CN108340346A - Adaptive auxiliary carrying robot controls scheduling system - Google Patents
Adaptive auxiliary carrying robot controls scheduling system Download PDFInfo
- Publication number
- CN108340346A CN108340346A CN201810372101.XA CN201810372101A CN108340346A CN 108340346 A CN108340346 A CN 108340346A CN 201810372101 A CN201810372101 A CN 201810372101A CN 108340346 A CN108340346 A CN 108340346A
- Authority
- CN
- China
- Prior art keywords
- module
- flexible trunk
- scheduling system
- human body
- auxiliary carrying
- Prior art date
- 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
-
- 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
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
Abstract
The invention discloses a kind of adaptive auxiliary carrying robots to control scheduling system, including：Face recognition module, human body induction module, head, controller, driving mechanism, flexible trunk, obstacle avoidance module, universal wheel mechanism and pedal；Wherein, the header shelf is set on the flexible trunk, and can be freely rotated on the flexible trunk；The face recognition module and human body induction module are all set on the head, in the case where sensing human body, start face recognition module, and the driving mechanism is controlled by the controller simultaneously, the flexible trunk is driven to execute stretching motion, until the face that the face recognition module recognizes human body stops the driving of the driving mechanism, one end of the pedal is articulated with the flexible trunk, and the other end, which can be received to be laminated on the flexible trunk to be formed to receive overlapping state or can keep being horizontally formed, can trample state.The adaptive auxiliary carrying robot control scheduling system is realized reaches required height according to actual demand.
Description
Technical field
The present invention relates to auxiliary robots, and in particular, to a kind of adaptive auxiliary carrying robot control scheduling system.
Background technology
Service robot is a younger members in family of robot, and up to the present still neither one is stringent determines
Justice.Country variant is different to the understanding of service robot.Professional domain service robot and individual/home services machine can be divided into
Device people, service robot are of wide application, and are mainly engaged in maintaining, repairing, transport, cleaning, security personnel, rescue, monitoring
Equal work.
Service robot structure at this stage is fixed, and the adjusting that can not carry out height according to actual needs is flexible, Wu Faman
Sufficient man face image acquiring or the operation that can not facilitate different height people, therefore, it is necessary to design a kind of adaptive auxiliary carrying machine
People controls scheduling system.
Invention content
The object of the present invention is to provide a kind of adaptive auxiliary carrying robots to control scheduling system, which holds
Load robot control scheduling system overcomes robot in the prior art and cannot achieve lifting, cannot be satisfied owner at this stage
Use, required height can not be reached according to actual demand.
To achieve the goals above, the present invention provides a kind of adaptive auxiliary carrying robots to control scheduling system, should
Adaptive auxiliary carrying robot control scheduling system includes body, locating module, wireless transport module and server；Wherein,
The locating module and wireless transport module are set on the body, and the locating module passes through the wireless transport module
It is connected to the server, the location information of body is wirelessly transmitted to the server, the server is according to institute's rheme
The recalls information that confidence is ceased and received is called and the nearest body of the recalls information；
The body includes：Face recognition module, human body induction module, head, controller, driving mechanism, flexible trunk,
Obstacle avoidance module, universal wheel mechanism, pedal, braking vane and a key close button, and the header shelf is set on the flexible trunk, and
It can be freely rotated on the flexible trunk；The face recognition module and human body induction module are all set to the head
On, in the case where sensing human body, start face recognition module, and the driving mechanism is controlled by the controller simultaneously
The flexible trunk is driven to execute stretching motion, until the face that the face recognition module recognizes human body stops the driving
The driving of mechanism, the universal wheel mechanism are set to the lower section of the flexible trunk, to drive the flexible trunk to execute movement,
The obstacle avoidance module and the universal wheel mechanism are connected to the controller, in the case where sensing human body, the controller
The position that the universal wheel mechanism drives the flexible trunk to be moved to the human body is controlled, and in the effect of the obstacle avoidance module
Under, execute urgent avoidance；One end of the pedal is articulated with the flexible trunk, and the other end, which can be received, is laminated on the flexible trunk
Upper formation, which receives overlapping state or can keep being horizontally formed, can trample state；One key closes button and is installed on the head,
And a key closes button and is electrically connected to the controller, in the case where pressing, a key closes the confession of the controller
Electricity, the braking vane are set on the pedal, and the braking vane is set on the pedal, and are connected to the universal wheel
Mechanism, to realize the stopping of the universal wheel mechanism.
Preferably, the flexible trunk includes：Upper shell, lower housing and telescopic rod, the telescopic rod are set on described
Between shell and lower housing, and the driving mechanism is installed on the lower housing, and is connected to the upper shell, to drive
It states upper shell and lower housing is done close to movement or far from movement；The telescopic rod can allow the movement of the upper shell and lower housing
Direction is kept fixed.
Preferably, the driving mechanism is cylinder, and the shell of the cylinder is fixed on the lower housing, the cylinder
Telescopic rod be fixed in the upper shell.
Preferably, the quantity of the telescopic rod is multiple, and is uniformly distributed between the upper shell and lower housing.
Preferably, seal pipe is provided between the lower housing and the upper shell, one end of the seal pipe is communicated in
The upper shell, the other end are communicated in the lower housing.
Preferably, it is provided with the accommodating chamber with opening on the upper shell, certification machine is provided in the accommodating chamber
Structure, and the opening is provided with induction sealing lid, in the case where the face recognition module recognizes the face of human body,
The induction sealing lid automatically opens, and carries out authentication by the certification authority.
Preferably, LED display, the LED display electricity are provided on end face of the induction sealing lid outside
It is connected to the controller, to receive the signal of the controller, shows authentication result.
Preferably, the certification authority is finger print identifying mechanism or authentication ids mechanism.
Preferably, the obstacle avoidance module includes：Obstacle sensor and adaptive navigation system, the obstacle sensor
It is set on the flexible trunk, to incude the barrier in the flexible trunk travel direction, and is sensing the obstacle
In the case of object, adaptive navigation system programme path again is controlled, and according to again under the drive of universal wheel mechanism
Programme path executes movement.
Preferably, the quantity of the obstacle sensor is multiple, and is uniformly arranged on the circumferential direction side of the flexible trunk
Upwards.
Preferably, it is provided with anti-skid bulge on the end face of the pedal.
Preferably, it is provided with handle on the upper shell.
Preferably, it is provided with clump weight on the lower housing, to keep the balance of the flexible trunk.
Preferably, the wireless transport module is 4G modules or Wifi modules；The locating module is GPS positioning module.
By above-mentioned embodiment, robot can be allowed with the adjusting for needing to carry out height so that robot can be with
The adjusting of random carry out height.And the mode adjusted is fairly simple, is convenient for controlling.Utilize the adaptive auxiliary of design
It carries robot and controls scheduling system, the induction of human body may be implemented, the height of trunk can be arbitrarily adjusted according to the height of human body
Degree, so as to allow robot preferably to be serviced, is not more convenient to operate operating with for person yet.Utilize above-mentioned obstacle avoidance module
Avoidance and automatic movement may be implemented with universal wheel mechanism, position and the height of human body can be adapted to automatically.Pass through above-mentioned side
Formula, robot of the invention can also realize the carrying of personage, and human body can be carried to required place.Machine in order to prevent
People is out of hand, ensures the safety in robot driving process.The skilled tune of robot may be implemented by above-mentioned mode
With calling suitable robot automatically according to required position.
Other features and advantages of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is to be used to provide further understanding of the present invention, an and part for constitution instruction, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings：
Fig. 1 is the adaptive auxiliary carrying robot control scheduling system for illustrating a kind of preferred embodiment of the present invention
Structural schematic diagram.
Reference sign
1 face recognition module, 2 head
3 flexible trunk, 4 upper shell
5 lower housing, 6 telescopic rod
7 obstacle avoidance module, 8 universal wheel mechanism
9 pedal, 10 handle
11 1 keys close 12 braking vane of button
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, left and right " typically refers to
It is as shown in Figure 1 up and down." inside and outside " refer in specific profile it is interior with it is outer." remote, close " refers to relative to some component
Far with closely.
The present invention provides one kind adaptive auxiliary carrying robot and controls scheduling system, adaptive auxiliary carrying robot
It includes body, locating module, wireless transport module and server to control scheduling system；Wherein, the locating module and wireless biography
Defeated module is set on the body, and the locating module is connected to the server by the wireless transport module, with
The location information of body is wirelessly transmitted to the server, the server according to the positional information with the calling that is received
Information is called and the nearest body of the recalls information；
The body includes：Face recognition module 1, human body induction module, head 2, controller, driving mechanism, flexible body
Dry 3, obstacle avoidance module 7, universal wheel mechanism 8, pedal 9, braking vane 12 and a key close button 11, and the head 2 is set up in described
On flexible trunk 3, and it can be freely rotated on the flexible trunk 3；The face recognition module 1 and human body induction module are all
It is set on the head 2, in the case where sensing human body, starts face recognition module 1, and pass through the controller simultaneously
Controlling the driving mechanism drives the flexible trunk 3 to execute stretching motion, until the face recognition module 1 recognizes human body
Face stop the driving of the driving mechanism, the universal wheel mechanism 8 is set to the lower section of the flexible trunk 3, to drive
The flexible trunk 3 executes movement, and the obstacle avoidance module 7 and the universal wheel mechanism 8 are connected to the controller, are sensing
In the case of human body, the controller controls the position that the universal wheel mechanism 8 drives the flexible trunk 3 to be moved to the human body
It sets, and under the action of the obstacle avoidance module 7, executes urgent avoidance；One end of the pedal 9 is articulated with the flexible trunk 3,
The other end, which can be received to be laminated on the flexible trunk 3 to be formed to receive overlapping state or can keep being horizontally formed, can trample state；Institute
State a key and close button 11 and be installed on the head 2, and a key closes button 11 and is electrically connected to the controller, with by
In the case of lower, a key closes the power supply of the controller, and the braking vane 12 is set on the pedal 9, and the brake
Plate 12 is set on the pedal 9, and is connected to the universal wheel mechanism 8, to realize the stopping of the universal wheel mechanism 8.
By above-mentioned embodiment, robot can be allowed with the adjusting for needing to carry out height so that robot can be with
The adjusting of random carry out height.And the mode adjusted is fairly simple, is convenient for controlling.Utilize the adaptive auxiliary of design
It carries robot and controls scheduling system, the induction of human body may be implemented, the height of trunk can be arbitrarily adjusted according to the height of human body
Degree, so as to allow robot preferably to be serviced, is not more convenient to operate operating with for person yet.Utilize above-mentioned obstacle avoidance module
7 and universal wheel mechanism 8 avoidance and automatic movement may be implemented, position and the height of human body can be adapted to automatically.By above-mentioned
Mode, robot of the invention can also realize the carrying of personage, and human body can be carried to required place.Machine in order to prevent
Device people is out of hand, ensures the safety in robot driving process.Button 11 is closed using a key, driving mechanism may be implemented
Stopping driving, cooperation braking vane 12 realize whole device movement stop, ensureing the safety of whole device.Pass through above-mentioned side
The skilled calling of robot may be implemented in formula, and suitable robot is called automatically according to required position.
The present invention is further detailed below in conjunction with attached drawing 1, in the present invention, in order to improve being applicable in for the present invention
Range is especially realized using following specific implementation modes.
In a kind of specific implementation mode of the present invention, the flexible trunk 3 may include：Upper shell 4,5 and of lower housing
Telescopic rod 6, the telescopic rod 6 are set between the upper shell 4 and lower housing 5, and the driving mechanism be installed on it is described under
On shell 5, and it is connected to the upper shell 4, to drive the upper shell 4 and lower housing 5 to do close to movement or far from movement；Institute
Stating telescopic rod 6 can allow the upper shell 4 and the direction of motion of lower housing 5 to be kept fixed.
By above-mentioned embodiment, the stretching motion of trunk may be implemented, and the direction of motion can be allowed to be maintained at one
On a straight line.
In this kind of embodiment, in order to realize the flexible of upper shell 4 and the lower housing 5, and realizes and automatically control, institute
It is cylinder to state driving mechanism, and the shell of the cylinder is fixed on the lower housing 5, and the telescopic rod 6 of the cylinder is fixed in
The upper shell 4.
In this kind of embodiment, in order to realize the flexible of upper shell 4 and lower housing 5, the quantity of the telescopic rod 6 is more
It is a, and be uniformly distributed between the upper shell 4 and lower housing 5.
In this kind of embodiment, in order to realize the conducting of circuit, allow the circuit on top that can be transmitted to lower half portion, institute
It states and is provided with seal pipe between lower housing 5 and the upper shell 4, one end of the seal pipe is communicated in the upper shell 4, another
End is communicated in the lower housing 5.
In this kind of embodiment, in order to carry out the certification of personage, and the identification of human body is realized, the upper casing
It is provided with the accommodating chamber with opening on body 4, certification authority is provided in the accommodating chamber, and be provided in the opening
Induction sealing lid, in the case where the face recognition module 1 recognizes the face of human body, the induction sealing lid is beaten automatically
It opens, and authentication is carried out by the certification authority.
In this kind of embodiment, in order to carry out display alarm, allows authentication result to be conveyed directly to tester, avoid voice
Signal is influenced not receiving by environment, and the induction sealing lid is provided with LED display on the end face outside, described
LED display is electrically connected to the controller, to receive the signal of the controller, shows authentication result.
In this kind of embodiment, in order to realize the identification of finger print identifying and identity card, the certification authority is recognized for fingerprint
Demonstrate,prove mechanism or authentication ids mechanism.
In this kind of embodiment, in order to realize that avoidance, the obstacle avoidance module 7 include：Obstacle sensor and adaptive
Navigation system, the obstacle sensor are set on the flexible trunk 3, to incude in 3 travel direction of flexible trunk
Barrier control adaptive navigation system programme path again and in the case where sensing the barrier, and
Under the drive of universal wheel mechanism 8 movement is executed according to programme path again.
In this kind of embodiment, in order to preferably carry out avoidance, the quantity of the obstacle sensor is multiple, and
It is even to be set in the circumferential direction of the flexible trunk 3.
In this kind of embodiment, user is skidded above in order to prevent, is provided on the end face of the pedal 9 anti-skidding
Protrusion.
It in this kind of embodiment, is driven in order to facilitate driver, allows it that can ensure safety, the upper shell 4
On be provided with handle 10.
In this kind of embodiment, in order to ensure the balance of device so that driver can keep balancing in robot,
It is provided with clump weight on the lower housing 5, to keep the balance of the flexible trunk 3.
In this kind of embodiment, in order to realize the transmission of wireless signal, the wireless transport module be 4G modules or
Wifi modules；The locating module is GPS positioning module.
The preferred embodiment of the present invention is described in detail above in association with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical scheme of the present invention
Monotropic type, these simple variants all belong to the scope of protection of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the present invention to it is various can
The combination of energy no longer separately illustrates.
In addition, various embodiments of the present invention can be combined randomly, as long as it is without prejudice to originally
The thought of invention, it should also be regarded as the disclosure of the present invention.
Claims (10)
1. a kind of adaptive auxiliary carrying robot controls scheduling system, which is characterized in that the adaptive auxiliary carries robot
It includes body, locating module, wireless transport module and server to control scheduling system；Wherein, the locating module and wireless biography
Defeated module is set on the body, and the locating module is connected to the server by the wireless transport module, with
The location information of body is wirelessly transmitted to the server, the server according to the positional information with the calling that is received
Information is called and the nearest body of the recalls information；
The body includes：Face recognition module (1), human body induction module, head (2), controller, driving mechanism, flexible body
Dry (3), obstacle avoidance module (7), universal wheel mechanism (8), pedal (9), braking vane (12) and a key close button (11), the head
(2) it is set up on the flexible trunk (3), and can be freely rotated on the flexible trunk (3)；The face recognition module
(1) it is all set on the head (2) with human body induction module, in the case where sensing human body, starts face recognition module
(1), and controlling the driving mechanism by the controller simultaneously drives the flexible trunk (3) to execute stretching motion, until
The face that the face recognition module (1) recognizes human body stops the driving of the driving mechanism, and the universal wheel mechanism (8) sets
It is placed in the lower section of the flexible trunk (3), to drive the flexible trunk (3) to execute movement, the obstacle avoidance module (7) and described
Universal wheel mechanism (8) is connected to the controller, and in the case where sensing human body, the controller controls the universal turbine
Structure (8) drives the flexible trunk (3) to be moved to the position of the human body, and under the action of the obstacle avoidance module (7), executes
Urgent avoidance；One end of the pedal (9) is articulated with the flexible trunk (3), and the other end, which can be received, is laminated on the flexible trunk
(3) it is formed to receive overlapping state or can keep being horizontally formed on and can trample state；One key closes button (11) and is installed on institute
Head (2) is stated, and a key closes button (11) and is electrically connected to the controller, in the case where pressing, a key is closed
The power supply of the controller, the braking vane (12) are set on the pedal (9), and the braking vane (12) be set to it is described
On pedal (9), and it is connected to the universal wheel mechanism (8), to realize the stopping of the universal wheel mechanism (8).
2. adaptive auxiliary carrying robot according to claim 1 controls scheduling system, which is characterized in that described flexible
Trunk (3) includes：Upper shell (4), lower housing (5) and telescopic rod (6), the telescopic rod (6) be set to the upper shell (4) and
Between lower housing (5), and the driving mechanism is installed on the lower housing (5), and is connected to the upper shell (4), with band
It moves the upper shell (4) and lower housing (5) is done close to movement or far from movement；The telescopic rod (6) can allow the upper shell
(4) it is kept fixed with the direction of motion of lower housing (5).
3. adaptive auxiliary carrying robot according to claim 2 controls scheduling system, which is characterized in that the driving
Mechanism is cylinder, and the shell of the cylinder is fixed on the lower housing (5), and the telescopic rod (6) of the cylinder is fixed in institute
State upper shell (4).
4. adaptive auxiliary carrying robot according to claim 2 controls scheduling system, which is characterized in that the lower casing
Seal pipe is provided between body (5) and the upper shell (4), one end of the seal pipe is communicated in the upper shell (4), another
End is communicated in the lower housing (5).
5. adaptive auxiliary carrying robot according to claim 2 controls scheduling system, which is characterized in that the upper casing
It is provided with the accommodating chamber with opening on body (4), certification authority is provided in the accommodating chamber, and be arranged in the opening
There is induction sealing cover, in the case where the face recognition module (1) recognizes the face of human body, the induction sealing lid is automatic
It opens, and authentication is carried out by the certification authority.
6. adaptive auxiliary carrying robot according to claim 5 controls scheduling system, which is characterized in that the induction
Sealing cover is provided with LED display on the end face outside, and the LED display is electrically connected to the controller, to receive
The signal of the controller shows authentication result.
7. adaptive auxiliary carrying robot according to claim 1 controls scheduling system, which is characterized in that the avoidance
Module (7) includes：Obstacle sensor and adaptive navigation system, the obstacle sensor are set to the flexible trunk
(3) on, to incude the barrier in flexible trunk (3) travel direction, and in the case where sensing the barrier, control
Adaptive navigation system programme path again is made, and is held according to programme path again under the drive of universal wheel mechanism (8)
Row movement；The quantity of the obstacle sensor is multiple, and is uniformly arranged in the circumferential direction of the flexible trunk (3).
8. adaptive auxiliary carrying robot according to claim 2 controls scheduling system, which is characterized in that the upper casing
Handle (10) is provided on body (4).
9. adaptive auxiliary carrying robot according to claim 2 controls scheduling system, which is characterized in that the lower casing
Body is provided with clump weight on (5), to keep the balance of the flexible trunk (3).
10. adaptive auxiliary carrying robot according to claim 2 controls scheduling system, which is characterized in that the nothing
Line transmission module is 4G modules or Wifi modules；The locating module is GPS positioning module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810372101.XA CN108340346A (en) | 2018-04-24 | 2018-04-24 | Adaptive auxiliary carrying robot controls scheduling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810372101.XA CN108340346A (en) | 2018-04-24 | 2018-04-24 | Adaptive auxiliary carrying robot controls scheduling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108340346A true CN108340346A (en) | 2018-07-31 |
Family
ID=62955394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810372101.XA Withdrawn CN108340346A (en) | 2018-04-24 | 2018-04-24 | Adaptive auxiliary carrying robot controls scheduling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108340346A (en) |
-
2018
- 2018-04-24 CN CN201810372101.XA patent/CN108340346A/en not_active Withdrawn
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Application publication date: 20180731 |