CN109108932A - Wooden robot - Google Patents
Wooden robot Download PDFInfo
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- CN109108932A CN109108932A CN201810823061.6A CN201810823061A CN109108932A CN 109108932 A CN109108932 A CN 109108932A CN 201810823061 A CN201810823061 A CN 201810823061A CN 109108932 A CN109108932 A CN 109108932A
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- wheel
- wooden
- laptop
- main body
- body frame
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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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of wooden robots, main body frame (1) including wooden structures and the differential platform of four-wheel (2) for being mounted on the main body frame (1) bottom end are followed successively by data collection layer, middle layer and bus plane inside the main body frame (1) from top to bottom；Wherein, the data collection layer includes Kinect (3) and IP Camera group, acquires environmental data for robot；The middle layer includes router (4) and laptop (5), the laptop (5) is connected by router (4) and L-type connecting line with the data collection layer, is connected by Serial Port Line with the differential platform of the four-wheel (2)；The laptop (5) is able to carry out environment understanding and cognitive algorithm, to control the differential platform of the four-wheel (2) movement；The bus plane includes battery (6), for robot operation power supply.The wooden robot architecture is compact, easy to assembly, and movement is quick slim and graceful, and stability is high.
Description
Technical field
The present invention relates to robot fields, and in particular, to a kind of wooden robot.
Background technique
With the development of industrial automation, machine intelligence is received more and more attention, and wherein intelligent robot is even more quilt
It is known as following mainstream development direction.
And robot will once move, just inevitably involve understanding to environment, path planning, autonomous positioning,
Avoidance and anticollision etc., and the understanding and robot autonomous localization to environment be other function basis and primary research
Direction.
Existing researcher and application device realize robot autonomous localization using GPS, known using being manually entered
Environmental map and fabric structure figure replace robot autonomous study and building map, but it has following defect: firstly,
GPS positioning is only applicable to outdoor environment, is not suitable for indoor scene；Secondly, civilian GPS location precision is inadequate, machine is not achieved
The operating accuracy requirement of device people；Then, the mode that map is manually entered is not suitable for the scene that environment can change, such as: road envelope
Stifled, someone or article account for, original road is disconnected etc. by digging；Then, the mode that map is manually entered limits the work model of robot
It encloses, robot can only work in portion in the range that map determines, often changing a working environment, to require an accurate map defeated
Enter；Finally, the mode that map is manually entered causes robot that can not work in the environment and scene of no electronics shelves map.
Between above-mentioned various problem, the robot autonomous localization and environmental map of view-based access control model are constructed so that intelligent machine
The one important problem to be solved in device human hair exhibition road.
Summary of the invention
The object of the present invention is to provide a kind of wooden robots, and the wooden robot architecture is compact, easy to assembly, and movement is fast
Prompt slim and graceful, stability is high.
To achieve the goals above, the present invention provides a kind of wooden robots, the main body frame including wooden structures and
It is mounted on the differential platform of four-wheel of main body frame bottom end, is followed successively by data collection layer, middle layer from top to bottom inside main body frame
And bus plane；Wherein,
Data collection layer includes Kinect and IP Camera group, acquires environmental data for robot；
Middle layer includes router and laptop, and laptop is adopted by router and L-type connecting line with data
Collect layer to be connected, be connected by Serial Port Line with the differential platform of four-wheel；Laptop is able to carry out environment understanding and cognitive algorithm, with
Control the differential platform movement of four-wheel；
Bus plane includes battery, for robot operation power supply.
Preferably, the differential platform of four-wheel be four motorized wheels platform, also, driving wheel be surface be laid with it is anti-skidding convex
Play the rubber wheel of item.
Preferably, bus plane further includes the converter for converting direct current into alternate current, terminal plate, power supply line, network connection
Route and multiple wiring units；Wherein,
Battery is the lithium battery that can provide 12V80AH electric energy, and lithium battery output end is connected by converter with terminal plate
It connects；
Multiple wiring units are removably attached on main body frame, with comb the power supply line that is connected on terminal plate of arrangement with
And the neighbouring network connection route that is scattered.
Preferably, the position on main body frame positioned at bus plane is formed with the bracket for placing battery and before bracket is
Wide structure after narrow.
Preferably, it is formed with straight down on bracket and extends leg and extend the side wall that leg clamping sticks on the differential platform of four-wheel
On.
Preferably, the distance between data collection layer bottom end and middle layer bottom end are greater than the height after laptop expansion
Degree.
Preferably, IP Camera group is arranged above Kinect, is made of two IP Cameras arranged side by side, phase
Pose between mutually is constant, and binocular vision sensing equipment is constituted after calibration.
Preferably, the data of Kinect turn the USB3.0 interface that USB adapter is directly connected on laptop by L,
For directly acquiring color video, deep video and infrared video.
Preferably, IP Camera is by twisted pair couple in router, and laptop is from router access network
Camera carries out video acquisition.
According to the above technical scheme, main part of the present invention is wooden structure, and there is no selections to be welded using metal material
Or printed using 3D printer, the reason is as follows that: although 3D printing technique molding is quickly, the material of 3D printer printing compares
Fragility, and since printer prints in layer, it is especially fragile to result in interlayer, such unbearable electric power storage of structure
Pond, laptop and visual sensor weight；And the structure of metal material is enough to bear required load, but metal frame
The weight of frame itself is larger, along with equipment, the total weights such as laptop, visual sensor, battery have been more than that four-wheel is poor
The load of moving platform.So selecting wooden structure to realize that overall weight mitigates, quick slim and graceful effect is moved.
In the design process of main structure, according to factors such as the quantity of equipment, type, demand, sizes by main structure
It is divided into three layers, i.e. bus plane, middle layer and data collection layer, the laptop of middle layer is the core of hardware platform, i.e. machine
The brain of device people, it by router and L-type route management connection the data acquisition module on upper layer, execute environment understanding and recognize
Know algorithm, and passes through the movement of the differential platform of lower layer's four-wheel of serial ports line traffic control.It can be seen that the wooden robot architecture is tight
It gathers, is easy to assembly, stability is higher in motion process.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, 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 structural schematic diagram of the wooden robot in a kind of embodiment provided according to the present invention；
Fig. 2 is the differential platform structure signal of four-wheel of wooden robot in a kind of embodiment provided according to the present invention
Figure.
Description of symbols
The differential platform of 1- main body frame 2- four-wheel
3-Kinect 4- router
5- laptop 6- battery
7- terminal plate 8- bracket
9- extends leg 10- IP Camera
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment 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 that " upper and lower, forward and backward " etc. is included in the term
Only represent orientation of the term under normal service condition, or be those skilled in the art understand that be commonly called as, and be not construed as pair
The limitation of the term.
Referring to Fig. 1, the present invention provides a kind of wooden robot, the main body frame 1 including wooden structures and is mounted on main body
The differential platform 2 (as shown in Figure 2) of the four-wheel of 1 bottom end of frame, be followed successively by inside main body frame 1 from top to bottom data collection layer, in
Interbed and bus plane；Wherein,
Data collection layer includes Kinect3 and IP Camera group, acquires environmental data for robot；
Middle layer includes router 4 and laptop 5, and laptop 5 passes through router 4 and L-type connecting line and number
It is connected according to acquisition layer, is connected by Serial Port Line with the differential platform 2 of four-wheel；Laptop 5 is able to carry out environment understanding and cognition
Algorithm is moved with controlling the differential platform 2 of four-wheel；
Bus plane includes battery 6, for robot operation power supply.
Through the above technical solutions, the main body frame 1 of the robot is wooden structure, there is no selections to use metal material
Welding is printed using 3D printer, the reason is as follows that: although 3D printing technique molding is quickly, the material of 3D printer printing
Compare fragile, and since printer prints in layer, results in that interlayer is especially fragile, and such structure is unbearable
The weight of battery 6, laptop 5 and visual sensor；And the structure of metal material is enough to bear required load, but
The weight of metal framework itself is larger, along with equipment, the total weights such as laptop 5, visual sensor, battery 6 are more than
The load of the differential platform 2 of four-wheel.So selecting wooden structure to realize that overall weight mitigates, quick slim and graceful effect is moved.
In the design process of main structure, according to factors such as the quantity of equipment, type, demand, sizes by main structure
It is divided into three layers, i.e. bus plane, middle layer and data collection layer, the laptop 5 of middle layer is the core of hardware platform, i.e. machine
The brain of device people, it by router 4 and L-type route management connection the data acquisition module on upper layer, execute environment understanding with
Cognitive algorithm, and pass through the movement of the differential platform 2 of lower layer's four-wheel of serial ports line traffic control.It can be seen that the wooden robot architecture
Compact, easy to assembly, stability is higher in motion process.
In the present embodiment, the wooden robot skids during the motion in order to prevent, it is preferable that four-wheel is differential flat
Platform 2 is the platform of four motorized wheels, also, driving wheel is the rubber wheel that surface is laid with antiskid raised strip.
For the energy resource supply of robot at present still using battery 6, it is the maximum portion of weight in robot architecture
Part, it is contemplated that the stationarity of robot mass motion, the lower the equipment the better, in this way can be in the entirety in order to reduce robot
The heart helps to improve the stability of movement, prevents from toppling over；Meanwhile in order to reduce the number of plies to the greatest extent, the arrangements of components that will merge exists
Same layer, it is therefore preferable that bus plane further includes the converter for converting direct current into alternate current, terminal plate 7, power supply line, network company
Link and multiple wiring units；Wherein,
Battery 6 is that can provide the lithium battery of 12V80AH electric energy (battery supports entire robot platform outdoors enough
Continuous work several hours, moreover, its weight is also relatively lighter, within the acceptable loading range of the differential platform 2 of four-wheel), lithium
Battery output is connected by converter with terminal plate 7；
Multiple wiring units are removably attached on main body frame 1, to comb the power supply line that arrangement is connected on terminal plate 7
And the neighbouring network connection route that is scattered.
When structure design, bus plane has extended downwardly out several extension legs 9, utilizes the four of the differential platform 2 of four-wheel
Side carries out anti-skidding processing, prevents main structure from sliding on the differential platform 2 of four-wheel.Meanwhile the bracket 8 for placing battery 6 uses
Beloid mechanism prevents battery 6 from sliding back and forth on bracket 8.So being located at the position of bus plane on design agents frame 1
It sets and is formed with bracket 8 for placing battery 6 and bracket 8 is beloid structure.
Further, it is formed with to extend leg 9 and extend the clamping of leg 9 straight down on bracket 8 and sticks on the differential platform 2 of four-wheel
Side wall on.
It is then placed centrally as robot brain, the laptop 5 for controlling entire robot work, for the ease of beating
It opens laptop 5 debug in operational process, middle section needs enough height, therefore middle layer needs occupy as far as possible
Big space, it is preferable that the distance between data collection layer bottom end and middle layer bottom end are greater than the height after laptop 5 is unfolded
Degree.
The top is data sampling sensor layer, cannot because this platform is using visible light and infrared light transducer[sensor
It is blocked and interferes, thus be placed on top layer.Meanwhile in order to make Kinect3 not block the network shooting of composition binocular vision
Unit, preferred network camera group are arranged above Kinect3, are made of two IP Cameras 10 arranged side by side, mutually
Between pose it is constant, by calibration after constitute binocular vision sensing equipment.
The data of Kinect3 turn the USB3.0 interface that USB adapter is directly connected on laptop 5 by L, for straight
It obtains and takes color video, deep video and infrared video.
IP Camera 10 is taken the photograph by twisted pair couple in router 4, laptop 5 from 4 access network of router
As head 10 carries out video acquisition.
It is described the prefered embodiments of the present invention in detail above in conjunction 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 solution 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 where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the present invention to it is various can
No further explanation will be given for the combination of energy.
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 (9)
1. a kind of wooden robot, which is characterized in that main body frame (1) including wooden structures and be mounted on the main body frame
(1) the differential platform of the four-wheel of bottom end (2), be followed successively by inside the main body frame (1) from top to bottom data collection layer, middle layer and
Bus plane；Wherein,
The data collection layer includes Kinect (3) and IP Camera group, acquires environmental data for robot；
The middle layer includes router (4) and laptop (5), and the laptop (5) passes through router (4) and L
Type connecting line is connected with the data collection layer, is connected by Serial Port Line with the differential platform of the four-wheel (2)；The notebook electricity
Brain (5) is able to carry out environment understanding and cognitive algorithm, to control the differential platform of the four-wheel (2) movement；
The bus plane includes battery (6), for robot operation power supply.
2. wooden robot according to claim 1, which is characterized in that the differential platform of four-wheel (2) is that four-wheel is independent
The platform of driving, also, driving wheel is the rubber wheel that surface is laid with antiskid raised strip.
3. wooden robot according to claim 1, which is characterized in that the bus plane further includes delivering for direct current
Converter, terminal plate (7), power supply line, network connection route and the multiple wiring units of galvanic electricity；Wherein,
The battery (6) is the lithium battery that can provide 12V80AH electric energy, the lithium battery output end by the converter with
The terminal plate (7) is connected；
Multiple wiring units are removably attached on the main body frame (1), are connected to the terminal plate with combing arrangement
(7) power supply line on and the neighbouring network connection route that is scattered.
4. wooden robot according to claim 3, which is characterized in that be located at the power supply on the main body frame (1)
The position of layer is formed with the bracket (8) for placing the battery (6) and the bracket (8) is beloid structure.
5. wooden robot according to claim 4, which is characterized in that be formed with and prolong straight down on the bracket (8)
It stretches one's legs (9) and extension leg (9) clamping sticks on the side wall of the differential platform of the four-wheel (2).
6. wooden robot according to claim 1, which is characterized in that the data collection layer bottom end and the middle layer
The distance between bottom end is greater than the height after the laptop (5) expansion.
7. wooden robot according to claim 1, which is characterized in that the IP Camera group is arranged described
Above Kinect (3), it is made of two IP Cameras (10) arranged side by side, mutual pose is constant, by demarcating it
Binocular vision sensing equipment is constituted afterwards.
8. wooden robot according to claim 7, which is characterized in that the data of the Kinect (3) turn USB by L
Adapter is directly connected to the USB3.0 interface on the laptop (5), for directly acquire color video, deep video and
Infrared video.
9. wooden robot according to claim 7, which is characterized in that the IP Camera (10) is connect by twisted pair
Enter the router (4), the laptop (5) from IP Camera (10) described in the router (4) access into
Row video acquisition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823061.6A CN109108932A (en) | 2018-07-25 | 2018-07-25 | Wooden robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810823061.6A CN109108932A (en) | 2018-07-25 | 2018-07-25 | Wooden robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109108932A true CN109108932A (en) | 2019-01-01 |
Family
ID=64863321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810823061.6A Withdrawn CN109108932A (en) | 2018-07-25 | 2018-07-25 | Wooden robot |
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| CN (1) | CN109108932A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201156186Y (en) * | 2007-06-11 | 2008-11-26 | 陈宇 | Expandable general-purpose robot development platform |
| CN102681542A (en) * | 2012-03-07 | 2012-09-19 | 陶重犇 | Experimental platform for indoor multipurpose mobile robot |
| JP3186228U (en) * | 2013-07-04 | 2013-09-26 | 敏司 植田 | Magnet-jointed wooden robot toy |
| CN103888738A (en) * | 2014-04-03 | 2014-06-25 | 华中师范大学 | Multisource multi-area-array GIS data acquisition platform for unmanned vehicle |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN106863324A (en) * | 2017-03-07 | 2017-06-20 | 东莞理工学院 | A kind of service robot platform of view-based access control model |
-
2018
- 2018-07-25 CN CN201810823061.6A patent/CN109108932A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201156186Y (en) * | 2007-06-11 | 2008-11-26 | 陈宇 | Expandable general-purpose robot development platform |
| CN102681542A (en) * | 2012-03-07 | 2012-09-19 | 陶重犇 | Experimental platform for indoor multipurpose mobile robot |
| JP3186228U (en) * | 2013-07-04 | 2013-09-26 | 敏司 植田 | Magnet-jointed wooden robot toy |
| CN103888738A (en) * | 2014-04-03 | 2014-06-25 | 华中师范大学 | Multisource multi-area-array GIS data acquisition platform for unmanned vehicle |
| CN106652026A (en) * | 2016-12-23 | 2017-05-10 | 安徽工程大学机电学院 | Three-dimensional space automatic calibration method based on multi-sensor fusion |
| CN106863324A (en) * | 2017-03-07 | 2017-06-20 | 东莞理工学院 | A kind of service robot platform of view-based access control model |
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Application publication date: 20190101 |