CN109807904A - Juvenile interacts robot - Google Patents
Juvenile interacts robot Download PDFInfo
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- CN109807904A CN109807904A CN201910015421.4A CN201910015421A CN109807904A CN 109807904 A CN109807904 A CN 109807904A CN 201910015421 A CN201910015421 A CN 201910015421A CN 109807904 A CN109807904 A CN 109807904A
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- juvenile
- fuselage
- elevating lever
- head
- control host
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Abstract
The invention discloses a kind of juveniles to interact robot, it is felt by fuselage, mechanical arm, Omni-mobile lift truck bottom, flat vertical view, control host forms.In the robot is high 1: 3 meter total, mechanical arm end connects Dextrous Hand, fuselage installs 8 infrared temperature probes along shoulder regions, Omni-mobile lift truck bottom includes four Mecanum wheels, elevating lever and motor, drive control device and infrared obstacle avoidance module, and control host is connect by serial data line with robotic arm controller, dexterous hand controls, flat bow vision controller, infrared measurement of temperature and infrared obstacle avoidance controller；Feel to be that Image Acquisition channel and elevating lever are in lowest limit position to overlook, control host manipulation mechanical arm Dextrous Hand picks up ground article, feel that Image Acquisition channel and elevating lever are in high limit position by head-up, control host executes interactive movement, writes explanation task；The present invention is to construct juvenile regular, reasonable, scientific family learning and movable platform.
Description
Technical field
The present invention relates to a kind of juveniles to interact robot, is more specifically to be related to a kind of utilization double vision feel, mechanical arm, spirit
The robot that dab hand, liftable vehicle bottom and automatic control technology measure are realized.
Background technique
Interaction robot is the important branch and classification of robot.
Interaction robot is mainly used for interacting with old man, teenager, child, different from fabricating zero in factory floor
Part, component, complete machine industrial robot, Industrial Robot Technology maturation is widely used；And interact the development and application of robot
It is at the early-stage.
As shown in Figure 1, the people juvenile that accompanies old people speaks to chat and can also impart rudimentary knowledge to beginners less using old man and juvenile as the desktop machine people of object
Youngster's learning knowledge.Desktop machine people is equipped with voice input headset and language player, is also equipped with monocular cam, also configures liquid
Crystal display screen.But current these desktop machines people cannot walk movement, the more robotic arm without taking and placing article self；Only
Voice, vision show that the desktop machine people of screen strongly limits and interacts between robot and juvenile, and configure large screen interface
Also juvenile can be allowed to sink into electronic drawback, affect popularization and application.
As shown in Fig. 2, can walking robot be added to walking module on the basis of desktop machine people, can walk in gently
Face.Can walking robot not only can follow old man juvenile at one's side, family, each position, each room can be walked in voluntarily also with observer
Middle article and electrical equipment status can also remind prompt old man juvenile to carry out action.Can walking robot eventually because do not have
There is mechanical arm, only suggests permission；It does and does not do, executes and do not execute entirely in old man juvenile itself；It can walking robot
According to just focusing on the interactive voice between old man juvenile.
Juvenile is the hope of family, and the future of society.Juvenile's first task is to grow up healthy and sound, and the second task is carefully
Study.
Acute drawback is chased after in order to avoid big screen intelligent electronic equipment allows juvenile to get deeply stuck in game, interaction robot is that should accompany first
Companion juvenile moves together, is movable, chess and card brain is strong, and interaction robot should have the shuttlecock actively picked up on ground, table tennis, fly
The ability of dish, chess piece, homework book, the scraps of paper.It writes and explanation is to learn indispensable approach, writing on the blackboard has a word one word, a line
Word line inscribed, when writing on the blackboard, feature is presented in writing on the blackboard step by step, this feature facilitates the viewing of juvenile side, Bian Sikao.As it can be seen that
Writing explanation in family and juvenile's interactive process, picking up article is that basic function is equipped with.
Service robot as shown in Figures 1 and 2 has only played mutual dialogue advantage, greatly reduces service robot
Friendly is interacted between juvenile, limits the Function of service robot.On the other hand, cost is reduced to provide with low cost
Robotic equipment is one of widely applied important measures of service robot, and suitable long-term mechanical arm and Dextrous Hand cost are very
Height, left and right Double mechanical arm mode seem complete aesthetic feeling, but also increase one times of cost.
It is the interaction robot of target with family juvenile movement, activity, chess and card and homework study, how finds technical measures
It allows interaction robot to pick up shuttlecock, table tennis, pen, homework book, the scraps of paper on ground in person, how to configure single branch manipulator
Arm can also complete movement and learning functionality, be problem in the urgent need to address at present.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the present invention relates to a kind of juveniles to interact robot, more specifically relates to
And a kind of robot realized with double vision feel, mechanical arm, Dextrous Hand, liftable wheel and automatic control technology measure.
In order to achieve the above object, this invention takes following technical schemes:
A kind of juvenile interacts robot, includes:
Head-shield is spliced by two its edge of half garden shape sphere 1cm to 2cm round bar holes by screw for garden shape sphere, institute
It states and lays metallo-plastic well type grid hole support frame in head-shield；
Fuselage, refer to two shoulders to major radius between Liang Ge crotch be 15cm between 20cm, short radius be 8cm to 12cm it
Between, highly between 50cm to 52cm, edge is that two semiellipse column bodies of wide 1cm to 2cm long strips are spliced, institute
It states and lays metallo-plastic well type grid hole support frame in fuselage；The fuselage ellipse column body bottom surface is one-pass molding thickness
Hole is excavated for 50mm to 80mm and the metallo-plastic part of hole location is installed；
The head-shield is logical to be located at right above the fuselage, is fixed on well type in head-shield by four metallo-plastic one ends
Grid hole support frame, the other end are fixed on well type grid hole support frame in fuselage；
Arm is decorated, has referred to from the left shoulder of the fuselage, end and has been located at the fuselage cardia, it is primary at oblique V-shape
Molding metallo-plastic part；
AI Cloud Server refers to voice, image file identification conversion and storaged voice speech data, writes the service of data
Device；
It further includes flat vertical view feel, Omni-mobile lift truck bottom, robotic arm, Dextrous Hand, infrared measurement of temperature module, control master
Machine；
The flat vertical view feels to include the above camera of 5,000,000 pixel of pinhole arrangement and controller, and the flat vertical view feels camera shooting
Head is fixedly installed in the head-shield spherical outside surface respectively；
Omni-mobile lift truck bottom includes elevating lever and omnidirectional mobile vehicle bottom；
The elevating lever is outer bar mechanical part in electronic screw rod hollow cylinder, outer bar hollow cylinder height 40cm, outer
Bar hollow cylinder radius 7cm to 8cm, interior bar hollow cylinder height 40cm, interior bar hollow cylinder radius 6cm to 7cm；Inside and outside it
Bar open circles post jamb 1cm to 2cm；
The omnidirectional mobile vehicle bottom includes car body, four Mecanum wheels, drive control devices；
The car body is six face cuboids, length, width and height be respectively 50cm between 70cm, 30cm between 70cm, 38cm
To between 40cm；Control host, power-supply system, lifting motor, vehicle bottom chassis are fixedly mounted in the car body；
The six face cuboid upper side of car body excavates left and right circular hole so that the elevating lever outer bar open circles are fixedly mounted
Top end, the elevating lever outer bar hollow cylinder bottom end are installed on the six face cuboid downside of car body；
Between 4cm to 6cm, four Mecanum wheels are fixedly installed in the Mecanum radius of wheel respectively
On the chassis of vehicle bottom；
The drive control device configures four driving motors, and the driving motor is through shaft in conjunction with Mecanum wheel；
The drive control device is connect by serial data line with control host,
Drive control device setting rotating forward, reversion, power supply, four output lines connect with elevating lever motor；
The robotic arm includes base arm, large arm, forearm, end, and the mechanical arm is located at the right shoulder of fuselage, the base
Seat arm is fixedly installed in fuselage on well type grid hole support frame；
The Dextrous Hand is that five fingers, 14 joints, the mechanical arm and Dextrous Hand pass through end connection one
Body；
The mechanical arm controller and dexterous hand controls are connect by serial data line with control host；
The infrared measurement of temperature module includes 8 infrared temperature probes and infrared measurement of temperature controller, the infrared measurement of temperature control
Device processed is connect with control host serial data line；
The control host is Industry Control mainboard, including multiple communication ports, multiple network ports, voice input
Headset and speech player；The control host operates under real-time multi-task operating system environment；The control host passes through
Wireless communication is connect with AI Cloud Server；
The voice input headset is fixed on middle part, the speech player at left and right sides of the head-shield and is fixed on the head
Cover positive front lower portion；
The control host is configured to perform the following operations:
Receive to issue data, acquisition voice input headset, acquisition flat bow visual pattern, query time from AI Cloud Server
Task list, to judge and determine current task；
When current task is that article is picked up on ground, elevating lever is in lowest limit position, feels to be that acquisition image leads to by overlooking
Road, the movement of manipulation Omni-mobile lift truck bottom and each joint action of mechanical arm Dextrous Hand；
When current task is observation operation and plays chess, elevating lever is in high limit position, is felt by overlooking for acquisition image
Channel manipulates each joint action of mechanical arm Dextrous Hand；
When current task is other, elevating lever is in high limit position, feels that, to acquire image channel, manipulation is complete by head-up
To the movement of moving lifting vehicle bottom and each joint action of mechanical arm Dextrous Hand.
Preferably, 5 meters of focal lengths are fixed in the head-up feel, overlook feel and be fixed on 1 meter of focal length, flat vision camera is with water
Straight angle degree is fixedly mounted, and vision camera of bowing and horizontal plane are at oblique 45 degree；It is flat overlook feel be installed on head-shield spherical outside surface along machine
In body head-shield vertical direction symmetrical center line.
Preferably, the elevating lever runs on highest and minimum two extreme positions, elevating lever when high limit position
Height is 60cm, and elevating lever height is 40cm when lowest limit position.
Preferably, 8 infrared temperature probes are respectively arranged in the left shoulder surface of fuselage, right shoulder surface, shirtfront table
Each two of face, metathorax surface；Infrared measurement of temperature range is in -10 degree Celsius to 80 degree, and center measuring point is Celsius between 35 degree to 37 degree.
Preferably, the six face cuboid upper side of car body excavates rectangle hole, the rectangle hole is long
16cm between 20cm, width 3cm is between 5cm.
Preferably, the mechanical arm Dextrous Hand extends downwards naturally until clever hand finger protrudes into the rectangle hole
Kong Hou, in car body body described in Dextrous Hand fixed placement.
The advantages and positive effects of the present invention are: interaction robot is the important class of robot, robot comes into house
Front yard is trend, is the important symbol for improving people's quality of life.Auxiliary minimizes extreme position with Omni-mobile lift truck bottom,
Single hand can pick up ground article, it is ensured that juvenile interacts in robot and juvenile's interactive process in reciprocity status.Juvenile's interaction
Robot desktop, can walking robot on the basis of, robot application is advanced to melt movement, activity, chess and card, writing on the blackboard explanation,
Dialogue provides another selection into family for robot in the new model of one.
Detailed description of the invention
Fig. 1 is desktop machine people schematic diagram of the present invention
Fig. 2 is that the present invention can walking robot schematic diagram
Fig. 3 is mechanical part composition schematic diagram of the present invention
Fig. 4 is mechanical arm Dextrous Hand connection schematic diagram of the present invention
Fig. 5 is lifting rod structure schematic diagram of the present invention
Fig. 6 is that flat overlook of the present invention feels structural schematic diagram
Fig. 7 is control system of the present invention composition figure
Fig. 8 is in vision of the present invention switching and height control flow chart figure: the flat vision controller of 8-, 9-, which are overlooked, feels control
Device processed, the flat vision camera of 11-, 12- bow vision camera, 13- base arm, 14- large arm, 15- forearm, 16- Dextrous Hand, 20-
Head-shield, 21- fuselage, 22- mechanical arm, 23- decorate arm, 24- elevating lever, 25- omnidirectional mobile vehicle bottom, 26- mechanical arm control
Device processed, 27- dexterity hand controls, 40- drive control device, 41- outer bar, 42- interior bar, 43- car body, the control of 50- infrared measurement of temperature
Device, 60- infrared obstacle avoidance controller, 100-AI Cloud Server, 200- control host.
Specific embodiment
To make the purpose of the present invention, technical solution and effect clearer, clear and definite, right as follows in conjunction with drawings and embodiments
The present invention is further described.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to
Limit the present invention.
In order to which the embodiment of the present invention is described more fully, it is dedicated for title concept of the present invention and is defined and explains.
Single hand: referring to the mechanical global facility being made of mechanical arm and Dextrous Hand, and Dextrous Hand is located at mechanical arm end,
Mechanical arm is fixedly installed in the right shoulder of fuselage；Each joint of mechanical arm and each joint of Dextrous Hand can be by serial communication approach by controlling
Host independent operation processed,
Single finger is manipulated by control host by being sent instructions under serial communication to mechanical arm controller and dexterous manual control
Device processed is to manipulate each joint.
Fig. 1-Fig. 8 is please referred to, a kind of juvenile's interaction robot is based on mechanical part as shown in Figure 3, is such as
Various functions are realized in control system shown in Fig. 7.
Mechanical part is divided into four parts, and first part is head-shield, and second part is fuselage and arm, and Part III is
Vehicle bottom；Part IV is sensor, controller, control host；Only single hand and vehicle bottom are controllable component to mechanical part.
Control system includes three parts:
First part is AI Cloud Server, and storage text file, carries out discriminance analysis to image and voice at voice document,
It is provided by third party；
Second part is control host, including voice inputs headset, speech player, wireless communication module；Control host
For Industry Control mainboard, operate under real-time multi-task operating system environment；
Part III is the controller of each module, including mechanical arm controller, dexterous hand controls, infrared measurement of temperature control
Device, infrared obstacle avoidance controller, drive control device, flat vision controller etc. of bowing.
Juvenile interacts robot and inputs headset, flat vertical view feel, the perception of infrared measurement of temperature module, infrared obstacle avoidance module by voice
Surrounding enviroment, or be uploaded to AI Cloud Server or by control host process, sent instructions under to mechanical arm controller, dexterity
To drive vehicle bottom mobile or lifting, manipulation is single only to be made manually for hand controls, drive control device；Task object is interacted to realize.
Technical solution of the present invention embodiment is introduced one by one below.
One, juvenile interacts robotic component
As shown in figure 3, it includes head-shield, fuselage and arm, elevating lever, omnidirectional mobile vehicle that juvenile interacts robot from top to bottom
Bottom, juvenile interact robot total height (contacting to earth position from head-shield top position to omnidirectional mobile vehicle bottom wheel) in 1: 3 meter, wherein
20 height of head-shield is 15cm between 16cm, 21 height 50cm of fuselage between 52cm, 24 maximum height of elevating lever be 58cm extremely
Between 60cm, minimum altitude be 38cm between 40cm, 25 height 38cm of omnidirectional mobile vehicle bottom is between 40cm.
Head-shield 20 is garden shape sphere, and half garden shape sphere edge is width 1cm to 2cm round bar, and the round bar lays installation hole location,
Screw realizes splicing by the corresponding mounting hole in the round bar edge for fixing two semicircle spheres.
Metallo-plastic well type grid hole support frame is laid in round shape sphere described in head-shield 20 be fixedly mounted vision system,
Voice inputs headset and speech player；
Voice input headset is fixed on 20 left and right sides middle part of head-shield；Speech player is fixed on the positive front lower portion of head-shield 20；
20 round shape sphere of head-shield and the corresponding position aperture of vision system camera cut to form garden porose area, vision system camera shooting
Head part is fixed on the garden porose area.Flat vision camera of bowing is installed on the symmetrical along fuselage head-shield vertical direction of head-shield spherical outside surface
On center line.
Head-shield 20 is mechanical plastic part, and selected metallo-plastic well type grid hole support frame and fixed mounting hole are all primary
Molding, during juvenile interacts robot ambulation and runs, about 20 head-shield need not be bent, left and right need not also rotate.
Vision system data power supply line, voice input headset data power line, speech player data power line lead to machine
Body.
Fuselage 21 refers to two shoulders to column body oval between Liang Ge crotch, and the ellipse column body major radius is 15cm to 20cm
Between, short radius be 8cm between 12cm, oval vertical height of column be between 50cm to 52cm.
The edge of oval column body two halves component is the long strips of width 1cm to 2cm, long 50cm to 52cm, the long strips
Lay installation hole location.The mounting hole of the fixed oval column body two halves component long strips of screw realizes splicing.
Metallo-plastic well type grid hole support frame is laid in the oval column body of fuselage 21.
Mechanical arm 22 is the arm of four freedom degrees, and mechanical arm as shown in Figure 4 includes base arm 13, the base arm
It is fixedly installed on the 21 interior metal plastic supporting skeleton of fuselage.
Ellipse column body described in fuselage 21 forms camber line in the excavation cutting of right shoulder and eats dishes without rice or wine region with adaptation mechanical hand arm large arm
14 with 13 free movement of base arm.
Ellipse column body described in fuselage 21 is in the one-time formed decoration arm 23 of left shoulder, and the decoration arm 23 is at oblique V word
Its end of shape is located at fuselage cardia；During juvenile interacts robot ambulation and runs, about 23 arm of decoration need not
Bending, left and right need not also rotate.
The head-shield is logical to be located at right above the fuselage, is fixed on head-shield well type grid by four metallo-plastic one end
Hole support frame, the other end are fixed on fuselage well type grid hole support frame；
Ellipse column body described in fuselage 21 is divided into upper bottom surface and bottom surface, and the bottom surface is one-pass molding with a thickness of 50mm
To 80mm full wafer metallo-plastic part, the one-pass molding excavates hole and peace with a thickness of the full wafer metallo-plastic part of 50mm to 80mm
Hole location is filled so that elevating lever 24 is fixedly mounted.
Fuselage 21 is metallo-plastic part, and matched metallo-plastic well type grid hole support frame is one-pass molding, in juvenile
During interaction robot ambulation is run, about 21 fuselage need not be bent, left and right need not also rotate.
So far, fuselage and be installed on each mechanical part of fuselage, juvenile interact robot have head-shield 20, fuselage 21,
Mechanical arm 22, decoration arm 23, during juvenile interacts robot ambulation and runs, only mechanical arm 22 can free walker
It is dynamic, and head-shield 20, fuselage 21, decoration arm 23 are that metallo-plastic part is fixedly mounted in one-pass molding, need not be bent up and down, it is left
The right side need not also rotate.
As shown in figure 4, mechanical arm and Dextrous Hand are that product is sold in city, wherein mechanical arm is that DOBOT magician four is free
Spend mechanical arm, Dextrous Hand be because when 200. types.Mechanical arm includes base arm 13, large arm 14, forearm 15, end, and dexterous
Hand 16 has five fingers, 14 joints；Mechanical arm and Dextrous Hand are integrally connected in end.
Mechanical arm controller data power line and Dextrous Hand controller data power supply line lead to control via fuselage 21 and lead
Cabinet.
Two, Omni-mobile lift truck bottom
As shown in figure 5, elevating lever be the hollow cylinder based on electronic screw rod technology in outer bar mechanical part, for city pin at
Product.
41 hollow cylinder height 40cm of outer bar, outer bar hollow cylinder radius 7cm to 8cm；
Interior bar 42 hollow cylinder height 40cm, interior bar hollow cylinder radius 6cm to 7cm；
Interior outer bar hollow cylinder wall 1cm to 2cm；
Interior bar 42 rotations and 41 full weight of outer bar are folded, and the height of interior bar outer bar superposition at this time is 40cm；
Interior bar 42 rotation 20cms Chong Die with outer bar 41, the height of interior bar outer bar superposition at this time is 60cm；
Interior outer bar silk rotation is screwed on rotation or lower rotation, elevating lever is consequently formed by motor driven, motor positive and inverse driving silk
Rise or fall.
Elevating lever runs on highest and minimum two extreme positions, and elevating lever height is 60cm when high limit position, most
Elevating lever height is 40cm when low extreme position.
Omnidirectional mobile vehicle bottom 25 includes car body 43, four Mecanum wheels, drive control device.
Control host, power-supply system, lifting motor, vehicle bottom chassis are fixedly mounted in the car body.
The car body is six face cuboids, length, width and height be respectively 50cm between 70cm, 30cm between 70cm, 38cm
To between 40cm.
In 1cm between 2cm, left-right and front-back side is thick for the six faces cuboid upper side and downside metallo-plastic thickness
Degree is less than 1cm.
The six face cuboid upper side of car body excavates left and right circular hole so that elevating lever outer bar open circles capital is fixedly mounted
End, and elevating lever outer bar hollow cylinder bottom end is installed on six face cuboid downsides.
The power-supply system be 3 section of 12V10AH maintenance-free battery and distribution management plate, distribution management plate be arranged 24VDC
12VDC 5VDC electric power loop interacts each component of robot to juvenile and provides power supply.
Between 4cm to 6cm, four Mecanum wheels are fixedly installed in the Mecanum radius of wheel respectively
On the chassis of vehicle bottom.
Drive control device configures four motors, and the driving motor is through shaft in conjunction with Mecanum wheel；
Drive control device is connect by serial data line with control host.
Drive control device setting rotating forward, reversion, power supply, four output lines connect with elevating lever motor.
So far, control host issues command adapted thereto and is risen to manipulating elevating lever by communicating with the drive control device
High limit position drops to lowest limit position, issues each Mecanum wheel movement instruction of manipulation to drive omnidirectional
Locomotive bottom row is walked.
The six face cuboid upper side of car body excavate rectangle hole, the rectangle hole grow 16cm extremely
20cm, width are in 3cm to 5cm, when juvenile, which interacts single hand of robot, extends naturally downwards from right shoulder, one side Dextrous Hand finger tip
There are also 15cm for ground clearance, and on the other hand controllable single hand extends downwards naturally until Dextrous Hand 16 enters the institute of the car body
After stating rectangle hole, Dextrous Hand 16 is placed in 43 body of car body.
Three, flat position founding system
Head-shield 20 of the present invention installs vision system.
As shown in fig. 6, vision system includes flat vision camera 11 and vision camera 12 of bowing.
The flat vision camera 11 is that product is sold in city, is pinhole arrangement, more than 5,000,000 pixels, is fixed on 5 meters of focal lengths.
The vision camera 12 of bowing is that product is sold in city, is pinhole arrangement, more than 5,000,000 pixels, is fixed on 1 meter of focal length.
Flat vision camera 11 is fixedly installed in head-shield 20 with level angle, and bow vision camera 12 and horizontal plane at
Oblique 45 degree；
Flat vision camera 11 is with vision camera 12 of bowing for whole fixed assembling one-pass molding component.
Flat vision camera 11 and 12 len kit of vision camera insertion 20 outer edge of head-shield installation of bowing.
Flat 11 controller data power supply line of vision camera and 12 controller data power supply line of vision camera is bowed via machine
Body leads to control host.
Under the premise of ensuring that juvenile's interaction robotic component immobilizes, searches and pick up there are juvenile's interaction robot
Play ground article, viewing juvenile writes operation process situation task, ground article and the character write in such situation task
Apart from juvenile's interaction robot closely and in horizontal plane position, control host need to switch to vertical view feel from flat vision camera 11 and take the photograph
As head 12, vernier focusing is to acquire clear image.
Juvenile interacts on robot viewing family's wall article and when furniture and appliances equipment, the removable adjustment machine of control host
People's self-position, to guarantee that flat vision camera 11 is in optimum focusing with photographic subjects.
Four, sensor, controller and control host
8 infrared temperature probes and infrared measurement of temperature controller are laid in 21 right and left shoulders of fuselage and front and back chest position,
The infrared temperature probe detection range is in -10 degree Celsius to 80 degree, and center measuring point is spent at 35 degree -37 Celsius, along left shoulder, the right side
Shoulder, shirtfront, each two of metathorax Lateral fuselage surface installation lead to infrared survey after the infrared temperature probe cable combing is intact
Temperature controller, the infrared measurement of temperature controller are fixedly installed in omnidirectional mobile vehicle bottom 25, and the infrared measurement of temperature controller data
Power supply line then leads to control host.
Thus infrared measurement of temperature module determines for detecting in infrared sector with the presence or absence of object between 35 degree to 37 degree Celsius
Personnel interact robot, orientation, periphery in juvenile.It is described when the right shirtfront of fuselage 21, right metathorax, right shoulder region human body do not occur
Single hand can execute movement.
25 car body of omnidirectional mobile vehicle bottom, 43 upper side along leading flank, trailing flank, left side, right side according to 15 degree between
Every laying an IR evading obstacle sensors, entire car body 43 lays 24 switching mode IR evading obstacle sensors, and infrared obstacle avoidance passes
Sensor vision area range is the sector along 15 degree of IR evading obstacle sensors center line left and right sides, 1 meter of radius；It is unobstructed within the scope of vision area
Output is low level, blocks output high level.Infrared obstacle avoidance module further includes infrared obstacle avoidance controller, the infrared survey avoidance
Infrared obstacle avoidance controller is led to after the combing of sensor cable is intact, the infrared obstacle avoidance controller is fixedly installed in omnidirectional mobile vehicle bottom
25, and the infrared obstacle avoidance controller data power supply line then leads to control host.
Infrared obstacle avoidance module interacts obstacle avoidance in robot walking process for juvenile.
As shown in fig. 7, control host is Industry Control mainboard, including multiple communication ports, multiple network ports, language
Sound input/output port；It operates under real-time multi-task operating system environment.
By communication port, control host and tool arm controller, dexterous hand controls, infrared measurement of temperature controller,
Infrared obstacle avoidance controller, drive control device, flat vision controller and vision controller of bowing connection, it is defeated by the voice for controlling host
Enter output port to connect with voice input headset, speech player；Juvenile interacts robot and inputs headset, flat vertical view by voice
Feel, infrared measurement of temperature module, infrared obstacle avoidance module perceive surrounding enviroment, or are uploaded to AI Cloud Server 100 or by control host 200
Processing is sent instructions to mechanical arm controller, dexterous hand controls, drive control device under to drive vehicle bottom mobile or rise
Drop, driving is single only to be made manually；Task object is interacted to realize.
Five, juvenile interacts robot implementation task list
Based on mechanical part as shown in Figure 3, to realize that the juvenile of various functions is mutual in control system as shown in Figure 7
Mobile robot has the home interior of juvenile exclusively for family, and the juvenile interacts robot and runs in family, walks in big
The Room, corridor, passageway, juvenile room, kitchen, toilet.
(1) juvenile's movement is accompanied
Mutual throwing flying saucer, mutually run relatively table tennis and mutual throwing gauze kerchief ball, moving target flying saucer, table tennis, gauze kerchief
Ball flies at a slow speed in juvenile room is aerial, when juvenile interacts robot side and lands；As shown in figure 8, juvenile is needed to interact robot
It serves a ball again after picking up, continues to move.
When picking up ground flying saucer, table tennis, gauze kerchief ball, control mian engine changeover to vision controller acquisition image of bowing, and
Decline elevating lever to lowest limit position, vision system vernier focusing is in ground article and the single tangible ground of hand at this time.
(2) juvenile is accompanied to play chess
Play chess mutually on chessboard Chinese chess and five chesses.Juvenile is located at chessboard side, and juvenile interacts robot and stands on separately
Side.
(3) viewing juvenile does one's assignment
Juvenile interacts robot and stands on the right side of juvenile, and control mian engine changeover vision controller and acquires incessantly to bowing
Juvenile's writing process image.
(4) explanation is write on A4 paper
Juvenile interacts robot and stands on the right side of juvenile, and single hand holds lettering pen and writes the broadcasting of side voice in A4 paper top
Device explanation.
(5) explanation is write on blank
Juvenile crouches indoor deployments blank, and juvenile is seated on table side chair, and juvenile interacts robot and stands on blank side；Juvenile
It interacts single hand of robot and holds lettering pen in blank top writing side speech player explanation.
(6) instruction article explanation
Juvenile is located at juvenile and interacts robot left area, walks in hall, corridor, passageway, juvenile room, kitchen together
Room, toilet, juvenile interact single hand of robot and hold stick speech player explanation when indicating article.
Juvenile of the present invention interacts the artificial above each task of machine and realizes offer mechanical part basis and perception control system frame
Body panel.
Six, Application Example: flying saucer is picked up on interaction throwing flying saucer and ground
With mechanical part as shown in Figure 3, robot is interacted with the juvenile of control system framework platform as shown in Figure 7, is had
Realization, which accompanies juvenile to move, company juvenile plays chess, watches juvenile does one's assignment, writes on A4 paper and explains, writes on blank and explain, refer to
Show the basic technology configuration of article explanation.
Robot, which is interacted, the following are juvenile realizes that interaction throwing flying saucer and ground pick up the embodiment of flying saucer.
(1) it keeps at a distance between juvenile, forms interaction erect-position
Juvenile using door, table side, chair side as zone of action, juvenile interact robot with corner, edge of bed by wall in, bookshelf
For zone of action；It forms juvenile and interacts 2 meters to 3 meters spacing distances between robot with juvenile.
Control host 200 sends instructions drive under being experienced after omnidirectional mobile vehicle bottom perimeter failure condition by infrared obstacle avoidance controller
It is accessible in omnidirectional mobile vehicle bottom perimeter 20cm to ensure that movement controller 40 manipulates the movement of omnidirectional mobile vehicle bottom.
It controls host and feels that 11 controllers acquire image by head-up, issue order-driven controller 40 and manipulate juvenile's interactive machine
Device people runs to zone of action, control host 200 issue order-driven controller 40 manipulate omnidirectional mobile vehicle bottom rotate in place with
Towards juvenile.
Control host 200 keeps elevating lever 24 to be in high limit position, controls and sends instructions under host 200 to mechanical arm
Controller and dexterous hand controls are to allow single hand to remove the car body 43.
So far, juvenile's interaction robot enters interacts throwing flying saucer starting state between juvenile.
(2) it stores and teaching is called to throw flying saucer
The Dextrous Hand 16 holds flying saucer, and flying saucer is thrown to juvenile in the case where mechanical arm 22 and Dextrous Hand 16 pull together cooperation.
Offline approach, using the left shoulder of 2.5 to 3 meters of outer simulated objects, right shoulder, the crown, chest as flying arc route, constantly
Attempt to throw flying saucer, each joint behavioral parameters of single hand and be stored when recording successfully movement, after repeatedly verifying repeatedly according to just at
Function, this throws flying saucer for teaching approach.
Control host 200 rotates in place vehicle bottom and determines that 21 head-shield of fuselage, 20 center line forward direction faces juvenile, and described in calling
Fly to the left shoulder of juvenile, right shoulder, the crown, chest teaching approach throw and flying saucer behavioral parameters and execute it, then reach juvenile's interactive machine
Device people throws flying saucer effect to room juvenile.
(3) flying saucer flying arc is determined, short-distance movement is to support single hand to meet flying saucer
Diversity is presented in flying saucer flight path track, wherein flying to interactive objects in same level evagination camber line
Left shoulder, right shoulder, chest position, fly to the crowns of interactive objects in 30 degree of angles that raise up camber line that winds up, juvenile interacts machine
People is felt with looking squarely for Image Acquisition channel；Flying saucer flies and winged in 30 degree angles that raise up camber line that winds up along same level evagination camber line
When row, trajectory path is felt in acquisition range in head-up.Control host is to rotate in place based on fuselage, supplemented by mobile in 20cm
It helps, it is ensured that 21 head-shield of fuselage, 20 center line forward direction is in face of in-flight flying saucer.Send instructions under control host 200 and manipulates delicate finger-joint
Flying saucer is met in state is opened, is merged most preferably being shunk by near point by delicate finger-joint to hold flying saucer.
(4) flying saucer lands ground naturally
When flying saucer track camber line feels acquisition range beyond head-up, juvenile interacts robot and abandons connecing by flying saucer；When same water
Plane evagination camber line flight and in 30 degree angles that raise up wind up camber line flight when, license juvenile interact machine Renying by flying saucer failure,
Selection allows flying saucer to land naturally one's respective area ground.
(5) flying saucer is picked up in teaching
The drive control device is manipulated as shown in figure 8, sending instructions under control host 200 to keep elevating lever 24 to be in minimum
Extreme position,
As shown in figure 8, control host 200, which switchs to overlook, feels to be Image Acquisition main channel；
Control host 200 lands place for interval main body turning with 15 degree to search flying saucer；
Send instructions under control host 200 and to manipulate the drive control device to move omnidirectional mobile vehicle bottom close in ground
Flying saucer.
So far, ground flying saucer is in juvenile and interacts in single hand opereating specification of robot.
Offline approach attempts single branch hand touching using orientation and distance between ground flying saucer and fuselage head-shield center line as parameter
It touches ground and picks up manipulator arm joint and anima swivel of hand behavioral parameters when holding flying saucer and record storage success.The list branch hand
It touches ground and picks up and hold flying saucer Success parameter after repeatedly verifying repeatedly according to after just successful, be determined as teaching and pick up flying saucer.
During juvenile interacts robot and juvenile's throwing flying saucer, flying saucer starts institute once landing in one's respective area ground
It states teaching and picks up flying saucer method and step.
(6) circulation executes throwing flying saucer, meets flying saucer, picks up flying saucer process step
Interaction throwing flying saucer includes preparation, throws flying saucer, connect flying saucer, pick up flying saucer, multiple links of pausing, and juvenile of the present invention is mutual
Mobile robot has preparation starting, the methods && steps of implementation throwing flying saucer, connect flying saucer, picking up flying saucer, along throw-connect, connect-throw, throw-pick up,
It picks up-throw, pick up-and the processes switching such as stops, connects-stop, circulation executes the methods && steps of implementation.
As shown in figure 8, using specific tasks as target, control host 200 adjusts elevating lever, the flat vertical view of switching is felt, manipulation is complete
To locomotive bottom and manipulate the core composition that each joint of single branch hand is method and step.It is picked up from the interaction throwing flying saucer and ground
Flying saucer embodiment technical solution method and step has realization company juvenile movement, company as it can be seen that juvenile of the present invention interacts robot
Juvenile plays chess, watches the basic technology that juvenile does one's assignment, writing is explained on A4 paper, writing explanation, instruction article are explained on blank
Configuration, runs each specific tasks method and step process by control host 200, corresponding task can be realized.
It is the switching of control host vision and height that juvenile, which interacts robot to execute each task to have common manipulation behavior,
Process it is as follows:
Receive to issue data, acquisition voice input headset, acquisition flat bow visual pattern, query time from AI Cloud Server
Task list, to judge and determine current task；
When current task is that article is picked up on ground, elevating lever is in lowest limit position, feels to be that acquisition image leads to by overlooking
Road, the movement of manipulation Omni-mobile lift truck bottom and each joint action of mechanical arm Dextrous Hand；
When current task is observation operation and plays chess, elevating lever is in high limit position, is felt by overlooking for acquisition image
Channel manipulates each joint action of mechanical arm Dextrous Hand；
When current task is other, elevating lever is in high limit position, feels that, to acquire image channel, manipulation is complete by head-up
To the movement of moving lifting vehicle bottom and each joint action of mechanical arm Dextrous Hand.
Although preferred implementation of the invention is described above in conjunction with attached drawing, the invention is not limited to above-mentioned
Specific embodiment, above-mentioned specific embodiment be only illustrate, be not restrictive, the ordinary skill of this field
Personnel are under inspiration of the invention, without breaking away from the scope protected by the purposes and claims of the present invention, can also do
Many forms out, these all fall within the protection scope of the present invention.
Claims (6)
1. a kind of juvenile interacts robot, include:
Head-shield is spliced by two its edge of half garden shape sphere 1cm to 2cm round bar holes by screw for garden shape sphere, the head
Metallo-plastic well type grid hole support frame is laid in cover；
Fuselage, refer to two shoulders to major radius between Liang Ge crotch be 15cm between 20cm, short radius be 8cm between 12cm, it is high
Degree is between 50cm to 52cm, and edge is that two semiellipse column bodies of wide 1cm to 2cm long strips are spliced, the machine
Metallo-plastic well type grid hole support frame is laid in body；The fuselage ellipse column body bottom surface be one-pass molding with a thickness of
50mm to 80mm excavates hole and installs the metallo-plastic part of hole location；
The head-shield is logical to be located at right above the fuselage, is fixed on well type grid in head-shield by four metallo-plastic one ends
Hole support frame, the other end are fixed on well type grid hole support frame in fuselage；
Arm is decorated, has referred to from the left shoulder of the fuselage, end and has been located at the fuselage cardia, at oblique V-shape one-pass molding
Metallo-plastic part；
AI Cloud Server refers to voice, image file identification conversion and storaged voice speech data, writes the server of data；
It is characterized in that, it further includes flat vertical view feel, Omni-mobile lift truck bottom, robotic arm, Dextrous Hand, infrared measurement of temperature mould
Block, control host；
The flat vertical view feels to include the above camera of 5,000,000 pixel of pinhole arrangement and controller, the flat vision camera point of bowing
It is not fixedly installed in the head-shield spherical outside surface；
Omni-mobile lift truck bottom includes elevating lever and omnidirectional mobile vehicle bottom；
The elevating lever is outer bar mechanical part in electronic screw rod hollow cylinder, and outer bar hollow cylinder height 40cm, outer bar are empty
Heart cylindrical radius 7cm to 8cm, interior bar hollow cylinder height 40cm, interior bar hollow cylinder radius 6cm to 7cm；Its interior outer bar is empty
Heart cylindrical wall 1cm to 2cm；
The omnidirectional mobile vehicle bottom includes car body, four Mecanum wheels, drive control devices；
The car body is six face cuboids, length, width and height be respectively 50cm between 70cm, 30cm between 70cm, 38cm extremely
Between 40cm；Control host, power-supply system, lifting motor, vehicle bottom chassis are fixedly mounted in the car body；
The six face cuboid upper side of car body excavates left and right circular hole so that the elevating lever outer bar open circles capital is fixedly mounted
End, the elevating lever outer bar hollow cylinder bottom end is installed on the six face cuboid downside of car body；
For the Mecanum radius of wheel between 4cm to 6cm, four Mecanum wheels are fixedly installed in vehicle bottom respectively
On chassis；
The drive control device configures four driving motors, and the driving motor is through shaft in conjunction with Mecanum wheel；
The drive control device is connect by serial data line with control host,
Drive control device setting rotating forward, reversion, power supply, four output lines connect with elevating lever motor；
The robotic arm includes base arm, large arm, forearm, end, and the mechanical arm is located at the right shoulder of fuselage, the base arm
It is fixedly installed in fuselage on well type grid hole support frame；
The Dextrous Hand is five fingers, 14 joints, and the mechanical arm and Dextrous Hand are integrally connected by the end；
The mechanical arm controller and dexterous hand controls are connect by serial data line with control host；
The infrared measurement of temperature module includes 8 infrared temperature probes and infrared measurement of temperature controller, the infrared measurement of temperature controller
It is connect with control host serial data line；
The control host is Industry Control mainboard, including multiple communication ports, multiple network ports, voice input headset
And speech player；The control host operates under real-time multi-task operating system environment；The control host passes through wireless
Communication is connect with AI Cloud Server；
The voice input headset is fixed on middle part, the speech player at left and right sides of the head-shield and is being fixed on the head-shield just
Front lower portion；
The control host is configured to perform the following operations:
Receive to issue data, acquisition voice input headset, acquisition flat bow visual pattern, query time task from AI Cloud Server
List, to judge and determine current task；
When current task is that article is picked up on ground, elevating lever is in lowest limit position, is felt by overlooking for acquisition image channel, behaviour
Control the movement of Omni-mobile lift truck bottom and each joint action of mechanical arm Dextrous Hand；
When current task is observation operation and plays chess, elevating lever is in high limit position, feels to be acquisition image channel by overlooking,
Manipulate each joint action of mechanical arm Dextrous Hand；
When current task is other, elevating lever is in high limit position, feels that manipulation omnidirectional moves to acquire image channel by head-up
Dynamic lift truck bottom movement and each joint action of mechanical arm Dextrous Hand.
2. juvenile interacts robot according to claim 1, it is characterised in that: 5 meters of focal lengths are fixed in the head-up feel, are overlooked
1 meter of focal length is fixed in feel, and flat vision camera is fixedly mounted with level angle, and vision camera of bowing and horizontal plane are at oblique 45
Degree；It is flat overlook feel be installed on head-shield spherical outside surface in fuselage head-shield vertical direction symmetrical center line.
3. juvenile interacts robot according to claim 1, it is characterised in that: the elevating lever runs on highest and minimum two
A extreme position, elevating lever height is 60cm when high limit position, and elevating lever height is 40cm when lowest limit position.
4. juvenile interacts robot according to claim 1, it is characterised in that: 8 infrared temperature probes are pacified respectively
Loaded on the left shoulder surface of fuselage, right shoulder surface, shirtfront surface, each two of metathorax surface；Infrared measurement of temperature range is in -10 degree Celsius to 80
Degree, center measuring point is Celsius between 35 degree to 37 degree.
5. juvenile interacts robot according to claim 1, it is characterised in that: the six face cuboid upper side of car body is opened
Dig rectangle hole, the long 16cm of rectangle hole between 20cm, width 3cm is between 5cm.
6. according to claim 1 or 5 juveniles interact robot, it is characterised in that: the mechanical arm Dextrous Hand is downward certainly
So extend after clever hand finger protrudes into the rectangle hole, in car body body described in Dextrous Hand fixed placement.
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|---|---|---|---|
| CN201910015421.4A CN109807904A (en) | 2019-01-08 | 2019-01-08 | Juvenile interacts robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910015421.4A CN109807904A (en) | 2019-01-08 | 2019-01-08 | Juvenile interacts robot |
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Family
ID=66604125
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