CN109129391A - The wooden robot of liftable - Google Patents

The wooden robot of liftable Download PDF

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Publication number
CN109129391A
CN109129391A CN201810823073.9A CN201810823073A CN109129391A CN 109129391 A CN109129391 A CN 109129391A CN 201810823073 A CN201810823073 A CN 201810823073A CN 109129391 A CN109129391 A CN 109129391A
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CN
China
Prior art keywords
robot
laptop
liftable
layer
wheel
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.)
Pending
Application number
CN201810823073.9A
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Chinese (zh)
Inventor
王德昌
何为
邱述兵
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui Institute of Information Engineering
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Anhui Institute of Information Engineering
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Anhui Institute of Information Engineering filed Critical Anhui Institute of Information Engineering
Priority to CN201810823073.9A priority Critical patent/CN109129391A/en
Publication of CN109129391A publication Critical patent/CN109129391A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/02Hand grip control means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/04Viewing devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1694Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697Vision controlled systems

Abstract

The invention discloses a kind of wooden robot of liftable, data collection layer includes Kinect and IP Camera group, acquires environmental data for robot;Middle layer includes router and laptop, and laptop is connected with data collection layer by router and L-type connecting line, is connected by Serial Port Line with the differential platform of four-wheel;Laptop is able to carry out environment understanding and cognitive algorithm, to control the differential platform movement of four-wheel;Bus plane includes battery, for robot operation power supply.Kinect and IP Camera group are detachably mounted on the driving turntable on main body frame top, and driving turntable is connect to control Kinect and IP Camera group and rotate synchronously adjustment direction with laptop.Position on main body frame positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust the level height of data collection layer.Its is compact-sized, easy to assembly, and movement is quick slim and graceful, and stability is high;Meanwhile image-capture field is wider apparent, reduces energy consumption.

Description

The wooden robot of liftable
Technical field
The present invention relates to robot fields, and in particular, to a kind of wooden robot of liftable.
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 robot of liftable, the wooden robot architecture of the liftable is compact, group Dress is convenient, and movement is quick slim and graceful, and stability is high;Meanwhile image-capture field is wider apparent, reduces energy consumption.
To achieve the goals above, the present invention provides a kind of wooden robot of liftable, the main body including wooden structures Frame and the differential platform of the four-wheel for being mounted on main body frame bottom end, be followed successively by inside main body frame from top to bottom data collection layer, Middle layer and bus plane;
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;
Kinect and IP Camera group are detachably mounted on the driving turntable on main body frame top, drive turntable It is connect with laptop to control Kinect and IP Camera group and rotate synchronously adjustment direction;Wherein,
Position on main body frame positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust data collection layer Level height.
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 knot of the liftable Structure is compact, easy to assembly, and stability is higher in motion process.
Meanwhile Kinect and IP Camera group are detachably mounted on the driving turntable on main body frame top, are driven Turn disk is connect to control Kinect and IP Camera group and rotate synchronously adjustment direction with laptop.In this way, in machine After people moves to operating space, without continually moving integrally, Kinect can be adjusted by the rotation of driving turntable in situ With the capture direction of IP Camera group so that acquisition the wider model of picture signal, more comprehensively, it is poor four-wheel can also to be reduced Moving platform drives complete machine not stop electric energy consumed by mobile handoff angle, so that the cruising ability of the wooden robot of the liftable is more By force.
The top of the robot is data sampling sensor layer, because this platform is passed using visible light and infrared light Sensor cannot be blocked and interfere, thus be placed on top layer.And it encounters during robot advances compared with high obstacle object nothing When method is got around, by the limitation that height can not adjust, cause capture unfavorable.In order to solve entire technical problem, main body Position on frame positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust the level height of data collection layer. In this way, manually or automatically adjusting the video acquisition height of data collection layer when encountering the obstacle that can not go beyond, realizing operation It smoothly completes.It further, can also be by network in order to enable Kinect does not block the network shooting unit for constituting binocular vision Camera shooting unit additionally increases 10 centimetres.
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 of liftable in a kind of embodiment provided according to the present invention;
Fig. 2 is the differential platform structure of four-wheel of the wooden robot of liftable in a kind of embodiment provided according to the present invention Schematic diagram.
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
11- drives turntable
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 of liftable, main body frame 1 and installation including wooden structures Four-wheel differential platform 2 (as shown in Figure 2) in 1 bottom end of main body frame is followed successively by data acquisition inside main body frame 1 from top to bottom Layer, middle layer and bus plane;
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;
Kinect3 and IP Camera group are detachably mounted on the driving turntable 11 on 1 top of main body frame, driving Turntable 11 is connect to control Kinect3 and IP Camera group and rotate synchronously adjustment direction with laptop 5;Wherein,
Position on main body frame 1 positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust data acquisition The level height of layer.
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 machine of the liftable People is compact-sized, easy to assembly, and stability is higher in motion process.
Meanwhile Kinect3 and IP Camera group are detachably mounted on the driving turntable 11 on 1 top of main body frame On, driving turntable 11 is connect to control Kinect3 and IP Camera group and rotate synchronously adjustment direction with laptop 5.This Sample, after robot motion to operating space, without continually moving integrally, can in situ by driving turntable 11 rotation come Adjust Kinect3 and IP Camera group capture direction so that acquisition the wider model of picture signal, more comprehensively, may be used also Complete machine is driven not stop electric energy consumed by mobile handoff angle to reduce the differential platform 2 of four-wheel, so that the wooden machine of the liftable The cruising ability of people is stronger.
The top of the robot is data sampling sensor layer, because this platform is passed using visible light and infrared light Sensor cannot be blocked and interfere, thus be placed on top layer.And it encounters during robot advances compared with high obstacle object nothing When method is got around, by the limitation that height can not adjust, cause capture unfavorable.In order to solve entire technical problem, main body Position on frame 1 positioned at middle layer is set as manual lifting rod or telescopic cylinder, to adjust the level height of data collection layer. In this way, manually or automatically adjusting the video acquisition height of data collection layer when encountering the obstacle that can not go beyond, realizing operation It smoothly completes.It further, can also be by net in order to enable Kinect3 does not block the network shooting unit for constituting binocular vision Network camera shooting unit additionally increases 10 centimetres.
In the present embodiment, the wooden robot of the liftable skids during the motion in order to prevent, it is preferable that four-wheel Differential 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 of liftable, which is characterized in that main body frame (1) including wooden structures and be mounted on the master The differential platform of four-wheel (2) of body frame (1) bottom end, be followed successively by inside the main body frame (1) from top to bottom data collection layer, in Interbed and bus plane;
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;
The Kinect (3) and the IP Camera group are detachably mounted on the driving on the main body frame (1) top On turntable (11), the driving turntable (11) is connect to control the Kinect (3) and the net with the laptop (5) Network camera group rotates synchronously adjustment direction;Wherein,
Position on the main body frame (1) positioned at the middle layer is set as manual lifting rod or telescopic cylinder, to adjust State the level height of data collection layer.
2. the wooden robot of liftable according to claim 1, which is characterized in that the differential platform of four-wheel (2) is four The platform independently driven is taken turns, also, driving wheel is the rubber wheel that surface is laid with antiskid raised strip.
3. the wooden robot of liftable according to claim 1, which is characterized in that the bus plane further includes for direct current Electricity delivers the converter of galvanic electricity, terminal plate (7), power supply line, network connection route and multiple wiring units;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. the wooden robot of liftable according to claim 3, which is characterized in that be located at institute on the main body frame (1) The position for stating bus plane is formed with bracket (8) for placing the battery (6) and the bracket (8) is beloid knot Structure.
5. the wooden robot of liftable according to claim 4, which is characterized in that shape straight down on the bracket (8) At have extension leg (9) and extension leg (9) clamping stick on the side wall of the differential platform of the four-wheel (2).
6. the wooden robot of liftable according to claim 1, which is characterized in that the data collection layer bottom end with it is described The distance between middle layer bottom end is greater than the height after the laptop (5) expansion.
7. the wooden robot of liftable according to claim 1, which is characterized in that the IP Camera group is arranged in institute It states above Kinect (3), is made of two IP Cameras (10) arranged side by side, mutual pose is constant, by calibration Binocular vision sensing equipment is constituted later.
8. the wooden robot of liftable according to claim 7, which is characterized in that the data of the Kinect (3) pass through L Turn the USB3.0 interface that USB adapter is directly connected on the laptop (5), for directly acquiring color video, depth Video and infrared video.
9. the wooden robot of liftable according to claim 7, which is characterized in that the IP Camera (10) passes through double Twisted wire accesses the router (4), and the laptop (5) is from IP Camera described in the router (4) access (10) video acquisition is carried out.
CN201810823073.9A 2018-07-25 2018-07-25 The wooden robot of liftable Pending CN109129391A (en)

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Application Number Priority Date Filing Date Title
CN201810823073.9A CN109129391A (en) 2018-07-25 2018-07-25 The wooden robot of liftable

Publications (1)

Publication Number Publication Date
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Citations (6)

* Cited by examiner, † Cited by third party
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
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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