belonging to this operation if being not belonging to；
T12, which is sent, represents character data that robot left side mechanical is made manually to master controller, is issued by master controller
The movement that signal realizes robot left side mechanical hand is controlled, system is back to T03 and has carried out subsequent operation；
T13 praises institute by the way that whether comparison identification operator's Left-hand gesture belongs to left side mechanical hand end spray gun up and down
Corresponding gesture, if belonging to this is operated into T14, if being not belonging to return to T03；
T14, which is sent, to be represented robot left side mechanical hand end spray gun the character data praised passes through to master controller up and down
What master controller issued that control signal realizes robot left side mechanical hand end spray gun praises movement, system be back to T03 into
Row subsequent operation；
T15 by comparison identification operator's right hand gesture whether belong to robot right side mechanical makees manually corresponding to
Gesture, into T16, enters T17 if belonging to this operation if being not belonging to；
T16, which is sent, represents character data that robot right side mechanical is made manually to master controller, is issued by master controller
The movement that signal realizes robot right side mechanical hand is controlled, system is back to T03 and has carried out subsequent operation；
T17 praises institute by the way that whether comparison identification operator's right hand gesture belongs to right side mechanical hand end spray gun up and down
Corresponding gesture, if belonging to this is operated into T18, if being not belonging to return to T03；
T18, which is sent, to be represented robot right side mechanical hand end spray gun the character data praised passes through to master controller up and down
What master controller issued that control signal realizes robot right side mechanical hand end spray gun praises movement, system be back to T03 into
Row subsequent operation.
It is possible to further construct the three-dimension gesture library based on LeapMotion, each of which gesture one and only one hold
Action is corresponding to it, to can not match respective action after avoiding LeapMotion from identifying gesture, will finally be matched accordingly
Recognition methods and result are sent to master controller.
Specific work process of the invention can divide that the following are three parts.
1. initialization
All servo motors of crawler type body-sensing tow-armed robot are resetted, i.e., the angular displacement of all servo motors is reset to
Zero, the posture of the manipulator of robot, the camera position in holder and arm end spray gun reviews to original state, machine
The hand gesture recognition mode of people is switched to mode one, and all serial ports are closed；
2. debugging
Start LeapMotion motion sensing control device, hand is suspended on right above LeapMotion by user, passes through the letter of hand
Single three-dimensional motion carrys out the movement of debugging machine people, and whether the movement of inspection machine people is consistent with user's hands movement；
3. operation
After debugging, user can be controlled by right-hand man the movement of crawler-type mobile platform, the rotation of manipulator,
The rotation of camera and praising for arm end spray gun；After spray gun moves to designated position, then pass through set action (example
Such as changing the radius of curvature of palm) opens solenoid valve puts out a fire.
Above disclosed is only a preferred embodiment of the present invention, cannot limit the power of the present invention with this certainly
Sharp range, therefore equivalent changes made in accordance with the claims of the present invention, are still within the scope of the present invention.
Claims (7)
1. a kind of fire-fighting robot of motion sensing control, which is characterized in that including crawler-type mobile platform, be removably mounted to it is described
Several storage tanks, manipulator on crawler-type mobile platform, the manipulator is by first servo motor rotary setting in described
On crawler-type mobile platform front end, the manipulator includes support arm, rotary setting spray gun on the support arm end, the spray
Rifle is provided with the second servo motor by conduit and solenoid valve being cooperated to connect with the storage tank on the support arm, and described the
Two servo motors control the rotation of the spray gun by connecting rod, and the camera with holder is equipped on the manipulator, described
Venting conduit is provided on crawler-type mobile platform two sides, the venting conduit is connect by high pressure valve with the storage tank, institute
Stating venting conduit upper surface and being arranged side by side has several micropores, and several storage tank peripheries are arranged with the first heat-insulating shield,
The venting conduit is located at except first heat-insulating shield, and the support arm roots periphery is provided with the second heat-insulated protection
Cover.
2. the fire-fighting robot of motion sensing control according to claim 1, which is characterized in that first heat-insulating shield with
It is provided with hook column on the side of the crawler-type mobile platform closure, crawler-type mobile platform front end is provided with four on two sides
Connecting rod hook, the double leval jib hook have the hook with the hook column movable snap.
3. the fire-fighting robot of motion sensing control according to claim 1, which is characterized in that the support arm is fixed downwards to pacify
The first servo motor is filled, the shaft end of the first servo motor is fixedly installed with pedestal, the pedestal and the crawler type
Mobile platform is fixedly connected.
4. a kind of control system of the fire-fighting robot of motion sensing control, which is characterized in that including body-sensing control described in claim 1
Fire-fighting robot, master controller, the wireless receiving module being set in the fire-fighting robot and the control module of system, the master
Controller includes PC machine, the motion sensing control device, the transmitting module that are connected in the PC machine, and the PC machine obtains the motion sensing control
The gesture-type of device is simultaneously converted to the corresponding crawler-type mobile platform movement of the fire-fighting robot, manipulator behavior, spray
The control instruction of rifle movement.
5. a kind of control method of the control system of the fire-fighting robot of the motion sensing control as shown in claim 4, feature exist
In, comprising the following steps:
S1: the gesture gesture library corresponding with the control instruction of the fire-fighting robot of the motion sensing control device is established；
S2: the hand exercise data and the gesture library for acquiring the motion sensing control device compare, and identify corresponding described disappear
The control instruction of anti-robot is sent to the control module and is executed.
6. control method according to claim 5, which is characterized in that the gesture library include two kinds of hand gesture recognition modes with
And the switching gesture of described two hand gesture recognition modes.
7. control method according to claim 5, which is characterized in that described two hand gesture recognition modes respectively include left and right
Hand is respectively to the execution control gesture of each component of the fire-fighting robot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611079871.2A CN106362338B (en) | 2016-11-30 | 2016-11-30 | A kind of fire-fighting robot of motion sensing control, control system and control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611079871.2A CN106362338B (en) | 2016-11-30 | 2016-11-30 | A kind of fire-fighting robot of motion sensing control, control system and control method |
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| CN106362338B true CN106362338B (en) | 2019-05-17 |
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| CN111941426A (en) * | 2020-08-17 | 2020-11-17 | 常州工程职业技术学院 | Control system and method for remotely controlling mobile mechanical arm |
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| CN104338268A (en) * | 2014-10-20 | 2015-02-11 | 济南大学 | High-pressure intelligent fire engine |
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| CN205075054U (en) * | 2015-08-12 | 2016-03-09 | 哈尔滨理工大学 | A robot for high -risk operation |
| CN205198758U (en) * | 2015-11-05 | 2016-05-04 | 安徽大学 | Crawler -type fire control machine people |
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| CN104338268A (en) * | 2014-10-20 | 2015-02-11 | 济南大学 | High-pressure intelligent fire engine |
| CN104299351A (en) * | 2014-10-22 | 2015-01-21 | 常州大学 | Intelligent early warning and fire extinguishing robot |
| CN205075054U (en) * | 2015-08-12 | 2016-03-09 | 哈尔滨理工大学 | A robot for high -risk operation |
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