CN106393049B - A kind of robot for high-risk operations - Google Patents
A kind of robot for high-risk operations Download PDFInfo
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- CN106393049B CN106393049B CN201510490780.7A CN201510490780A CN106393049B CN 106393049 B CN106393049 B CN 106393049B CN 201510490780 A CN201510490780 A CN 201510490780A CN 106393049 B CN106393049 B CN 106393049B
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Abstract
The invention discloses a kind of robots for high-risk operations, including robot car body, mechanical arm and the helmet.Robot car body includes robot arm, crawler body, solar energy sailboard and cam device.Mechanical arm includes right hand mechanical arm and left hand mechanical arm；Right hand mechanical arm includes right hand set, right elbow set and right control device；Right control device is made of the first inertial navigation module, potentiometer, first singlechip control panel and the first power supply.Left hand mechanical arm includes left hand set, left elbow set and left control device；Left control device includes second singlechip control panel, obliquity sensor and wireless serial module, second source, the enabled switch of single-chip microcontroller.The helmet includes helmet main body, camera video display screen, battery, third inertial navigation module, third single-chip microcontroller, second wireless module etc..Present invention human arm and hand motion come it is intuitive, simply control robot, convenient for wearing and flexibly control, suitable for dangerous, complicated field.
Description
Technical field
The present invention relates to robot field, specifically a kind of robot for high-risk operations.
Background technique
In view of the important meaning and wide application prospect of master-slave telecontrol operation robot technology, beauty, day and European Countries
Competitively develop relevant technology.U.S. NASA develops the process mechanism hand with preliminary telepresenc for space telecontrol operation
FTS system and DTF-I system, and be loaded into space shuttle in 1993.1993, the Space teleoperation machine that Germany develops
Device ROTEX has carried out space flight test on Colombia's space shuttle for the first time, and ROTEX is by remote-controlled robot and glove-type people
Machine interface and with prediction display capabilities stereo vision system constitute.In the more ocean development of application, job class is distant
It controls unmanned underwater robot (ROV) and studies relatively broad, the end of the year 1999,990 flights of Egypt Air are attached in USA New York
Coastal waters domain is crashed, and is exactly salvaged the black box of aircraft by " deep diving 7200 (Deep Drone) " type ROV of USN.
Along with the rapid development of mechanics of communication, the research of network-based teleoperation robot technology is had gradually developed, and is changed
The information of the Internet transmission is the situation of the information such as human vision and the appreciable text of the sense of hearing, image and sound, is made mutually
Networking becomes the carrier of human action's behavior, so that the extension of human manipulation's function can be realized.In August, 1994, California, USA are big
One SCARA type industrial robot is connected on network by the Goldberg for learning Berkeley by server for the first time, this is
The network-based tele-manipulator of First in the world, its permission operator control the robot by network remote and are filling
Digging operation is carried out in the space of full sand.Nineteen ninety-five, Australian Taylor have been successfully set up " Australian
Tele robot On the Web " becomes current most successful annoybot.After remote operator, which obtains, to be authorized, it can use
Computer controls the robot in Australian laboratory by network remote.More of practical meaning is the U.S. in 1998
The WITS system that Backes of NASA et al. is established, the expert for being distributed in various regions can be used the system to Mars rover
Carry out remote layout and remote operation.The Mechatronic Systems that Britain then actively utilizes remote operation technological transformation traditional, and successfully
Have developed the long-range excavating manipulator with force feedback perceptional function.The U.S. and Japan are then according to the needs of tele-medicine, successively
Develop surgical operation aided remote robot system.The country is to the research of master-slave mode high-risk operations robot also in advanced hair
The exhibition stage.In the works, automatic field intelligent robot theme and space industry robot for space special topic exist for " 863 " in China
It begins within 1993 teleoperation robot technology being classified as key technology and be studied, also elder generation of domestic related colleges and universities and scientific research institution
The theory and application study of tele-manipulator technology are carried out afterwards.During " eight or five ", ground by two two school shareds
Intelligence two function underwater manipulators of " Zhi Shuiyi II " the type AUV of system equipped with Huazhong University of Science and Technology development, and Yu Haiyang's environment
It completes autonomous simulation system and hangs the blasting charge, cut the operation demonstration of hawser.Under the total leader of middle ship and tissue, voluntarily develop with
Submarine rescue is " 8A4 " type ROV of background, and there are two powerful manipulators for device dress of diving, and has multiple types of tools, diving depth
Up to 600 meters, a variety of different operations can be carried out.The master-slave mode remote control that Robot Research Institute Harbin Institute of Technology develops is micro-
Robot Force-Feedback control system is operated, when master manipulator control grabs object or carry out device from manipulator, from manipulator
The gravity feeling etc. of contiguous sense and crawl object when contacting object can be fed back to master manipulator and by master manipulator
Haptic device system, allow the operator to be continued and stable contact force feeling, be further microoperation machine
People's experimental study is laid a good foundation.This is robot controller in the more successful example in microoperation field, but high-risk facing
In the complex environment of operation, the research of the operating characteristics of equipment should relatively analysis performance occupy a bit high specific gravity.
In other fields, to prevent harm of the ray to doctor, it is very short often to build signal transmission distance for medical treatment aspect
Master-slave robotic system, such as the da Vinci robot of foreign country, it is small that this kind of robot system has the characteristics that precision height is delayed.Have
The experience of operative doctor and the characteristic that robot localization is accurate, stable and high operation precision are combined to effect, can be assisted
Doctor completes fine surgical action, reduces in operation because of damage caused by the trembling of maloperation that fatigue generates and hand,
To improve surgical quality and safety, shorten treatment time, lowers medical treatment cost.Military aspect.In " Mei Yi " war, the U.S.
The height intelligent robot for sending a batch that can investigate, due to " being acted on one's own " by robot completely, to some not suspicious pairs
As being attacked, just all recalled after one month.Visual robot autonomous operation has blindness, sequencing.Especially
Be explosive, studied in high-risk complex environment robot controller by the advantage of people's thinking control be equipped with it is harmonious easily
Control structure is very necessary.
So the precision of module is pursued, and the hommization of control, the real time implementation of operation, interactive long-range, the wound of function
Newization just becomes our main research directions.
Summary of the invention
The purpose of the present invention is to provide it is a kind of with human arm and hand motion come it is intuitive, be simply to high-risk operations
Robot, to solve the problems mentioned in the above background technology.
To achieve the above object, the invention provides the following technical scheme:
A kind of robot for high-risk operations, including robot car body, mechanical arm and the helmet；
Robot car body, including robot arm, crawler body, solar energy sailboard and cam device, machine are man-machine
Tool arm, solar energy sailboard are both placed on crawler body, and the medium position of solar energy sailboard is equipped with support rod, and support rod is fixed
On crawler body, supporting bar top is equipped with cam device；
Robot arm includes big bearing, small brace, brace, horizontal axis, manipulator, electric drill and helm gear, steering engine dress
It sets and flaps steering engine, power and energy steering engine, manipulator opening and closing steering engine including mechanical arm rotation steering engine, mechanical arm ancon steering engine, wrist
With wrist rotation steering engine, small brace is mounted on the turntable on big bearing, and big Bearing inner is equipped with mechanical arm and rotates steering engine, and
Mechanical arm rotates steering engine and connects turntable；By rotation axis bracing diagonal on small brace, the junction of small brace and brace is also set
There is mechanical elbow portion steering engine, the other end of brace, which passes through, rotates axis connection horizontal axis, and the junction of brace and horizontal axis turns equipped with wrist
Dynamic steering engine, the other end of horizontal axis are equipped with manipulator, electric drill, and the other end of horizontal axis is equipped with wrist and flaps steering engine, power and energy steering engine,
The lower section of manipulator is equipped with manipulator opening and closing steering engine；
Cam device includes camera, first antenna, wireless image transmission, the first steering engine, the second steering engine, two degrees of freedom steering engine
Holder, two degrees of freedom steering engine holder are mounted on supporting bar top, and the lower section of two degrees of freedom steering engine holder is equipped with the first steering engine, and two certainly
Wireless image transmission is connected by the second steering engine by the top of degree steering engine holder, camera is arranged on wireless image transmission, wireless image transmission
The other side is equipped with first antenna；
Mechanical arm includes right hand mechanical arm and left hand mechanical arm；Right hand mechanical arm includes right hand set, right elbow set and right control
Device；Right hand set is covered with right elbow to be connect by right control device；Right control device is by the first inertial navigation module, potentiometer, the first list
Piece machine control panel and the first power supply form；First inertial navigation module, potentiometer, the first power supply connect with first singlechip control panel
It connects；First inertial navigation module, potentiometer are mounted on the right hand and put on, and first singlechip control panel and the first power supply are mounted on right elbow set
On；First singlechip control panel includes the second antenna, the first wireless module, the second inertial navigation module, first singlechip, feeder ear
Son, the second antenna, the first wireless module, the second inertial navigation module, power supply terminal are connect with first singlechip；Left hand mechanical arm packet
Include left hand set, left elbow set and left control device；Left control device includes second singlechip control panel, obliquity sensor and wireless string
The enabled switch of mouth mold block, second source, single-chip microcontroller；Second singlechip control panel respectively with obliquity sensor, wireless serial module,
The enabled switch connection of second source, single-chip microcontroller；Left hand is put on equipped with obliquity sensor and the enabled switch of single-chip microcontroller；Left elbow puts on peace
Fill second singlechip control panel, obliquity sensor, wireless serial module；
The control of right control device is different using the first inertial navigation module, the hand of the second collected people of inertial navigation module, arm
The angle information of posture is transferred to the helm gear of robot arm by the first wireless module, so that robot arm
Master-slave mode synchronization action can be realized according to human arm and the posture of hand；Manipulator utilizes the AD function of first singlechip, electricity
Position device is used for telemanipulator's opening and closing steering engine, and the rotation of potentiometer can collect the data of its linear change, and first singlechip will
These data reductions keep the opening and closing of manipulator synchronous with manpower at the pulse of each angle of helm gear；
The helmet includes helmet main body, camera video display screen, battery, third inertial navigation module, third single-chip microcontroller, the second nothing
Wire module, third steering engine, working station indicator, helmet main body are equipped with the mask of installation camera video display screen, camera shooting
The two sides of head video display screen are equipped with working station indicator, and battery, third single-chip microcontroller, second are equipped with inside helmet main body wirelessly
Module, third steering engine, helmet main body top are equipped with third inertial navigation module, the posture information on operator head, third are acquired with it
Single-chip microcontroller is connect with battery, the second wireless module, third steering engine, third inertial navigation module；Third single-chip microcontroller wirelessly sends out information
It send to the first steering engine of cam device, the second steering engine, it is synchronous with operator's headwork to reach cam device movement.
As a further solution of the present invention: crawler body is equipped with direct current generator, obliquity sensor, works as robot car body
The angle tilt of any direction is more than 30 ° and just forcibly closes solar energy sailboard.
As a further solution of the present invention: wireless image transmission uses NRF24L01.
As a further solution of the present invention: the first inertial navigation module and the second inertial navigation module are all made of GY-953.
As a further solution of the present invention: first singlechip uses IAP15F2K61S2.
As a further solution of the present invention: the first wireless module uses NRF24L01.
As a further solution of the present invention: camera video display screen uses 1602 liquid crystal displays.
Compared with prior art, the beneficial effects of the present invention are:
The present invention mainly applies high-speed microprocessor STC15 control technology, inertial navigation module GY-953 control technology, using now
Some wireless communication techniques and image transmission technology.Control section is the core of this works, this works proposes one kind
Control mode different from the past has abandoned the non-intuitive control mode such as original keyboard, rocking bar, has selected with human arm and hand
Portion's movement is next intuitively, simply controls robot.
The robot arm of robot car body is believed using the angle of the collected human arm different gestures of inertial navigation module
Breath, is transferred to helm gear by wireless module, enables mechanical arm according to human arm and the posture of hand, realizes master-slave mode
Synchronization action.The mobile of crawler body takes gesture to manipulate using obliquity sensor, convenient for wearing and flexible control.Robot row
Mechanism is walked using caterpillar belt structure, the obstacle of 10cm high can be crossed over, turning radius is less than 1m.
The robot section of robot utilizes the AD function of single-chip microcontroller, and the rotation of potentiometer can collect the number of linear change
According to the movement of finger-joint is fairly simple, and only hand value is flapped, and this is acted, and is fixed on acquisition at finger using potentiometer and turns
Dynamic data, in the case where not influencing accuracy, this is most economical, simple method.
Robot car body has a four-degree-of-freedom manipulator, and the maximum height of operation reaches 30cm.Mechanical arm is minimum can
It protrudes horizontally up away from ground 0.2m, suspicious object can be grabbed；Mechanical arm longitudinally 180 ° of rotation, 360 ° of wrist transverse rotation, with suitable
Different location, different angle is answered to place the crawl of object.Grabber maximum opening reaches 15cm.Outstanding feature is with remote-controlled movement
Detection and crawl, destroying explosive substance several work function, can fill a variety of works such as cutter, water cannon rifle, X-ray machine according to requirements
Industry tool and device.
Robot car body is equipped with the cam device with camera cradle head, for environment of observation and control operation, passes through pendant
Wear the helmet with built-in liquid crystal display, the movement of operator's observable robot and operating condition.Installation at the top of the helmet
Inertial navigation module acquires operator's head pose information, is sent to robot using wireless module, makes robot camera 16 and behaviour
Author's headwork is synchronous.In this way, a virtual reality system is not only supplied to the 3D view of operator distant place working site, also
Remote system can be operated in realtime, helps operator to complete the task of various complexity, ensures the safety of user.Lighting system
Using silicon crystal headlamp, have the characteristics that small in size, light-weight, low in energy consumption, brightness is high, more structurally sound.
In order to improve cruising ability, increase solar energy sailboard in Work robot as battery charging.Reaching in light intensity can
When charge value, solar energy sailboard, which automatically opens, to charge.It is such to design the use scope for having widened manipulator, enhance machine
Tool hand it is handling, make this manipulator can be adapted for (being harmful to the human body as carried than relatively hazardous, complicated field of industrial production
Chemical substance), military field (such as battlefield patrol) or explosion-proof (such as disarming a bomb) field.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of robot car body；
Fig. 2 is the circuit diagram of wireless image transmission；
Fig. 3 is the circuit diagram of right control device；
In figure: 1- robot arm, 2- crawler body, 3- solar energy sailboard, 4- cam device, the big bearing of 5-, 6-
Small brace, 7- brace, 8- horizontal axis, 9- manipulator, 10- electric drill, 11- mechanical arm ancon steering engine, 12- wrist rotation steering engine, 13- hand
Wrist flaps steering engine, 14- power and energy steering engine, 15- manipulator opening and closing steering engine, 16- camera, 17- first antenna, 18- without line chart
Biography, the first steering engine of 19-, the second steering engine of 20-, 21- two degrees of freedom steering engine holder.
Specific embodiment
Below in conjunction with the embodiment of the present invention, technical scheme in the embodiment of the invention is clearly and completely described,
Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based in the present invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, all
Belong to the scope of protection of the invention.
Embodiment 1
Referring to Fig. 1, in the embodiment of the present invention, a kind of robot for high-risk operations, including robot car body, machinery
Arm and the helmet.
One, robot car body
Robot car body, including robot arm 1, crawler body 2, solar energy sailboard 3 and cam device 4, machine
People's mechanical arm 1, solar energy sailboard 3 are both placed on crawler body 2, and the medium position of solar energy sailboard 3 is equipped with support rod, and props up
Strut is fixed on crawler body 2, and supporting bar top is equipped with cam device 4.
Robot arm 1 includes that big bearing 5, small brace 6, brace 7, horizontal axis 8, manipulator 9, electric drill 10 and steering engine fill
Set, helm gear include mechanical arm rotation steering engine, mechanical arm ancon steering engine 11, wrist flap steering engine 13, power and energy steering engine 14,
Manipulator opening and closing steering engine 15 and wrist rotation steering engine 12, small brace 6 is mounted on the turntable on big bearing 5, inside big bearing 5
Steering engine is rotated equipped with mechanical arm, and mechanical arm rotation steering engine connects turntable, controls the rotation of turntable.Pass through on small brace 6
The junction of rotation axis bracing diagonal 7, small brace 6 and brace 7 is additionally provided with mechanical arm ancon steering engine 11, and the other end of brace 7 is logical
Cross rotation axis connection horizontal axis 8, the junction of brace 7 and horizontal axis 8 is equipped with wrist rotation steering engine 12, and the other end of horizontal axis 8 is equipped with machine
Tool hand 9, electric drill 10, the other end of horizontal axis 8 are equipped with wrist and flap steering engine 13, power and energy steering engine 14, can carry out electric drill at any time
The replacement of function and manipulator function, and manipulator 9 is oppositely arranged with electric drill 10, the lower section of manipulator 9 is equipped with manipulator opening and closing
Steering engine 15.
Crawler body 2 is equipped with direct current generator, and robot car body is driven by four direct current generators, using differential steering.It carries out
Structure with chassis 2 is easy to crossing over blockage, while having shock-absorbing function.It is machine to improve the cruising ability of robot body
Device people's car body increases solar energy sailboard 3.When light intensity value reaches battery charging requirement enough, solar energy sailboard 3 is automatically opened.
Simultaneously in view of when road conditions are rugged complicated solar energy sailboard 3 will receive and collide with, increase obliquity sensor on crawler body 2,
Solar energy sailboard 3 is just forcibly closed when the angle tilt of robot car body any direction is more than 30 degree.
Cam device 4 include camera 16, first antenna 17, wireless image transmission 18, the first steering engine 19, the second steering engine 20,
Two degrees of freedom steering engine holder 21, two degrees of freedom steering engine holder 21 are mounted on supporting bar top, under two degrees of freedom steering engine holder 21
Side is equipped with the first steering engine 19, and the top of two degrees of freedom steering engine holder 21 connects wireless image transmission 18, camera by the second steering engine 20
16 are arranged on wireless image transmission 18, and the other side of wireless image transmission 18 is equipped with first antenna 17.Wireless image transmission 18 adopts camera 16
On the image wireless transmission of collection to the display screen of the helmet.Two degrees of freedom steering engine holder 21 makes 16 flexible rotating of camera, comprehensive
Robot manipulation's live view is presented.Wireless image transmission 18 uses NRF24L01, the setting of output power channel selection and agreement
It can be configured by SPI interface.It almost may be coupled to various singlechip chips, and complete Wireless data transmission work.
Specific connection relationship is as shown in Figure 2.
The solar energy sailboard 3 of robot two sides can be opened and closed according to the intensity of light and be charged.When encountering the not level road such as slope
When the complex road conditions such as face cause robot car body to tilt, robot car body can Automatic-closing solar energy sailboard 3 to guarantee robot
The stabilization of car body.
Two, mechanical arm
Mechanical arm includes right hand mechanical arm and left hand mechanical arm.Right hand mechanical arm is used to control the dynamic of robot arm 1
Make, left hand mechanical arm is used to control the movement of crawler body 2.
1. right hand mechanical arm includes right hand set, right elbow set and right control device.Right hand set is filled with right elbow set by right control
Set connection.
Right control device is made of the first inertial navigation module, potentiometer, first singlechip control panel and the first power supply.First is used
Guide module, potentiometer, the first power supply are connect with first singlechip control panel.First inertial navigation module, potentiometer are mounted on the right hand
It puts on, first singlechip control panel is mounted on right elbow with the first power supply and puts on.First singlechip control panel includes the second antenna, the
One wireless module, the second inertial navigation module, first singlechip, power supply terminal.Specific circuit connecting relation is as shown in Figure 3.
First inertial navigation module and the second inertial navigation module are all made of GY-953.
First singlechip uses IAP15F2K61S2.First wireless module uses NRF24L01.
Wherein potentiometer be used for telemanipulator's opening and closing steering engine 15: the control of right control device using the first inertial navigation module,
The angle information of the hand of the second collected people of inertial navigation module, arm different gestures, is transferred to machine by the first wireless module
The helm gear of people's mechanical arm 1 enables robot arm 1 according to human arm and the posture of hand, realizes that master-slave mode is same
Step movement.9 part of manipulator utilizes the AD function of first singlechip, and the rotation of potentiometer can collect the number of its linear change
According to for first singlechip by these data reductions at the pulse of each angle of helm gear, the opening and closing of another manipulator 9 are synchronous with manpower.
There are a manipulator 9 and electric drill 10 in the front end of robot arm 1, the two is controlled in a power and energy steering engine 14
System it is lower can free switching, for grabbing bomb and dismantling barrier.(a) handgrip and electric drill function are carried out by executing converter
Switching.(b) 10 high speed rotation of electric drill carries out obstacle and abolishes.(c) electric drill 10 penetrates barrier.(d) obstacle is abolished on travel route
It completes, robot can pass through.
Due to the forearm and wrist of people, wrist and palm keep opposing stationary on straight line, and the angle that wrist is flapped is
With arm flap angle be reference.So increasing a motion compensation for flapping for mechanical arm wrist: wearing one in forearm
A second inertial navigation module, the first inertial navigation module worn in wrist are reference with forearm, and two inertial navigation modules are clapped in wrist
Angle progress angle is subtracted each other when dynamic.
Wherein the controller at the palm of right hand set is formed by 3D printing, and each function control key is dexterously implanted into it
In.
2. left hand mechanical arm includes left hand set, left elbow set and left control device.Left control device is controlled by second singlechip
Plate, obliquity sensor and wireless serial module composition.Left control device further includes second source, the enabled switch of single-chip microcontroller.Second
Singlechip control panel is connected with obliquity sensor, wireless serial module, second source, the enabled switch of single-chip microcontroller respectively.
Left hand is put on equipped with obliquity sensor and the enabled switch of single-chip microcontroller.Left elbow put on installation second singlechip control panel,
Obliquity sensor, wireless serial module.
The control of left control device acquires the tilt angle of manpower using obliquity sensor, when the tilt angle of a direction
When being greater than the set value, robot will be mobile to the direction.Achieve the purpose that gesture operation, such as (a) wrist have a down dip, robot to
Preceding movement；(b) wrist updip, robot move backward；(c) wrist is left-handed, and robot turns to the left；(d) wrist dextrorotation, machine
People bends to right.
Three, the helmet
The helmet includes helmet main body, camera video display screen, battery, third inertial navigation module, third single-chip microcontroller, the second nothing
Wire module, third steering engine, working station indicator, helmet main body are equipped with the mask of installation camera video display screen, camera shooting
The two sides of head video display screen are equipped with working station indicator, and battery, third single-chip microcontroller, second are equipped with inside helmet main body wirelessly
Module, third steering engine.Third inertial navigation module is equipped at the top of helmet main body.Camera video display screen uses 1602 liquid crystal displays.
Third inertial navigation module: acquisition manipulator's head pose information.
Second wireless module: the posture information of third inertial navigation module is transferred to the right control device of manipulator, then by wherein
After to robot car body receiving end.
Third single-chip microcontroller: pwm pulse is sent to third steering engine, controlling the rotation of third steering engine goes up and down mask.Light work
Status indicator lamp, display working condition.
Working station indicator: when mask is fallen, and manipulator starts to work, working station indicator is bright to show work.Face
Cover lift operation status indicator lamp goes out.
Camera video display screen: the wireless car body figure for receiving robot passes the camera picture sent and utilizes VR (void
Quasi- reality) technology 3D display.
It shows and third inertial navigation module is housed at the top of the helmet, the posture information on operator head, third single-chip microcontroller are acquired with it
Information is wirelessly transmitted to the first steering engine 19, the second steering engine 20 of cam device 4, reaches cam device movement and operator
The synchronous effect of headwork.
The imaging for showing the camera video display screen of the helmet is that VR (virtual reality) technology is utilized, and camera 16 is adopted
The information collected is converted into imageable virtual three-dimensional operation interface, provides user about sense organs such as vision, the sense of hearing, tactiles
Simulation, allows user as being personally on the scene, can observe the things in three-dimensional space in time, without limitation, more directly
The completion control robot of sight completes the task of high-risk operations.Wherein since the image showed that virtual reality is is one
The image of a three-dimensional, photo can not capture, and just will only provide camera 16 here and collect without helmet VR technical treatment
Image.
Kernel control chip of the present invention use IAP15f2k61s2-SKDIP28 (STC15 series) single-chip microcontroller and
STC15F104E-DIP8 single-chip microcontroller.
STC15 series monolithic is the single-chip microcontroller of single clock/machine cycle (1T) of STC production, be at a high speed/highly reliable/
Low-power consumption/superpower jamproof 8051 single-chip microcontroller of new generation, with eighth generation encryption technology, encryption is superpower, and instruction code is complete
Instruction code completely compatible traditional 8051, but fast 8-12 times of speed.It is internally integrated high-precision R/C clock (0.03%), ± 1% temperature
Float (- 40 DEG C~+85 DEG C), and temperature drift ± 0.6% (- 20 DEG C~+65 DEG C) under room temperature, 5MHz~35MHz wide scope is settable, can be thorough
(inside has integrated highly reliable reset circuit to the crystal oscillator and external reset circuit that external valuableness is saved at bottom, 8 grades of resets when ISP is programmed
Threshold voltage is optional).3 road CCP/PWM/PCA, 8 road 10-bit high speed A/D convert (300,000 time/second), built-in 2K byte large capacity
SRAM, (UART1/UART2 can be switched between 5 groups of pins, and time-sharing multiplex can be made for 2 groups of High-speed Asynchronous Secial Communication ports
5 groups of serial ports uses), 1 group of high-speed synchronous communication port SPI communicates more strings to multi-serial port for multi-serial port communicate pin
Row port communications/motor control/strong jamming occasion.
The selection of inertial navigation module
Inertial navigation module (AHRS) carries out Inertial Measurement Unit using three-axis gyroscope, three axis accelerometer and three axle magnetometer
Establishment.User takes the arm component equipped with this module, and the information of arm motion is converted into be identified by other modules
Attitude data.In view of precision and interference and motion compensation, two pieces of GY953 modules are used, relevant parameter is as follows:
Module size: 15.5mm*15.5mm
Communication mode: 1. serial ports (9600,115200), 2.SPI communicate (4 line)
Power supply: 3v-5v 15ma
Renewal frequency: 100HZ is exported,
Resolution ratio: 0.1 degree
Directly export:
1. Eulerian angles (YAW ROLL PITCH)；
2. nine axle sensor initial data (acceleration, gyroscope, magnetometer)；
3. four elements export.
The main control chip of control module of the invention is GY953, is substantially electronic compass band slope compensation module.
GY953 is a low cost AHRS module.Operating voltage 3-5v small power consumption, it is small in size.Its working principle is that passing through
Gyroscope and acceleration pass, and magnetic field sensor finally obtains direct angle-data by data anastomosing algorithm.This module, there are two types of
Mode reads data, i.e. serial ports (Transistor-Transistor Logic level) or SPI (4 line) communication mode.The Product Precision is high, and stability is high.It can be
Any position obtains accurate angle,
Method for computing data:
Eulerian angles calculation method: angle=most-significant byte < < 8 | least-significant byte (result is actual angle multiplied by 100)
Example a: frame data
<0x5A -0x5A -0x45-0x06 -0x00-0x64-0x03-0XE8-0x27-0x10-0x85>
Indicate Eulerian angles: Roll=1.00 degree, Pitch=10.00 degree, Yaw=100.00 degree
Gyroscope magnetic field acceleration initial data calculation method: initial data=most-significant byte < < 8 | least-significant byte
Example a: frame data
<0x5A -0x5A -0x15-0x06 -0x00-0x64-0x03-0xE8-0x27-0x10-0x55>
Indicate acceleration initial data:
X=0x0064, Y=0x03E8, Z=0x2710
Four element calculation methods: data=most-significant byte < < 8 | least-significant byte (result is practical multiplied by 10000)
Example a: frame data
<0x5A -0x5A -0x15-0x08 -0x00-0x64-0x03-0xE8-0x03-0xE8-0x03-0xE8-0xF6>
Indicate four element datas:
Q0=0.01, q1=0.1, q2=0.1, q3=0.1.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of robot for high-risk operations, including robot car body, mechanical arm and the helmet, the helmet include helmet main body and
Camera video display screen, helmet main body are equipped with the mask of installation camera video display screen；It is characterized by:
Robot car body, including robot arm, crawler body, solar energy sailboard and cam device, robot arm,
Solar energy sailboard is both placed on crawler body, and the medium position of solar energy sailboard is equipped with support rod, and support rod is fixed on shoe
On band chassis, supporting bar top is equipped with cam device；
Robot arm includes big bearing, small brace, brace, horizontal axis, manipulator, electric drill and helm gear, helm gear packet
Include mechanical arm rotation steering engine, mechanical arm ancon steering engine, wrist are flapped steering engine, power and energy steering engine, manipulator opening and closing steering engine and hand
Wrist rotates steering engine, and small brace is mounted on the turntable on big bearing, and big Bearing inner is equipped with mechanical arm and rotates steering engine, and mechanical
Arm rotates steering engine and connects turntable；By rotation axis bracing diagonal on small brace, the junction of small brace and brace is additionally provided with machine
Tool elbow portion steering engine, the other end of brace, which passes through, rotates axis connection horizontal axis, and the junction of brace and horizontal axis is equipped with wrist rotation rudder
Machine, the other end of horizontal axis are equipped with manipulator, electric drill, and the other end of horizontal axis is equipped with wrist and flaps steering engine, power and energy steering engine, mechanical
The lower section of hand is equipped with manipulator opening and closing steering engine；
Cam device includes camera, first antenna, wireless image transmission, the first steering engine, the second steering engine, two degrees of freedom steering engine cloud
Platform, two degrees of freedom steering engine holder are mounted on supporting bar top, and the lower section of two degrees of freedom steering engine holder is equipped with the first steering engine, and two freely
Spend steering engine holder top by the second steering engine connect wireless image transmission, camera be arranged on wireless image transmission, wireless image transmission it is another
Side is equipped with first antenna；
Mechanical arm includes right hand mechanical arm and left hand mechanical arm；Right hand mechanical arm includes right hand set, right elbow set and right control device；
Right hand set is covered with right elbow to be connect by right control device；Right control device is by the first inertial navigation module, potentiometer, first singlechip control
Making sheet and the first power supply form；First inertial navigation module, potentiometer, the first power supply are connect with first singlechip control panel；First
Inertial navigation module, potentiometer are mounted on the right hand and put on, and first singlechip control panel is mounted on right elbow with the first power supply and puts on；First is single
Piece machine control panel include the second antenna, the first wireless module, the second inertial navigation module, first singlechip, power supply terminal, second day
Line, the first wireless module, the second inertial navigation module, power supply terminal are connect with first singlechip；Left hand mechanical arm include left hand set,
Left elbow set and left control device；Left control device includes second singlechip control panel, obliquity sensor and wireless serial module,
The enabled switch of two power supplys, single-chip microcontroller；Second singlechip control panel respectively with obliquity sensor, wireless serial module, second source,
The enabled switch connection of single-chip microcontroller；Left hand is put on equipped with obliquity sensor and the enabled switch of single-chip microcontroller；It is single that left elbow puts on installation second
Piece machine control panel, obliquity sensor, wireless serial module；
The control of right control device utilizes the first inertial navigation module, hand, the arm different gestures of the second collected people of inertial navigation module
Angle information, the helm gear of robot arm is transferred to by the first wireless module, enables robot arm
According to human arm and the posture of hand, master-slave mode synchronization action is realized；Manipulator utilizes the AD function of first singlechip, potentiometer
For telemanipulator's opening and closing steering engine, the rotation of potentiometer can collect the data of its linear change, first singlechip by these
Data reduction keeps the opening and closing of manipulator synchronous with manpower at the pulse of each angle of helm gear；
The helmet further includes that battery, third inertial navigation module, third single-chip microcontroller, the second wireless module, third steering engine and working condition refer to
Show lamp, the two sides of camera video display screen are equipped with working station indicator, are equipped with battery, third monolithic inside helmet main body
Machine, the second wireless module, third steering engine, helmet main body top are equipped with third inertial navigation module, the appearance on operator head are acquired with it
State information, third single-chip microcontroller are connect with battery, the second wireless module, third steering engine, third inertial navigation module；Third single-chip microcontroller
Information is wirelessly transmitted to the first steering engine, the second steering engine of cam device, reaches cam device movement and operator head
Movement synchronizes.
2. the robot according to claim 1 for high-risk operations, which is characterized in that crawler body is equipped with direct current
Machine, obliquity sensor just forcibly close solar energy sailboard when the angle tilt of robot car body any direction is more than 30 °.
3. the robot according to claim 1 for high-risk operations, which is characterized in that wireless image transmission uses
NRF24L01。
4. the robot according to claim 1 for high-risk operations, which is characterized in that the first inertial navigation module is used with second
Guide module is all made of GY-953.
5. the robot according to claim 1 for high-risk operations, which is characterized in that first singlechip uses
IAP15F2K61S2。
6. the robot according to claim 1 for high-risk operations, which is characterized in that the first wireless module uses
NRF24L01。
7. the robot according to claim 1 for high-risk operations, which is characterized in that camera video display screen uses
1602 liquid crystal displays.
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| CN201510490780.7A CN106393049B (en) | 2015-08-12 | 2015-08-12 | A kind of robot for high-risk operations |
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| CN201510490780.7A CN106393049B (en) | 2015-08-12 | 2015-08-12 | A kind of robot for high-risk operations |
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| CN106393049A CN106393049A (en) | 2017-02-15 |
| CN106393049B true CN106393049B (en) | 2019-03-12 |
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| RU2823707C1 (en) * | 2023-07-26 | 2024-07-29 | Акционерное общество "Северный пресс" | Robotic anti-tank mine |
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