CN108044608A - A kind of wearable body-sensing robot - Google Patents
A kind of wearable body-sensing robot Download PDFInfo
- Publication number
- CN108044608A CN108044608A CN201810109596.7A CN201810109596A CN108044608A CN 108044608 A CN108044608 A CN 108044608A CN 201810109596 A CN201810109596 A CN 201810109596A CN 108044608 A CN108044608 A CN 108044608A
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- module
- wearable
- sensing robot
- sensing
- robot
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Abstract
A kind of wearable body-sensing robot, including wearable somatosensory device（1）With body-sensing robot（2）, it is further characterized in that wearable somatosensory device（1）Comprising wearable main control module（11）, left arm gesture module（12）, right arm gesture module（13）, foot's gesture module（14）, direction gesture module（15）, wireless sending module（16）With wearable power module（17）, body-sensing robot（2）Comprising body-sensing robot main control module（21）, wireless receiving module（22）, walking mechanism（23）, elevating mechanism（24）, steering mechanism（25）, left mechanical arm（26）, right mechanical arm（27）And body-sensing robot power supply module（28）.The present invention can effectively solve the problems, such as that operator is easily influenced that task can not be normally carried out by environmental conditions such as high temperature high fever, nuclear radiation in industrial measurement and control field, at the same can realize faster, the more accurate, action control of more various dimensions.
Description
Technical field
The present invention relates to a kind of wearable body-sensing robots, and by wearable somatosensory device, operator can show every empty real
Body-sensing robot advances, retreats, turning to and the functions such as any direction captures, moves, puts down, so as to so that body-sensing robot obtains
To real-time control.Since traditional robot is controlled mostly using handle or rocking bar, complicated for operation, operator is subject to conditions
Greatly, to avoid influence of the environment to operator, ensure operator's safety, simplify operation learning process, ensure human-machine interactive information
Instantaneity, therefore we provide a kind of wearable body-sensing robot.Belong to intelligent industrial control field.
Background technology
With progress of the epoch, the application of robot is increasingly popularized, military affairs, space flight, medical treatment, daily have gradually been penetrated into
The every field such as life and Edutainment.Robot is as the integrated of hi-tech development achievement, slowly instead of the labor of the mankind
It is dynamic, especially instead of in the environment of people to cannot or being not suitable for, dangerous etc., in order to preferably service the mankind, based on body
The human-computer interaction of induction device has become the heat subject of current research.Wearable body-sensing robot is with huge with empty
Between, at the same also have low-cost high-efficiency, it is easy to operate, need not the long period ex-period training, it is easy to maintenance the features such as, tool
There are larger potentiality and Development volue.Therefore, in view of the advantage of human-computer interaction and robot, the present invention provides a kind of wearable
Body-sensing robot.
The content of the invention
The technical problems to be solved by the invention are：A kind of wearable body-sensing robot, the present invention in wearable body-sensing
The control action of operator can accurately be passed to body-sensing robot by equipment in the state of separate men from machines, on the one hand can be with
Effectively solve operator in industrial measurement and control field easily is influenced not being normally carried out appointing by environmental conditions such as high temperature high fever, nuclear radiation
The problem of business, on the other hand wearable body-sensing robot is different from common body-sensing robot and mechanical arm, due to body-sensing machine
The actuating signal of people arise directly from operator itself, it can be achieved that faster, the more accurate, action control of more various dimensions, such as advance,
It retreats, steering and any direction capture, move, put down.
Technical solution to be solved by this invention is：A kind of wearable body-sensing robot, including wearable somatosensory device（1）
With body-sensing robot（2）, it is further characterized in that wearable somatosensory device（1）Comprising wearable main control module（11）, left arm appearance
Morphotype block（12）, right arm gesture module（13）, foot's gesture module（14）, direction gesture module（15）, wireless sending module
（16）With wearable power module（17）, body-sensing robot（2）Comprising body-sensing robot main control module（21）, wireless receiving mould
Block（22）, walking mechanism（23）, elevating mechanism（24）, steering mechanism（25）, left mechanical arm（26）, right mechanical arm（27）And body
Feel robot power supply module（28）.
The wearable somatosensory device（1）Mainly include wearable main control module（11）, left arm gesture module（12）, it is right
Arm gesture module（13）, foot's gesture module（14）, direction gesture module（15）, wireless sending module（16）With wearable power supply
Module（17）.
The wearable main control module（11）Using HT32F1656 as main control chip, by using in HT32F1656
The data of the voltage value of potentiometer and I2C acquisition gyroscope acceleration transducers on 10 road alternating current-direct current signal collecting device of portion,
The left arm gesture module that will be collected（12）, right arm gesture module（13）, foot's gesture module（14）, direction gesture module
（15）Action data is transferred to the use effect that main control chip had so both been improved specific to HT32F1656 on PDMA passages simultaneously
Rate, and can guarantee the promptness and accuracy of data, all control data are finally sent to wireless sending module by serial ports
（16）, action data is sent to body-sensing robot by it（2）.
The left arm gesture module（12）Including 1 road MPU6050 gyroscopes and No. 5 potentiometers, be mainly responsible for sensing and
The attitude signal of acquisition operations person's left arm is then used for the action control to body-sensing robot left arm.
The right arm gesture module（13）Including 1 road MPU6050 gyroscopes and No. 5 potentiometers, be mainly responsible for sensing and
The attitude signal of acquisition operations person's right arm is then used for the action control to body-sensing robot right arm.
Foot's gesture module（14）Including 1 road MPU6050 gyroscopes, it is mainly used for sensing and acquisition operations person's foot
The attitude signal in portion is then used to control the gait of march of body-sensing robot.
The direction gesture module（15）Including 1 road MPU6050 gyroscopes, it is mainly used for sensing and acquisition operations person side
To attitude signal, then for controlling body-sensing robot direct of travel.
The wireless sending module（16）Using nRF24L01, it low in energy consumption, and itself has power-down protection,
The actuating signal that wearable main control module collects can be sent to body-sensing robot.
The wearable power module（17）Module is made a price reduction including 1 road, using LM2596 bucks, is given simultaneously
Wearable main control module（11）, left arm gesture module（12）, right arm gesture module（13）, foot's gesture module（14）, direction appearance
Morphotype block（15）And wireless sending module（16）Power supply, it can export the driving current of 3A, at the same have it is linear well and
Load regulation characteristic.
The body-sensing robot（2）In mainly include body-sensing robot main control module（21）, wireless receiving module（22）、
Walking mechanism（23）, elevating mechanism（24）, steering mechanism（25）, left mechanical arm（26）, right mechanical arm（27）And body-sensing machine
People's power module（28）.
The body-sensing robot main control module（21）It, can be wireless equally using HT32F1656 as main control chip
Receiving module（22）It receives control signal and is loaded into the data processing channel of itself, generate the pulse tune of 16 tunnel different duties
Signal processed, so as to which each actuating mechanism for controlling body-sensing robot performs advance, retrogressing, steering, lifting and any direction crawl, shifting
The actions such as move, put down.
The wireless receiving module（22）Also using nRF24L01, it is mainly used for receiving wearing somatosensory device（1）Output
Control signal, pass to the governor circuit module of body-sensing robot, and then body-sensing robot ability after reception again by serial ports
Generation acts.
The walking mechanism（23）Including No. 2 servomotors, advance, retrogressing for performing body-sensing robot etc. is mainly responsible for
Walking motion.
The elevating mechanism（24）Including No. 1 stepper motor, the main height erect-position for realizing body-sensing robot, and it is special
Elevating mechanism upper limit position switch and lower position switch are added, for upper and lower position limitation protection, prevents from acting excessive body-sensing robot
It damages.
The steering mechanism（25）Including 1 road steering engine, can be precisely controlled body-sensing robot using steering engine 360 ° turn
To, under connect walking mechanism（23）, the main comprehensive traveling action for completing body-sensing robot of the two cooperation.
The left mechanical arm（26）It is main to realize body-sensing robot left arm 7 degree of freedom without dead zone including 7 road steering engines
Action executing, completely the posture of arm is showed.
The right mechanical arm（27）It is main to realize body-sensing robot right arm 7 degree of freedom without dead zone including 7 road steering engines
Action executing, completely the posture of arm is showed.Two mechanical arms cooperate can more securely, quickly complete
Any direction such as captures, moves, puts down at the actions.
The body-sensing robot power supply module（28）In order to provide large capacity electricity and stablize the voltage of output, persistently make
With, voltage selection is more etc., mainly include battery powered part and 15 tunnel pressure drop modules and 2 road boost modules, battery powered part
Mainly give body-sensing robot main control module（21）And wireless receiving module（22）Power supply, 2 road boost modules are mainly used for body-sensing machine
Device people's walking mechanism（23）And elevating mechanism（24）Power supply, 15 tunnel pressure drop modules mainly realize steering mechanism（25）, left mechanical arm
（26）And right mechanical arm（27）Power supply.
The present invention is a kind of wearable body-sensing robot, wearable somatosensory device can in the state of separate men from machines handle
Operator's left arm posture, right arm posture, foot's posture, the control action of direction posture are accurately transferred by wireless sending module
After body-sensing robot, body-sensing robot is given to receive specific actuating signal, elevating mechanism, walking mechanism, steering mechanism,
Left mechanical arm and right mechanical arm cooperate complete to advance, retreat, turn to, lifting and any direction captures, move, put down etc. moves
Make, be particularly suitable for the scene that operator cannot be introduced into but can be certainly advanced by body-sensing robot.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Reference numeral：（1）Wearable somatosensory device,（2）Body-sensing robot,（11）Wearable main control module,（12）Left arm
Gesture module,（13）Right arm gesture module,（14）Foot's gesture module,（15）Direction gesture module,（16）Wireless sending module,
（17）Wearable power module,（21）Body-sensing robot main control module,（22）Wireless receiving module,（23）Walking mechanism,（24）
Elevating mechanism,（25）Steering mechanism,（26）Left mechanical arm,（27）Right mechanical arm,（28）Body-sensing robot power supply module.
Specific embodiment
Below in conjunction with the accompanying drawings 1 and example the invention will be further described.
As shown in Figure 1, a kind of wearable body-sensing robot, including wearable somatosensory device（1）With body-sensing robot（2）,
It is further characterized in that wearable somatosensory device（1）Comprising wearable main control module（11）, left arm gesture module（12）, right arm appearance
Morphotype block（13）, foot's gesture module（14）, direction gesture module（15）, wireless sending module（16）With wearable power module
（17）, body-sensing robot（2）Comprising body-sensing robot main control module（21）, wireless receiving module（22）, walking mechanism（23）、
Elevating mechanism（24）, steering mechanism（25）, left mechanical arm（26）, right mechanical arm（27）And body-sensing robot power supply module
（28）.
Wearable somatosensory device（1）In wearable main control module（11）The left arm gesture module that will be collected（12）, it is right
Arm gesture module（13）, foot's gesture module（14）With direction gesture module（15）On movement posture data transfer to itself institute
On distinctive information processing passage, everything attitude data is sent to wireless transmission mould by serial ports by identification and computing
Block（16）, by wireless sending module（16）Give movement posture data sending to body-sensing robot（2）, wearable power module（17）
To wearable somatosensory device（1）Middle modules are powered respectively.Body-sensing robot（2）In wireless receiving module（22）It receives
From wireless sending module（16）Movement posture data, body-sensing robot main control module is passed to by serial ports（21）, body-sensing
Robot main control module（21）Movement posture data are loaded into the information processing passage of itself, generate 16 tunnel different duties
Pulse-modulated signal, the signal of different duty correspond to different type of action, are sent respectively to walking mechanism（23）, elevator
Structure（24）, steering mechanism（25）, left mechanical arm（26）, right mechanical arm（27）, perform advance, retrogressing, steering, lifting and arbitrary side
To capturing, move, actions, the body-sensing robot power supply module such as put down（28）Give body-sensing robot（2）In each mechanism and module
Power supply.
The present invention innovative point be：
（1）It is more more convenient than rocking bar or key controlled body-sensing robot using wearable body-sensing structure；
（2）The turning mode of body-sensing robot introduces steering engine, similar to the control mode of steering wheel, with a servos control body
Feel the turning of robot, it is more flexible much than the mode that differential is turned；
（3）Using highly sensitive gyroscope and potentiometer, compared with the mode of human action information is captured with camera, the former
It can faster, more accurately obtain human body attitude information.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only describe the originals of the present invention
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
It all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and equivalents circle
It is fixed.
Claims (1)
1. a kind of wearable body-sensing body-sensing robot, including wearable somatosensory device（1）With body-sensing robot（2）, feature is also
It is wearable somatosensory device（1）Comprising wearable main control module（11）, left arm gesture module（12）, right arm gesture module
（13）, foot's gesture module（14）, direction gesture module（15）, wireless sending module（16）With wearable power module（17）,
Body-sensing robot（2）Comprising body-sensing robot main control module（21）, wireless receiving module（22）, walking mechanism（23）, lifting
Mechanism（24）, steering mechanism（25）, left mechanical arm（26）, right mechanical arm（27）And body-sensing robot power supply module（28）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810109596.7A CN108044608A (en) | 2018-02-05 | 2018-02-05 | A kind of wearable body-sensing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810109596.7A CN108044608A (en) | 2018-02-05 | 2018-02-05 | A kind of wearable body-sensing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108044608A true CN108044608A (en) | 2018-05-18 |
Family
ID=62125840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810109596.7A Pending CN108044608A (en) | 2018-02-05 | 2018-02-05 | A kind of wearable body-sensing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110161900A (en) * | 2019-04-25 | 2019-08-23 | 中国人民解放军火箭军工程大学 | The wearable remote control operation platform of one remote operation |
| CN110936375A (en) * | 2019-12-04 | 2020-03-31 | 路邦科技授权有限公司 | Synchronous multi-connection system and synchronous multi-connection method of robot |
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| CN110936375A (en) * | 2019-12-04 | 2020-03-31 | 路邦科技授权有限公司 | Synchronous multi-connection system and synchronous multi-connection method of robot |
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Application publication date: 20180518 |