CN106826869A - A kind of robot of view-based access control model identification - Google Patents
A kind of robot of view-based access control model identification Download PDFInfo
- Publication number
- CN106826869A CN106826869A CN201710241046.6A CN201710241046A CN106826869A CN 106826869 A CN106826869 A CN 106826869A CN 201710241046 A CN201710241046 A CN 201710241046A CN 106826869 A CN106826869 A CN 106826869A
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- China
- Prior art keywords
- module
- image
- robot
- plc
- head
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
Abstract
The invention discloses a kind of robot of view-based access control model identification, including the robot body being made up of head, body part and leg；Wherein described head is provided with visual identifying system；The visual identifying system includes image capture module；Described image acquisition module includes being arranged on the omni-directional image unit of apical head；The omni-directional image unit includes a top camera；The top camera is connected with image pick-up card；Described image capture card is connected to the input of imageing sensor；Described image sensor is connected with a signal transmission circuit；And the body part is provided with the first motor and PLC, the leg is provided with a pair of driving wheels, first motor is connected with the PLC and driving wheel respectively, and the PLC is provided with a signal control circuit, the control signal for receiving host computer.
Description
Technical field
The invention belongs to robotics, and in particular to a kind of robot of view-based access control model identification.
Background technology
Robot and automated arm have wide application market, and by taking robot as an example, robot technology is used as advanced
The Typical Representative of manufacturing technology, is the multidisciplinary advanced technologies such as collection machinery, electronics, control, computer, sensor, artificial intelligence
In the important modern manufacturing industry automated arm of one.
At present, in global manufacturing industry, industrial robot serves more and more important effect aborning.
In order that can be competent at the work for becoming increasingly complex with robot, will not only there be more preferable control system in robot, also need
More changes for perceiving environment.Wherein robot vision is contained much information with it, information completely turns into most important robot sense
Know function.
The content of the invention
It is an object of the invention to provide a kind of robot of view-based access control model identification, to solve to recognize work(with stereoscopic vision
Can, remote control robot is operated more accurately technical problem.
In order to solve the above-mentioned technical problem, the invention provides a kind of view-based access control model identification robot, including by head,
The robot body that body part and leg are constituted；Wherein described head is provided with visual identifying system；The visual identifying system
Including image capture module；Described image acquisition module includes being arranged on the omni-directional image unit of apical head；The omni-directional image
Unit includes a top camera；The top camera is connected with image pick-up card；Described image capture card is connected to image
The input of sensor；Described image sensor is connected with a signal transmission circuit；And the body part is provided with the first drive
Dynamic motor and PLC, the leg are provided with a pair of driving wheels, first motor respectively with the PLC
It is connected with driving wheel, the PLC is provided with a signal control circuit, the control signal for receiving host computer；The body
Body component is respectively provided on two sides with a robot arm, and the robot arm is connected with the second motor, the robot
Arm is made up of some turning joints, and the PLC is connected with second motor.
Further, the robot body also includes being arranged at the communication module of body part, and the communication module realizes PLC
The data of controller, visual identifying system and host computer are wirelessly transferred with instruction.
Further, the host computer transmits commands to the communication module using data packet format, and the communication module passes through
Unpacking mechanism unties packet, is sent to single-chip microcomputer by serial ports and performs robot running by each drive module.
Further, the top camera is installed on a head of apical head setting；And the head includes two
Individual digital rudder controller, top camera can on head can 0 °~180 ° of level, upper and lower 0 °~180 ° rotation.
Further, the PLC includes single-chip microcomputer and connected direct current motor drive circuit, steering wheel drive respectively
Dynamic circuit, download serial ports and data communication interface.
Further, the visual identifying system also includes connected image processing module and image analysis module；Wherein institute
State image processing module to be connected with image capture module, and be used to process the image of the collection of image capture module；Institute
State image analysis module be used to process image processing module treatment after image be analyzed integration.
Further, the visual identifying system also includes be arranged between image processing module and image capture module one
Signal conversion module, the signal conversion module is used to be converted into the image of the collection of image capture module described image treatment mould
The treatable data-signal of block.
Further, described image analysis module includes the first contrast circuit, filter circuit and signal amplification circuit, the letter
Number amplifying circuit is connected with first contrast circuit and filter circuit respectively.
Further, the robot arm is provided with a clamp device.
The beneficial effects of the invention are as follows the robot of view-based access control model identification of the invention, by the omni-directional image list for setting
Unit and head, set up comprehensive image capturing system, expand field range, and fine simulation human visual system makes collection
Image it is more three-dimensional comprehensively so that robot running it is more accurate.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the robot of this view-based access control model identification；
Fig. 2 is the fundamental diagram of the robot of this view-based access control model identification.
In figure：Top camera 1, driving wheel 2, turning joint 3, head 4, clamp device 5.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These accompanying drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant with the present invention.
As shown in Figure 1 to Figure 2, the robot of a kind of view-based access control model identification of the invention, including by head, body part and
The robot body that leg is constituted；Wherein described head is provided with visual identifying system；The visual identifying system is adopted including image
Collection module；Described image acquisition module includes being arranged on the omni-directional image unit of apical head；The omni-directional image unit includes one
Top camera 1；The top camera 1 is connected with image pick-up card；Described image capture card is connected to imageing sensor
Input；Described image sensor is connected with a signal transmission circuit；And the body part be provided with the first motor and
PLC, the leg is provided with a pair of driving wheels 2, first motor respectively with the PLC and driving wheel
2 are connected, and the PLC is provided with a signal control circuit, the control signal for receiving host computer；The body part two
Side is respectively equipped with a robot arm, and the robot arm is connected with the second motor, and the robot arm is by some
Turning joint 3 is constituted, and the PLC is connected with second motor, realizes control to robot arm, can be with
Some simple actions are realized by robot arm.
Specifically, the top camera 1 uses RGB color camera.Preferably, the vision of the top camera 1
0.5~4.0 meter of depth bounds.The robot arm is provided with a clamp device 5, can be realized by clamp device 5
Simple action, such as to the operation of dangerous material.
The top camera 1 is installed on a head 4 of apical head setting；And the head 4 includes two numbers
Word steering wheel, top camera 1 can on head 4 can 0 °~180 ° of level, upper and lower 0 °~180 ° rotation.
The robot body also includes being arranged at the communication module of body part, the communication module realize PLC,
Visual identifying system and the data of host computer and being wirelessly transferred for instruction.Optionally, the communication module is such as, but not limited to adopt
Use WIFI communication modules.
The host computer transmits commands to the communication module using data packet format, specifically, packet header OXFF, bag
Tail OXFF, no parity check position.The communication module unties packet by unpacking mechanism, and single-chip microcomputer is sent to simultaneously by serial ports
Robot is performed by each drive module to operate.
The PLC include single-chip microcomputer and respectively connected direct current motor drive circuit, servo driving circuit,
Download serial ports and data communication interface.Specifically, the direct current motor drive circuit is used to drive the first motor and the
The running of two motors；The servo driving circuit is used to drive the running of the digital rudder controller.
The visual identifying system also includes connected image processing module and image analysis module；Wherein at described image
Reason module is connected with image capture module, and is used to process the image of the collection of image capture module；Described image point
Analysis module is used to the image after processing the image processing module for processing and is analyzed integration.
Preferably, the visual identifying system also includes be arranged between image processing module and image capture module one
Signal conversion module, the signal conversion module is used to be converted into the image of the collection of image capture module described image treatment mould
The treatable data-signal of block.
Described image analysis module includes the first contrast circuit, filter circuit and signal amplification circuit, and the signal amplifies
Circuit is connected with first contrast circuit and filter circuit respectively.Wherein the first contrast circuit is used to carry out the image analyzed
Contrast, filter circuit is used for the filtering to signal, and signal amplification circuit is used to be amplified the signal for receiving, and it is right to improve
The precision of graphical analysis.
With above-mentioned according to desirable embodiment of the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (9)
1. the robot that a kind of view-based access control model is recognized, it is characterised in that including the machine being made up of head, body part and leg
Human body；Wherein described head is provided with visual identifying system；The visual identifying system includes image capture module；Described image
Acquisition module includes being arranged on the omni-directional image unit of apical head；The omni-directional image unit includes a top camera（1）；Institute
State top camera（1）It is connected with image pick-up card；Described image capture card is connected to the input of imageing sensor；The figure
As sensor is connected with a signal transmission circuit；It is described and the body part is provided with the first motor and PLC
Leg is provided with a pair of driving wheels（2）, first motor respectively with the PLC and driving wheel（2）It is connected, it is described
PLC is provided with a signal control circuit, the control signal for receiving host computer；The body part is respectively provided on two sides with
One robot arm, the robot arm is connected with the second motor, and the robot arm is by some turning joints（3）
Composition, the PLC is connected with second motor.
2. robot according to claim 1, it is characterised in that the robot body also includes being arranged at body part
Communication module, the communication module realizes the wireless biography of the data of PLC, visual identifying system and host computer and instruction
It is defeated.
3. robot according to claim 2, it is characterised in that the host computer is transmitted commands to using data packet format
The communication module, the communication module unties packet by unpacking mechanism, and single-chip microcomputer is sent to and by each by serial ports
Drive module performs robot running.
4. robot according to claim 3, it is characterised in that the top camera（1）Apical head is installed on to set
The head put（4）On；And the head（4）Including two digital rudder controllers, top camera（1）Can be in head（4）On can
0 °~180 ° of level, upper and lower 0 °~180 ° rotations.
5. robot according to claim 4, it is characterised in that the PLC include single-chip microcomputer and respectively with its
The direct current motor drive circuit of connection, servo driving circuit, download serial ports and data communication interface.
6. robot according to claim 5, it is characterised in that the visual identifying system also includes at connected image
Reason module and image analysis module；Wherein
Described image processing module is connected with image capture module, and is used at the image to the collection of image capture module
Reason；Described image analysis module is used to the image after processing the image processing module for processing and is analyzed integration.
7. robot according to claim 6, it is characterised in that the visual identifying system also includes being arranged at image
A signal conversion module between reason module and image capture module, the signal conversion module is used to adopt image capture module
The image of collection is converted into the treatable data-signal of described image processing module.
8. robot according to claim 7, it is characterised in that described image analysis module include the first contrast circuit,
Filter circuit and signal amplification circuit, the signal amplification circuit are connected with first contrast circuit and filter circuit respectively.
9. robot according to claim 1, it is characterised in that the robot arm is provided with a clamp device（5）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710241046.6A CN106826869A (en) | 2017-04-13 | 2017-04-13 | A kind of robot of view-based access control model identification |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710241046.6A CN106826869A (en) | 2017-04-13 | 2017-04-13 | A kind of robot of view-based access control model identification |
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| Publication Number | Publication Date |
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| CN106826869A true CN106826869A (en) | 2017-06-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710241046.6A Withdrawn CN106826869A (en) | 2017-04-13 | 2017-04-13 | A kind of robot of view-based access control model identification |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107453701A (en) * | 2017-08-16 | 2017-12-08 | 苏州朗创优机器人科技有限公司 | A kind of O＆M robot of view-based access control model identification technology |
| CN107457774A (en) * | 2017-08-31 | 2017-12-12 | 温美群 | A kind of robot grasping system of medical visual identity |
| CN108527363A (en) * | 2018-03-08 | 2018-09-14 | 芜湖泰领信息科技有限公司 | The system of robot leaping over obstacles |
| CN109085800A (en) * | 2017-06-14 | 2018-12-25 | 天津玛斯特车身装备技术有限公司 | Robotic laser identification and polishing system |
| CN109129457A (en) * | 2017-06-15 | 2019-01-04 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual identity and welding system |
-
2017
- 2017-04-13 CN CN201710241046.6A patent/CN106826869A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109085800A (en) * | 2017-06-14 | 2018-12-25 | 天津玛斯特车身装备技术有限公司 | Robotic laser identification and polishing system |
| CN109129457A (en) * | 2017-06-15 | 2019-01-04 | 天津玛斯特车身装备技术有限公司 | Robot automation's visual identity and welding system |
| CN107453701A (en) * | 2017-08-16 | 2017-12-08 | 苏州朗创优机器人科技有限公司 | A kind of O＆M robot of view-based access control model identification technology |
| CN107457774A (en) * | 2017-08-31 | 2017-12-12 | 温美群 | A kind of robot grasping system of medical visual identity |
| CN108527363A (en) * | 2018-03-08 | 2018-09-14 | 芜湖泰领信息科技有限公司 | The system of robot leaping over obstacles |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170613 |
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| WW01 | Invention patent application withdrawn after publication |