CN1676286A - Biological information follow-up instant-teaching control robot - Google Patents

Biological information follow-up instant-teaching control robot Download PDF

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Publication number
CN1676286A
CN1676286A CN 200410010180 CN200410010180A CN1676286A CN 1676286 A CN1676286 A CN 1676286A CN 200410010180 CN200410010180 CN 200410010180 CN 200410010180 A CN200410010180 A CN 200410010180A CN 1676286 A CN1676286 A CN 1676286A
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robot
control
gamma camera
eyeball
laser
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Chinese (zh)
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李朝辉
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Individual
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Abstract

The present invention relates to an electromechanical integral equipment capable of utilizing bioligical information to control movement. It is characterized by utilizing various sensors to collect various biological informations and transferring these biological informations into central computer to control various drive elements. The transmission of signal can use wired, wireless and Internet transmission mode.

Description

The instant teaching control of biological information servo-actuated robot
One, technical field:
The present invention relates to the robot field.
Two, background technology:
People have invented many various robots, and its control mode generally is divided into:
1. real-time scene or wireless remote control control technology.
2. teach programming.
3. off-line programing (virtual image teach programming).
4. fixed programming control.
5. artificial intelligence control mode
Traditional remote control all is to adopt the keyboard and mouse button, control lever, trace ball etc., operate control by operating personnel's both hands or both feet, its shortcoming is a complicated operation, and reaction is slow, is difficult to the action of complexity is controlled, personnel's working strength is big, need the repetition learning exercise can grasp the information of elaborate.The mechanical arm of robot is the mechanism of connecting rod parallel running more than, and operating personnel are difficult to it is coordinated control simultaneously.Traditional teaching (comprises off-line programing, be the virtual image teach programming), solved the programming Control of complex environment and compound action, but its a teaching action, can only be used for simple fixing working environment again, a multitask and in the single-piece or a small amount of little repetitive operation that constantly change, be difficult to be competent at.Fixed program formula control mode contains the control mode that has sensor, still is difficult to carry out in environment complicated and changeable work, and its programming is complicated.The artificial intelligence control mode, this is a kind of optimal control mode, but still is in the basic research stage at present.Not only do not have a kind of practical solution, and also there is huge risk in this mode.The artificial intelligence robot of complete autonomous operation, its intelligence complexity may be human head and shoulders above, in case it is out of hand to be subjected to virus infections or program confusion or working procedure out-of-bounds, it will cause huge catastrophic effect.
List of references:
" present situation of the automatic tracking technique of sealing and development " 1992,15 (5).Chen Wuzhu, Wang Yong, woods pine.
" research of the PID closed-loop control system of adjusting certainly that the TIG weldering is molten wide " electric welding machine, 1993 (5).Huangshi is given birth to
" Intelligent Control Theory research " information and control, 1991 (5):
" artificial intelligence and application thereof " publishing house of Tsing-Hua University, 1996, Cai Zixing
" Application of Neural Network technology " front page.Publishing house of the National University of Defense technology, 1993: Shen Qing
" the artificial neural network Learning Control Method of uncertain object ".The automation journal, 1997,23 (1) " researchs of remote control arc-welding motion control new method ".Harbin Institute of Technology's doctorate paper.1997, Lv Weixin
" arc welding robot structured light three-dimensional vision path is the research of planning automatically ".Professional thesis for the doctorate welds in Harbin Institute of Technology.1988, Qu Zhigang.
Three, summary of the invention
It is extremely simple to the objective of the invention is to produce a kind of operation control, directly utilizes human or animal's biological information to control and teach programming, simultaneously again can compatible independent procedure driving, the robot apparatus of artificial intelligence and monitoring formula mode of operation.
The object of the present invention is achieved like this:
The present invention utilizes various sensors directly to gather human or animal's various biological activity information, directly controls or as the motion model signal of programming tutorial program, or as artificial intelligence program's frame data or learning program data.And then the control mechanical device, finish various complicated operations.As adopt the signal in each joint of angular transducer collection people, as directly gathering people's shank or arm, the activity point of view in hand joint, rate signal, control the motion of pedipulator or mechanical arm or manipulator.Use video camera and pattern process computer to gather the movement angle of people's eyeball and the motion that rate signal is controlled the synthetic eye, make it more flexible.
Four, description of drawings
Provided a kind of structure of all-purpose robot among Fig. 1.
Fig. 2 is console and control swivel chair.
Fig. 3 is the high-intensity magnetic field welding robot.
Fig. 4 is the welding process when being added with magnetic field.
Fig. 5 is the direct connected mode figure of the simplest holding wire.
Fig. 6 follows three-dimensional imaging and the on-the-spot camera system structure chart of range-measurement system for eyeball.
Fig. 7 is for being detail drawing on the electroplating equipment wielding machine arm.
Fig. 8 is wireless for robotic end, carries out global radio transmission manner figure by the internet.
Fig. 9 follows consciousness by key control system eyeball recognition and tracking system vertical view for two infrared laser eyeballs.
Figure 10 follows consciousness by key control system eyeball recognition and tracking system side view for two infrared laser eyeballs.
Figure 11 is the detailed structure front view of the finger wheel of data test feedback arm hand.
Figure 12 is the detailed structure side view of the finger wheel of data test feedback arm hand.
Figure 13 has provided a kind of operating personnel and has surveyed the feedback clothes and driving the embodiment that executes in the storehouse.
Figure 14, Figure 53 are spatial consciousness stream mouse spatial model coordinate mode simplification device.
Figure 15 is not punching press workmanship of an automatically controlled flexible fluid radial expansion device cross-sectional view.
Figure 16 is a cross-sectional view after automatically controlled flexible fluid radial expansion device punching press is done manual work.
Figure 17 has the reinforcement cross-sectional view for the automatically controlled flexible fluid radial expansion device punching press prefabricated fold of doing manual work.
Figure 18 is for using wireless data transmission module transmission means figure.
Figure 19 has provided the complete component structure figure of automatically controlled flexible fluid radial expansion device.
Figure 20 and Figure 47 have provided the circuit structure of all-purpose robot.
Figure 21 is the level structure of desirable fluorescent material.
Figure 22 for fluorescent material in screen with the be in staggered distribution cross-sectional view of screen of sheet.
Figure 23 follows the figure of the test type of drive data test feedback arm of mixing mutually with the pressure comparison expression for a kind of angle.
Figure 24 is the shade of self-regulated light transmittance.
Figure 25 follows the vertical view that scan mode scene gamma camera is installed in operating personnel's head for spatial consciousness stream mouse image scene Recognition gamma camera adopts.
Figure 26 follows the side view that scan mode scene gamma camera is installed in operating personnel's head for spatial consciousness stream mouse image scene Recognition gamma camera adopts.
Figure 27 is control swivel chair structure.
Figure 28 is narrow band pass filter transmitance figure.
Figure 29 is the kneed concrete structure of test feedback clothes.
Figure 30 is a passive type automatic range unit figure vertical view.
Figure 31 is a passive type automatic range unit figure side view.
Figure 32 follows scan mode scene gamma camera and is installed in figure on the line of operating personnel's two an eye line for spatial consciousness stream mouse image scene Recognition gamma camera adopts.
Figure 33 is the structure chart of the simulation eyeball of anthropomorphic robot's use.
Figure 34 is the guide rod structure side view of two bifurcateds.
Figure 35 is automatically controlled flexible fluid radial expansion device netted reinforcing rib figure.
Figure 36 has provided two infrared laser eyeballs and has followed the structure of consciousness by the key control system confirming mechanism.
Figure 37 is for having provided the rudder front view.
Figure 38 is for having provided the rudder side view
Figure 39 is a diaxon or three a headgear.
Figure 40 mechanical arm.
Figure 41 follows three-dimensional imaging and range-measurement system field observation shooting figure for eyeball.
Figure 42 for automatically controlled flexible fluid radial expansion device not the punching press prefabricated fold of doing manual work have the reinforcement cross-sectional view.
Figure 43 is for having provided advance and retreat rudder front view.
Figure 44 is for having provided advance and retreat rudder side view.
Figure 45 adopts the fixing dress mode vertical view of pressing for spatial consciousness stream mouse image scene Recognition gamma camera.
Figure 46 adopts the fixing dress mode side view of pressing for spatial consciousness stream mouse image scene Recognition gamma camera.
Figure 48 is the thin portion detailed structure in front of the screen of fluorescence excitation method.
Figure 49 is the positive detailed structure of the screen of fluorescence excitation method.
Figure 50 is the be in staggered distribution front elevation of screen of fluorescent material in screen.
Figure 51 is the detailed structure of steering tape.
Figure 52 follows three-dimensional imaging and range-measurement system image processing and control circuit part-structure figure for eyeball.
Figure 54 is automatically controlled flexible fluid radial expansion device figure.
Figure 55 adopts the design of wearing next to the shin for robot war first.
Figure 56 follows three-dimensional imaging and range-measurement system image processing and control circuit part-structure figure for another kind of eyeball.
Figure 57 embodiment has provided a kind of protection delivery clothes, and the first of promptly fighting robot has only shank to be through on one's body the operating personnel, is in to drive above the waist and executes in the storehouse.
Figure 58 follows three-dimensional imaging and range-measurement system structure chart for eyeball.
Figure 59 eyeball is followed and is used the convex mirror structure chart in the stereo imaging system.
The netted skin table line that Figure 60 designs for the anthropomorphic robot.
The ovum shape skin table line that Figure 61 designs for the anthropomorphic robot.
Figure 62 uses the enforcement illustration of infrared laser pipe emission characteristic identification code for spatial consciousness stream mouse.
Figure 63 is the detailed structure vertical view of data test feedback arm hand.
Figure 64 is the detailed structure oblique view of data test feedback arm hand.
Figure 65 is the guide rod structure oblique view of two bifurcateds.
Figure 66 makes the field generator for magnetic that is enclosed within on the welding gun for soft magnetic material.
Figure 67 makes the field generator for magnetic that is enclosed within on the welding gun for retentive material.
Figure 68 is test feedback clothes structure.
Figure 69 is not punching press workmanship figure of automatically controlled flexible fluid radial expansion device.
Figure 70 for automatically controlled flexible fluid radial expansion device not the punching press prefabricated fold of doing manual work have the reinforcement side view.
Figure 71 human body whole body joint example.
Figure 72 has provided two infrared laser eyeballs and has followed the structure of consciousness by the key control system laser scanning location device.
Figure 73 is anthropomorphic robot's artificial skin structure.
Figure 74 has provided the automatically controlled flexible fluid radial expansion device complete component structure figure in joint.
Figure 75 is a kind of operating console and the structure of controlling seat.
Figure 76 has provided two infrared laser eyeballs and has followed consciousness activates executing agency by key control system structure.
Figure 77 is cluster packet type monitoring control working mode figure.
Five, the specific embodiment
All-purpose robot
The present invention has provided a kind of structure of all-purpose robot of simplification.In accompanying drawing 1, provided a kind of structure of all-purpose robot, 1 for head be the gamma camera guard shield, interior dress gamma camera, 2 is the overtone pickup transmitter, 3 is the strong sound pick-up that points to, and 4 is laser designator, and 5 is antenna, 6 is neck, and the The Cloud Terrace that has two motors in this use is to realize the rotation of head in level and pitch orientation.7 for the lower wall three wheeler has used back bikini design, and 8 is mechanical arm, and 9 is the rotating shaft of waist disc type.210 is illuminating lamp.
Mechanical arm of the present invention as shown in figure 40, used the design of six degree of freedom, 211 is the hand motor, hand uses silk braid double link mode, to keep finger tip is flat tong, 219 is the finger tip pressure sensor, 212 is the wrist pitching motor, 213 is wrist left rotation and right rotation motor, and 214 is the ancon motor, has used the connecting rod mode to connect between ancon motor and the ancon joint 220,217 is upper arm left rotation and right rotation motor, 218 is shoulder pitching electric rotating machine, and 216 is the wrist pitch axis, it with wrist motor 212 between also use connecting rod to connect.
Figure 20 and Figure 47 have provided its circuit structure, and in Figure 20, the straight line left side is a robot electric system structure, and the right is the control system structure.230 is each position angular transducer, 231 is each site pressure sensor, 232 is the data communication interface module, have data acquisition function concurrently, used the pci card that has the analog acquisition function at this, 232 data back that will adopt are given computer 233,234 is gamma camera, 235 is the image acquisition module, and 236 is the image acquisition module, and 236 is each position drive motors, 248 is Touchless control system and various status indicator lamp, 237 is driver module, and 238 is sound card, and 239 is audio amplifier, 240 is various Mikes, 241 is illuminating lamp, and 242 is wireless communication module, and 244 is wireless communication module.
Having used 300MHZ, 1.2GHZ, three kinds of communication modules of 2.4HZ in these wireless telecommunications, is main communication module with 2.4GHZ, and 1.2GHZ is backup, and 300MHZ is an emergency backup, generally promptly reinstates under the situation that building blocks.
243 is that the monitoring control staff uses earphone, 246 is keyboard, and 247 is the feedback of status motor, and circuit structure and Figure 20 of Figure 47 are basic identical, difference is that video and the audio-frequency unit in Figure 47 directly used digital transmission module 249,250 to handle and power amplification system for audio frequency.
General-purpose control system
The present invention has used console as shown in Figure 2 and control swivel chair, 10 is central basic display unit, generally be used for the image that display device people's head gamma camera is passed back, 11 is the left hand sectional displays, 12 is right hand sectional displays, 11,12 images that show respectively when the right-hand man carries out accurate operation, 13 is operating grip, 14 is operation keyboard.He has the keyboard identical with computer.Pedal is changed for left cut in left foot limit 15, and 16 is rudder, its concrete structure as shown in figure 27, the end of rudder is connected with angular transducer, 17 change pedal for right cut, 18 are advance and retreat rudders, the control of being responsible for moving forward and backward.19 are brake.
Figure 27 has provided the structure of programming Control operation swivel chair.
It has a diaxon or three headgear 20,20 detailed structure such as Figure 39 and shown in Figure 27, pitching rotating shaft 21 is arranged on the headgear 20, auxiliary rotating shaft 22 and horizontal rotating shaft 23, earphone 24 and Mike 25 also are installed on headgear 20, pitch axis 21 can be a ball journal, two frees degree had both been had, also can be decomposed into again and can make the level that head swings and the single shaft of elevating movement, when the aforesaid simple general-purpose of control robot, get final product in the time of only need pitch axis being installed, promptly have only axle 21 to get final product, do not need auxiliary rotating shaft 22.230 are the head axle that swings.
Headgear 20 is fixed on by on the sheet carriage 26 by axle 21, and the inside of carriage 26 promptly is designed to conform to the S shape of human body natural's buckling curve to people's dignity.
At the shoulder of carriage, test FEEDBACK CONTROL mechanical arm is installed, also can use the robot employed feedback test of war first in the aforementioned biped running gear to obey to control mechanical arm certainly here or as the movement locus parameter testing input unit of teach programming.
Operating personnel's cushion is installed on the base by rotatable axle 27, and axle 27 is connected with angular transducer, and the angle signal that this angular transducer obtained is reached front-end computer, is used to control the waist rotation of robot.
Certainly rotating shaft 27 also can be cancelled, and is about to seat cushion and directly is fixed on the base.The rotation of waist is controlled by the shortcut and the finger wheel of hand.
In Figure 37, Figure 38, provided the detailed structure of rudder:
Rudder is by pedal 30, its effect is fixing operation personnel's a pin, fixed band 34 is installed on it, feel at ease therein axle 31 is housed, playback spring 32 is installed on the axle, angular transducer 33 is installed on axle, its operation principle is when operating personnel wish that robot turns left, the left foot angle that turns left, angle value by the angular transducer survey, and through gathering and transmission system reaches robot control computer, by the angle of computer, to reach the purpose that turns to by driver drives steer motor rotation one identical or proportional (as: 1/2 angle or 3 times of angles).Best situation is to rotate identical angle.
In Figure 43, Figure 44, provided the detailed structure of advance and retreat rudders, it also is made up of pedal 30, fixed band 34, playback spring 32 and angular transducer 33 and lateral shaft 35.
As operating personnel forward or backward during pedal, angular transducer collects a direction signal and an angle signal, and these two signals reach the control computer, and direction signal is used to driven machine people forward-reverse, steps on forward to advancing, and steps on backward to retreating.Angle signal is used as the driving signal of speed (or strength), and it is big more promptly to step on angle, and the speed that robot advances is just fast more.The advantage of design direction rudder and forward-reverse rudder is like this: its mode of operation is pressed close to the mode of operation and the custom of automobile, makes operating personnel easy to learn.
Figure 75 has provided another kind of operating console and the structure of controlling seat, different with the control seat with the operating console among Fig. 2 and Figure 27 is, its basic display unit 10, secondary monitor 11 and 12 by a carriage 65, is fixed on the backrest bracket 26,26 are fixed on the base by a rotatable axle 66, the rotation of human body waist is that rotate in the axle center with the backbone, and axle center and axial reaching with operating personnel's ridge axle center of rotation axially overlap, and axle 66 is equipped with angular transducer simultaneously.When control operation, operating personnel rotate waist, and display will rotate simultaneously with operating personnel, and the signal of being gathered by axle 66 place's angular transducers goes to control the motion of robot waist simultaneously.Thereby make operation control convenient, true to nature, easy.Identical among the control programming of other parts and Fig. 2 to Figure 27, also can use " double eyeball is followed stereo imaging system " these operating personnel certainly thus make its control system more perfect as display system.
The control of mechanical arm in the present invention has following several mode: 1, angle trailing type 2, pressure comparison expression 3, hybrid 4, independent procedure control formula fully
This mode advantage is simple in structure cheap.
People's arm can be divided into following several joint and elemental motion:
1, shoulder: shoulder joint is a ball-joint, and two frees degree are arranged, and can be decomposed into two direction of rotation of pitching and folding.
2, upper arm: upper arm has an action around the rotation of brachium direction
3, ancon: ancon is a jointed shaft
4, forearm (forearm): be an action that rich brachium axle rotates
5, wrist: be a jointed shaft
The rotational angle in each joint of people's arm does not all have (except the shoulder) that surpass 360 degree
Data acquisition operational feedback control mechanical arm
Data acquisition operational feedback control mechanical arm is divided into data input state and nondata input state.At the data input state, electromagnetic brake is decontroled, and data acquisition operational feedback control mechanical arm can be free movable, and operating personnel can freely make the action of various complexity.
Finish in the data input, can change the nondata input state over to.Can close electromagnetic brake by hand or foot's shortcut, full shoulder joint locking this moment, closed, fixing, data acquisition operational feedback control mechanical arm has promptly become a handrail and carriage, is holding in the palm operating personnel's arm, make its state that is in the most comfortable, can fully reduce personnel's fatigue.
Angle trailing type mechanical arm is exactly each joint in the activity of people's arm, fixedly upper angle sensor.When operating personnel's arm is pressed the practical operation campaign, record the movement angle and the speed in each joint, and pass to the front-end control computer, driven machine people's mechanical arm is made identical action.Certainly also can store above-mentioned value, and the driving data when repeating same action, and needn't operating personnel repeat identical action at every turn, both teach programming as next time.
This data value can also be as the frame data of fuzzy control program software or anthropomorphic artificial intelligence control program.
Figure 23 has provided a kind of angle and has followed the test type of drive of mixing mutually with the pressure comparison expression.
It is C type or ring-like carriage 36 by cross section, fixed band 37, and the connecting axle in each joint, axle automatically controlled locking device in joint such as electromagnetic brake, and the angle pressure sensor is formed.Carriage 36 can be made up of metal or plastics or glass fiber reinforced plastics composite material etc.The material of liner softness is as sponge etc.Have air vent on its arm.Fixed band is made by the fabric of softness, 36 with 37 with comfortable being fixed on operating personnel's arm of main operation arm.38 is shell, and 39 is the liner spongy layer, and 40 is angular transducer and video disc shape electromagnetic brake and force feedback motor, and 42 is connecting axle.
Figure 63,64 has provided the detailed structure of hand.43 is the pressure sensor at ten fingers and thumb place, and 44 is the positioning motor and the angular transducer at ten finger thumb joint places.45 is the palm carriage, and it is designed to the mound shape structure of median rise, to be fit to the shape of human body palm bending, reduces the pressure to the palm part.Its inner liner is made by flexible material, as sponge, rubber-plastics material etc.46 are palm back of the body fixed band, and 47 for referring to fixed band, and they are soft macromolecular material and make, and 49 is the quick strong of nameless place.350 is the finger wheel at middle finger place.351 is that the list at little finger of toe place is fast strong, fast strongly can be arranged to single strong or two strong formulas even how strong.
Figure 11 has provided the detailed structure of finger wheel 350.352 is the pressure sensor of thumb end, and 353 is the connecting axle between thumb ten refers to, 44 is the positioning motor of axle head.
Figure 11 has provided the detailed structure of finger wheel.Finger wheel is a disk-like structure, is carved with anti-slip tank 355 at its edge.Be carved with cylindrical void 356 and 357,356 outside 357 interior in card, the hole on the dish distributes in groups, and an outer Kong Yuyi endoporus is formed one group, and in same group, outer hole and endoporus are in staggered distribution, and group is same scarcely with the distance between the group.Preferably greater than it, finger wheel is fixed on the base by central shaft 358.359 and 360 is respectively the photoreceiver of outer hole and endoporus correspondence, can be visible or infrared photosensitive tube.The 361st, semiconductor laser tube or other photophore.
Its operation principle is:
Stir finger wheel when finger, make its rotation, when outer hole and endoporus forwarded between photophore 361 and receiver 359 and 360, receiver received that light just produces a pulse, turns over an angle again, and receiver and photophore are blocked, and produce pulse once more until next hole.When turning clockwise, endoporus produces pulse earlier.When being rotated counterclockwise, the pulse that the pulse that outer hole produces produces prior to endoporus.362 for open endoporus outside outside the hole or within the zero-point positioning hole, it has only position, a hole on dish, photophore and receiver are also arranged, the pulse of generation of whenever turning around.
Finger wheel and quick strong being used in combination can be realized many functions, as the left rotation and right rotation of realization waist, or the mechanical arm motor carried out precision control, as: can be by the software set finger wheel, per 10 pulses, motor precession 1 degree, or 100 or 1000 pulse precession 1 degree.Aforesaid " test program control system " formed a complete work system with " simplified universal robot ".
Its mechanical arm control operation principle is as follows:
The motion in each joint of robot arm adopts angle to follow the angle in operating personnel's arm joint.Operating personnel are when carrying out real time remote control or teach programming, when making an action, by operational feedback control mechanical arm upper angle sensor, record each joint angles and rate signal, pass to the robot computer through collection and transmission system, passed identical angle by robot computer drives motor with identical speed, i.e. the action of mechanical arm simulated operation personnel arm or be called trailing type control formula, the control of hand is then adopted pressure ratio.Operating personnel's thumb and ten is closed in pointing to when real-time control or teach programming, " data acquisition operational feedback control mechanical arm " simultaneously inside motion angle value, be returned to the control computer of " data acquisition operational feedback control mechanical arm " by angular transducer, drive the axially interior identical angle of rotating by computer drives positioning motor bar.The pressure sensor 48 and 352 of hand records pressure signal.This signal is reached robot control computer through collection and transmission system.The pressure signal of passing back with the robot finger tip relatively.When operational feedback arm signal greater than robot finger tip signal, robot mechanical arm inwardly closes and an angle, once more more still greater than the time, inside angle of closing motion stops when pressure equates then once more.The manipulator of robot can keep being synchronized with the movement with operating personnel's hand exercise like this, and pressure or folder grip are also identical simultaneously, thereby can realize many meticulous operations, as the frangible glassware of grasping etc.As teach programming, or the frame data of independent procedure programming can make the complicated program operation become easy to learn with it.Certainly adjust force value that the software value of setting also can make robot and amplify or dwindle, as its value amplification several times are compared, can make its operating physical force very little again, the performance accuracy when improving little power cooperates finger wheel simultaneously, can reach very high performance accuracy.Compare again after its value dwindled, its strength can be amplified, hold heavier object so that take.This kind control mode is fit to refer to the control of hand and multi-joint hand too.
The control logic relation:
Control is divided into from main control, and promptly vehicle body carries microcomputer from main control and auxiliary control, and two kinds of control change-over switches are installed
Hand control
When control end control section finger tip is exerted pressure, pressure sensor is gathered signal, and data are sent to body portion through transmission channel, compare by body portion data processing circuit and body portion finger tip pressure sensor data, when vehicle body finger tip pressure less than
One of type of drive---exerting pressure drives 1a 1b 1Y 2a 2b 1X α (control end computer) β γ 2X 2Y
The finger pressure force signal that control end pressure sensor 1a collects converts data signal to through collection and is transferred into both robot band computers of next bit computer β, next bit computer β compares the signal that signal and 1b (robotic end) pressure sensor of 1a collects, as pressure 1a＞1b, then send a command signal, indication motor:
Make it produce inside rotational action, being installed in the angular transducer 1X that links with motor 1 this moment experiences the angle variation and the angle changing value is passed to next bit computer β, and be transmitted to host computer α through β, α compares the value of the signal value of 1X and angular transducer 1Y:
When 1X＜1Y, then send the feedback force motor that drive motor 2T " data acquisition operational feedback control mechanical arm " locates and inwardly rotate, when 1Y=1X, stop.
In fact, send in the transmission course, when motor-driven, a minimum angle that drives is arranged, determine a minimum angle that drives at signal.When 1a＜1b pressure, motor and angular transducer rotate round about.
Two of type of drive---unidirectional drive
When promptly having only 1a＞1b, then motor inwardly rotates;
When 1a＜1b, it is motionless that motor keeps.
Change-over switch can be carried out or set up to the switching of two kinds of type of drive on the upper and lower machine.
Three of type of drive
Adopt following type of drive from motor 2 to the motor below 15: when angular transducer 2Y collects the angle variation, changing value is passed to host computer α, and be transmitted to slave computer β, 2Y value and 2X are compared by β through host computer α:
As 2X＞2Y, then drive motors 2 clockwise rotates;
As 2X＜2Y, then drive motors 2 rotates counterclockwise.
1) in fact, pressure sensor 1a is made up of three partial pressure sensors: 1a1,1a2,1a3, same 1b is made up of three partial pressure sensors: 1b1,1b2,1b3.In the time of relatively,, reach the slave computer pressure sensor corresponding then relatively with it at first by one that compares the pressure minimum in the pressure sensor group 1a earlier.Minimum in 1a1,1a2,1a3 as 1a2, then final drive ratio than the time, more finally drive by 1a2 and 1b2.
No. 1 motor refers to mechanical arm finger tip motor, and motor is respectively up motor of bowl portion more than No. 2, and other are also identical.
X is a mechanical arm upper angle sensor, and Y is " data acquisition operational feedback control mechanical arm " upper angle sensor.
The biped running gear
The present invention relates to a kind of, the device of biped walking.
In the various apparatuss of transport that the mankind invented with wheeled or the crawler type carrier vehicle scope of application is the widest, but wheeled or crawler type motion mode, the traffic capacity of obstacle climbing ability and intricately condition, compared with two foots or the multi-foot walking mode that adopt the human or animal, poor is too many, but adopt the walk upright robot of modes of two foots, all need complicated software programming, a kind ofly can reach practical and there is no at present.Adopt the people of two foot walkings, then load capacity is limited, form serious problem in many cases, flak jackets and bulletproof halmet as people's invention, because of being subjected to the restriction of human body load weight, can only guard against head and body cadre position, positions such as four limbs all can not be guarded against, and can only prevent light weapons.As whole body is all protected, and require the attack of anti-large caliber weapon, then the weight of vest itself just makes the people bear, and the present invention addresses the above problem.
The present invention in the following way, addresses the above problem.
At each movable position setting angle sensor of operating personnel's health, angular transducer, drive motors, pressure sensor are installed at the corresponding site that protects toter also correspondence.Its working method is as follows: the angular transducer of its each joint part transfers mechanical signal to electronic signal when the operator moves, and through the data acquisition circuit module, passes to central computer.Gather angle, the pressure signal of protection toter corresponding position simultaneously, and compare, the driving element that drives corresponding site according to its difference carries out identical accompany movement.
The present invention can abbreviate " war first robot " or " robot war first " as
Advantage of the present invention is: use very shirtsleeve operation mode to realize two foot walkings of robot.The control of two sufficient telecontrol equipments does not need the complicated program operation, makes its control operation simple, easily operation.Compare with the individual soldier, war first robot is very big because of its load.Therefore, very thick plate armour can be installed, thereby unless directly hit by the antitank firearm of heavy caliber afield, otherwise it can't be destroyed.And the more weaponry of its portability, its volume ratio armored combat vehicle, tank etc. are much smaller simultaneously, and target is little, and hidden easily, makes it be difficult to directly be hit, and after the use machine power, its maneuverability and load capacity are stronger.
Overall merit:
Have extremely strong obstacle climbing ability, hard thick plate armour, very little target, good maneuverability, powerful firepower, extremely strong survival ability, be particularly suitable in intricately condition operations such as mountain region or military operations in urban terrains, its appearance will change the land battle pattern.
The present invention will be further described with implementing routine below in conjunction with accompanying drawing:
1, embodiment＜1〉Figure 55, adopt design next to the shin, the power-assisted mode of operation, its housing can adopt armour steel, composite armour, or changes material according to its environment for use, as is used for nuclear power station, nuclear pollution or intense radiation environment, can adopt stereotype, also can cancel the protection plate, only use framework, thus with its as the power-assisted delivery vehicle to increase human body heavy burden ability.
Its structure is divided into three bulks:
A, for being fixed on operating personnel's test feedback clothes on one's body; B, for being through the outer protection load shell of operating personnel and test feedback clothes, the first of promptly fighting robot shells; C, support part for the power that is fixed on the protection load shell, and PLC industry control and computer dispatch control system; D, take advantage of and carry a device for operating personnel and A being connected connection on the protection load shell.It adopts the i.e. test feedback of A part clothes structure such as Figure 68 at operating personnel's joint part sensor identical with rotating shaft direction with the equidirectional installation of joint turning cylinder, can be angular transducer or torque sensor, with the angle of exploration operation personnel joint transmission.
Human body whole body joint is divided into: be example with Figure 71: going up to just (herewith defining later on), is up and down the Z axle, about be X-axis, Zuo Weizheng, front and back are Y-axis, forward for just.
The human body whole body is divided into:
1, neck: be divided into left rotation and right rotation, rotate around X-axis in the plane in X, Y-axis; 2, shoulder:＜1〉be ball journal, can be decomposed into and in Z, Y-axis plane, rotate around X-axis,＜2 in X, Z axial plane, rotate around Y-axis; 3, upper arm: in X, Y-axis plane, rotate (sagging) with arm around the Z axle; 4, ancon; 5, wrist, ball journal; 6, hand, finger part; 7, waist; 8, belly; 9, hip, ball journal; 10, Teng portion; 11, ankle portion, ball journal; 12, foot palm part.
Figure 29 has provided kneed concrete structure.
301 is fixed band, 302 is fixed mount and coupling spindle, 303 are angle commentaries on classics sensor (T type), as then answering coaxial by setting a motor for the X type, and angular transducer, 304 are thread gluing, 306,307 are respectively operating personnel's thigh and shank, operation principle: when operating personnel's knee joint bends, promptly measure its angle changing value by angular transducer, and be uploaded to C part the angular transducer 309 by B part knee joint corresponding position is compared, when angular transducer 303 clockwise rotates an angle in the Δ t time time, the C part is promptly sent control signal and is given B the knee joint driving element of part, makes housing parts also clockwise with same time Δ t, rotate same angle, promptly rotate identical angle with same angular speed.When rotation inhour, the identical motion mode that moves too can realize, makes protection load clothes each one of first robot health that promptly fights keep the attitude identical with operating personnel, thereby reaches the control purpose.
Certainly, war first robot can be through on one's body the operating personnel, also can separate control operation, Figure 57, Figure 13 provide other two kinds of embodiment, and Figure 57 embodiment has provided a kind of protection delivery clothes, the first of promptly fighting robot, have only shank to be through on one's body the operating personnel, be in to drive above the waist and execute in the storehouse.Figure 13 has provided a kind of operating personnel and has surveyed the feedback clothes and driving the embodiment that executes in the storehouse.
Among Figure 29, B is armoring for protection, and C is a piggyback pod, and E is a driving cabin, and operating personnel and test are fed back clothes and connected to take advantage of and carry device all at this.F is a weapon, and H is an observation device, the scene gamma camera for " binocular stereoscopic finder " that draws among the figure.
The high-intensity magnetic field welding robot
The present invention also can be used for solving the welding under the high-intensity magnetic field.
In strong magnetic field circumstance, very big as its electric currents of place such as electrolysis plant, power plant, transformer stations, reach several ten thousand, in addition hundreds of thousands, amperes up to a million, extremely powerful high-intensity magnetic field is sent in powerful electric current sense, and magnetic direction comes and go.Carry out weld job in such environment, strong arc blow will take place in welding arc, and the live metal drop of fusing is not to fly to mother metal, but splashes everywhere under strong magnetic field action, has a strong impact on welding quality, sometimes even can't weld.
The present invention then can address this problem effectively.Fig. 3 has provided embodiment:
318 is operating personnel, and 319 are data acquisition operational feedback control mechanical arm, and 317 are welding operation machinery arm, and 320 is welding gun, and 321 for being enclosed within the field generator for magnetic on the welding gun.
Figure 66, Figure 67 have provided two kinds of concrete structures of field generator for magnetic respectively, and two kinds of structures all adopt cylindric core material.Figure 66 is a soft magnetic material.Figure 67 is a retentive material.324 is the lead of spiral surrounding among Figure 66,325 weld bonds of making for fire-resistant permeability magnetic material, it can be high alumina ceramic etc., 326 are the cooling air hole of leaking, 327 is the welding gun shell, and 328 are the cooling air hose, and its operation principle is: when carrying out weld job in strong magnetic field circumstance, the energising of 324 spiral conducting line pipes produces high-intensity magnetic field, produces the magnetic field stronger than surrounding environment by the soft magnetism magnetic core.Figure 66 adopts the soft iron rare-earth alloy material to make magnetic core, 2000 circles are used in spiral coiling 324, and 329 is the arcing district, produce the parallel magnetic field that is parallel to welding rod and electric arc in the arcing district, in the arcing district, the live metal drop will produce spiral and move downward in parallel magnetic field like this.As shown in Figure 5, fly to motherboard, can not produce transverse movement again.Fig. 5 is the welding process when being added with magnetic field.
321 is welding rod, and 329 is the arcing district, and 330 is the live metal drop, and 331 is mother metal, and 333 is environmental magnetic field, has only listed the situation under the horizontal cross magnetic field in this figure.334 is the movement locus of molten drop under the effect of magnetic field, is not adding under the situation of disturbing magnetic field, and the deposite metal drop will can not fly to mother metal but laterally disorderly fly.335 is magnetic core, and outer rim has a circle groove, and its effect is an arrangement magnetic field edge shape, and it is inwardly strengthened downwards.
Camera system of the present invention be on the electroplating equipment wielding machine arm by gamma camera 340 is housed, as shown in Figure 7, at the gamma camera front end by the shade that the self-regulated transmitance is housed.
Welding arc light is very strong, human eye direct-view arc light can cause possible permanent damage several seconds, human eye or gamma camera are directly exposed in the arc light or work long hours and all can cause damage to it in strong arc light, the present invention has used the shade of self-regulated light transmittance as shown in figure 24,341 is the plane protective sheet in Figure 24, can be that plate glass or lucite are made, its effect is the welding slag that anti-retaining splashes, 342 be its transmitance of narrow band pass filter as shown in figure 28,344 is transmittance curve, in ultraviolet section or infrared light section, its transmitance all compares at the end, ideal situation be at the bottom of the transmitance in below 0.001, in the visible light section higher transmittance is arranged, ideal situation is that transmitance is greater than 30%, its material can use coloured optical glass, or the spike interference filter that uses the multilayer optical plated film to make makes, the 343rd, and by the light valve that liquid crystal material is made, used two-layer light valve to make in the present invention.Liquid crystal light valve generally has two kinds, and a kind of is to be the low light transmission state when powering up, and becomes high light transmission state when not powering up, and second kind of light valve is just in time opposite.Two kinds of light valves all can use in the present invention, preferably use first kind of light valve.When not welding, liquid crystal light valve does not power up, be high light transmission state, gamma camera can clearly be observed welding region, welding moment powers up for the liquid crystal light valve, make it transfer end light transmission state to, the adding the signal of telecommunication three kinds of extracting modes can be arranged of liquid crystal light valve, a kind of is to be taken from welding machine inside, as joining between sealing wire and ground, two are to use induction coil, and three are to use photodiode or photo resistance, the transmitance of liquid crystal light valve can just be regulated along with the voltage that is added in its two ends, on the control handgrip knob of regulating shading value is installed in the present invention.
After installing field generator for magnetic additional on the welding gun, welding gun and field generator for magnetic also have very strong magnetic field, weld if make by hand, and welding gun can directly be inhaled on mother metal, can't weld.In the present embodiment, mechanical arm and the operation control system identical have been used with aforementioned all-purpose robot and universal controller.Each rotating shaft of mechanical arm is equipped with self-locking device, and self-locking device can use electromagnetic brake, electromagnetic clutch or use the worm speed-down transmission device or use stepper motor.Mechanical arm is not when having instruction like this, and it is not affected by magnetic fields to move, when having only servo-actuated operating personnel arm movement or programmed instruction, and orbiting motion as requested, thus reach welding purpose freely.
The present invention has also used " eyeball is followed three-dimensional imaging and range-measurement system ".
" eyeball is followed three-dimensional imaging and range-measurement system "
The stereo imaging system of in the past inventing the mankind, in laser hologram imaging system and double parallax stereo imaging system, all be with ready-made stereo-picture passive play to the observer, and in the anthropomorphic robot, people can load onto two gamma cameras of making the simulation eyeball to robot, but can only use manual or programme-control, the degree true to nature of its motion is descended greatly.
The present invention is shown in Figure 41, Fig. 6, Figure 33, Figure 58, Figure 52, promptly observe the scene at front end, use two gamma cameras, observe on-site target, 46 is two on-the-spot scene gamma cameras, 47 are the field observation target, 48 is two comprehensive The Cloud Terraces of high speed that general environment (as welding surroundings) is used, and 49 is the spacing adjusting device, and 50 is the visual angle of on-the-spot scenery gamma camera, 55 eyeballs for operation or observer, 56 for being placed on two display screens of observer's eyeball front portion.Display screen is separated by a baffle plate, make operating personnel's left eye can only see the display screen on the left side, right eye can only be seen the display screen on the right, 57 are tilted-putted two collimating optics half-reflecting mirrors between the eyeball that is placed on display screen and people, its effect is to allow the image of display screen arrive eyeball smoothly, while reflects the image of eyeball to 58 again, 58 is completely reflecting mirror, both sides are respectively placed one, 59 is eyeball picture-taking gamma camera, the 58 eyeball images that 57 reflections are come give 59 in reflection, by 59 images that take people's eyeball.402 is the baffle plate between the right and left eyes.
Figure 52 has provided image processing and control system figure, the visual angle 50 of two field scene gamma cameras at the scene is preferably identical with the visual angle 54 that 56 pairs of observations of display screen image operator eyeball is opened, be that the visual field is identical, when live camera 46 visual angles greater than 54 the time, the observer sees that the dimension of object that visual brain is judged can be littler than reality, when 46 visual angles less than 54 the time, the object that computer is judged will be bigger than reality.Preferably to be personnel at eye level with observing behaviour for distance between the optic axis of two live cameras, hopes that the distance between two pupils equates when infinity.When spacing less than between two pupils apart from the time, see far away that spacing that behaviour people brain judges can be than reality, on the contrary then opposite.Figure 52 has provided PS and control system figure, 64 are the image processing display circuit, the image that field scene gamma camera 46 is taken directly is presented on the display screen 56, the image that the gamma camera on the left side is taken is presented at the left side display screen, what the right was taken is presented on the display screen of right side, 65 is image collection card, and as the output of 59 eyeballs shooting gamma camera is data signal.Then signal directly shouldn't be passed to 66 image processing computers, 67 is PLC, and 68 is driver module, its operation principle is, at first that the field scene gamma camera is parallel to the dead ahead, and these two positions are made as 0 position, observe operating personnel's two prestiges at eye level to the dead ahead infinity, 59 take the position of eyeball this moment, and pass to image processing computer 66 through collection, and utilize image recognition software, identify iris, the center of circle of circular iris promptly is the position of pupil, and the position is made as 0 position at this moment.
When the observer observes object, when eyeball rotates, as observe the left object, two eyeballs are turned left simultaneously, eyeball is taken gamma camera 59 the eyeball rotation image that takes is passed to 66, identify iris and pupil after the rotation by visual computer, position during with pupil position and 0 scale compares, can draw the angle of rotation, can draw speed divided by the time, angle and speed are direct transferred to the PLC programmable logic controller (PLC), teletype command is given driver module under the PLC, the servomotor that drives the high speed The Cloud Terrace rotates identical angle with identical speed left, and the people is when observing object, and left and right sides eyeball angle has differential seat angle, two images of observing object have small difference because of the angle difference, people's brain can according to about two image difference, produce stereoscopic vision, judge the size and the distance of object.In native system, about accurately the follow one wherever one goes rotational angle of eyeball of two scene gamma cameras.Its clap image can produce differential seat angle identical when observing object with people's eyeball, the image of bat is by left and right sides display screen, reduction is reproduced and is given right and left eyes exactly, can make the people produce the stereoscopic vision of facing its mirror just as body.
Figure 56 has provided another kind of image processing and control system figure, does not use PLC in this system, but becomes central processing computer, responsible The Cloud Terrace camera lens control and image processing demonstration with 66.
For accurately at the observed image of the ball of losing face, about two display screens when showing two scene camera-pictures, gamma camera should be clapped the center of image on display screen with gamma camera compile phase inversion with angle, i.e. the main body angle maintenance of the center of the image taken of the gamma camera that shows of display screen and the line of pupil and original 0 position (being the position of people's prestige at eye level when infinity) main body angle of being opened and the gamma camera position institute deflection from original 0 is identical.It generally can adopt and revise the X of image on screen, and the processes and displays image is come as using image processing computer in the Y-axis position.Can use software to adjust its position on screen very easily, as increasing a circuit module for processing of circuit, sweep time and the position of adjusting image resemble, and also can reach same purpose.Screen to the distance of cornea is generally fixed by framework, or uses rangefinder to measure in real time.
Figure 33, provided the structure of the simulation eyeball of anthropomorphic robot's use, 51 is anthropomorphic robot's eyeball, it is made into the Bluish white as human eye, the analog cornea of making at its anterior useful optical glass or macromolecular material 61,52 and 53 are respectively about responsible simulation eyeball 51 levels and the drive unit of pitch rotation, it can be the hydropneumatic bar that has position sensor, also can be that servomotor or " the automatically controlled radial expansion device of flexible fluid " are made, 52 and 53 effect promptly quite.
Automatic range unit
In above-mentioned stereo imaging system, also can be installed in display screen next door to the half-reflecting mirror before the display screen instead, less completely reflecting mirror, convex mirror preferably, as Figure 59,401 is the convex surface completely reflecting mirror.
Above-mentioned eyeball following device is actually a kind of people's of acquisition eyes optics optical axis intersection point, also is people's the viewpoint of staring at, or is the method for the locus of lime light or sight line point, awareness points.
Display screen in the said system is removed, only keep the eye tracking system, this device has promptly become the pure viewpoint tracking system of staring at.
Remove or do not remove display screen, this system all has the viewpoint of staring at following function, and this function has its purposes widely in various fields.
This system has distance measurement function.
Different with laser ranging and radar range finding, it belongs to the passive ranging device.
The laser range finder of military field extensive use and radar range finding, equal owner's dynamic formula distance measuring methods, measurement target apart from the time, all need to target emission beam of laser or radar wave earlier, this mode when recording the position of target, the position that also very easily sticks one's chin out.
And native system is a passive type, when the distance of test target and speed, does not need to launch any signal to target, only needs operating personnel to have a look to target and gets final product.Its operation principle is:
The people is when the object observing object, and people's two eyeballs and target object have promptly constituted a triangle, as Figure 30, shown in Figure 31:
The A point is a target object, and B is the left eye ball optics optical axis and pupil center crosspoint, and C is the right eye ball optics optical axis and pupil center crosspoint, and X is the angle between the left eye optics optical axis and the two BC point line, and Y is the angle between the right eye optics optical axis and the two BC point line.D is the distance between 2 of B and the C, and perhaps D also may be defined as the distance of two center of rotation.
S, T are respectively the angle between left and right sides eyeball and the aforementioned 0 scale direction, the just deflection angle of right and left eyes, and the S+X=90 degree, X=90 degree-S, i.e. X, Y can be calculated by aforesaid eyeball image recognition trace routine, and the D value is a fixed value, can measure in advance, in a triangle, know a limit and two angles so, according to the trigonometric function theorem can draw L (L be target object to two eye pupil hole lines or center of rotation line, also be the distance that target arrives the observer).
Look when other at aforesaid eyeball image, except that can discerning relatively to the external form of iris, also can discern comparison to the precise image of iris or the capillary network image of eyeball, people's iris and capillary network all have extremely abundant and meticulous structure.Therefore can guarantee the precision of eyeball, thereby guarantee that L has high precision.
Directly use aforesaid " eyeball is followed stereoscopic imaging apparatus ", the described embodiment of Figure 41, Fig. 6, Figure 33, Figure 58, Figure 52 that had both had scene gamma camera and double-display screen also can test the speed and target localization to overlength distance and small items realization precision ranging.Its principle is basic identical, and just D, X, the Y value of the people's eyeball among Figure 30, Figure 31 have become the angle of scene gamma camera optical axial and pivot line respectively.
The benefit that has the scene gamma camera is to be equipped with telephoto lens and microlens to gamma camera, thereby realizes the ranging and range rate to distant place and small items.
When testing the speed, can install affiliated headgear of aforementioned Figure 27 and shoulder, neck angle sniffer additional, to measure the deflection angle that behaviour does personnel's Head and Neck, under two scene gamma cameras and The Cloud Terrace, install a comprehensive The Cloud Terrace that has pitching and left rotation and right rotation simultaneously again additional.Thereby can be implemented in omnidirectional ranging in larger scope.
When testing the speed, operating personnel stare at and look unit interval of target object, measure the distance L 1 and the L2 at target starting point place, and the angle of L1 and L2, can calculate speed and the direction and the orientation of object, realize accurate that locate in the space.
Automatically controlled flexible fluid radial expansion device
The present invention relates to a kind of mechanical device that under signal of telecommunication control, can produce the linear movement acting.
In the acting element that the mankind were invented in the past, as various electromagnetic action devices, various fossil fuel engine, various hydraulic pressure and pneumatic element etc., they all have fixed shape, hard shell, and the muscle of humans and animals all is soft tissues, can't imitated biological tissue with these devices.Efficient is higher, fossil fuel engine and motor that the Unit Weight power output is bigger, and structure is all comparatively complicated again, be difficult to miniaturization, traditional hydraulic pressure and pneumatic element adopt the cylinder type structure more, and cylinder bucket and cylinder arm require the machining accuracy height, defectiveness or wearing and tearing slightly just can produce leakage.
The present invention relates to a kind ofly under signal of telecommunication control, can produce the device of linear movement work done.In the work done original paper that the mankind were invented in the past, as various fossil fuel engines, various electromagnetic action devices, various hydraulic pressure and pneumatic element etc., they all have fixed shape, and the muscle of humans and animals all is soft.Efficient is higher, the fossil fuel engine that the Unit Weight power output is bigger, and motor, and structure is all comparatively complicated again, and the circular motion tooth that transfers linear movement to and all needs again complexity slows down and turns to.Be difficult to miniaturization, traditional hydraulic pressure and pneumatic element adopt gas to lack the formula structure more, lack tube and cylinder arm and require the machining accuracy height defectiveness or wearing and tearing just can produce leakage slightly.
Purpose of the present invention is to make a kind of soft construction profile that has, and the process of protuberance all resembles the device like people and animal muscle, and it is simple in structure simultaneously, is convenient to miniaturization, and can installs in very little space, can be installed on the complicated framework.
The object of the present invention is achieved like this:
Basic structure of the present invention such as Figure 54, Figure 16, Figure 69, shown in Figure 15, by the chamber wall 70 that the material of softness is made, the fluent material 71 of pressurising, more than one electrically-controlled valve 72 and 73 constitutes, chamber wall 70 can be the polyester film, and nylon or polyethylene or rubber-plastics material are made, when not working, device is shown in Figure 69, element is flat, and 73 close 72 and open during work done, and high-pressure fluid is pressed in the cavity, cavity expands, and element produces flexible at direction of principal axis.
Below in conjunction with embodiment, it is elaborated, implement 1 for example Figure 70, Figure 17, shown in Figure 42ly promptly radially mount the reinforcement shin at wall upper edge, chamber axle, strengthening shin can be higher with the nylon yarn equal strength, magnification is little, be that the bigger material of coefficient of elasticity is made, simultaneously wrinkle are laterally arranged at the chamber wall, during the element work done of making like this, fill into that high-pressure fluid back cavity wall radially can not extend, and just along lateral expansion, element will axially shrink, work done finishes and closes influent stream valve 72, opens negative pressure valve 73, and element promptly extends reinstatement.Embodiment 2 provides the component structure that uses elastomeric material to make the chamber wall as Figure 35, the chamber wall uses rubber to make, and the chamber wall is added with netted shin bar, and 74 for radially, 75 make for laterally being magnification materials with smaller such as nylon yarn, and horizontal shin bar is prefabricated into bending when cavity does not expand.
Embodiment 3 Figure 19 have provided another kind of structure.74 for radially shin bar it has still used as implementing the network structure shown in the illustration 35, but the cavity in shin bar net is spherical or ellipsoid shape structure, promptly 84 parts are empty, fluid only enters in the cavity 77 of sphere or elliposoidal and makes its expansion during the pressurising work done, element is shortened at direction of principal axis, and its advantage is to compare it to dwindle liquid that identical distance need charge into still less with embodiment 1 or 2 at direction of principal axis.Among the embodiment cavity adopted oval column, and wall axially is fixed with reinforcement 78 within it, its cross section can be circle, also can be made into folding crape shape, it is compared with preceding several embodiment, needs the more fluid of small size when the pressurising work done, and the reinforcement 78 in its chamber is in the process of pressurising, cavity can't axially be expanded, and can only expand along horizontal direction with axle.
Figure 19 has provided complete component structure figure, at Figure 19, among Figure 74,74 are reinforcement radially, 77 is oval column cavity, it is made by the material of tough and tensile slyness to comprise the chamber wall, can use polyester or rubber-plastics material, 80 is zone of heating, and it can be made by netted heating wire or fluid heating net, use the liquid heating net at this, 81 the pipes that enter and exit for zone of heating, 82 is heat-insulation layer, can use foamed plastic, artificial fat layer or other soft macromolecular material are made, 84 is lubricating material, has used low viscous lubricating oil at this, all is filled with lubricating fluid between each cavity and each layer, in this filling is low viscous lubricating oil, 83 is temperature sensor, and 85 is pressure sensor, and the operation principle of this element is identical with aforementioned components.The zone of heating that is had, heat-insulation layer temperature sensor and temperature control system have been constructed an isoperibol to artificial muscle, temperature is arranged between 36 degree-37 degree promptly identical with human body temperature consistently, and certainly as when being used in Bird robot or other animal, the body temperature with them that also can set is identical.Keep stationary temperature, a lot of benefits is arranged, when at first it is used for the anthropomorphic robot, can simulate the temperature of human body, make it more as true man, moreover, keep stationary temperature, can make the fluid of its use keep the constant viscosity and the compressed coefficient, be convenient to control accurately, 86 is the center delivery line among the figure, at this two ends while influent stream body, go out the embodiment of fluid simultaneously, its each end electrically-controlled valve all is connected to the positive/negative pressure pipe, and when need pressurising work done, two electrically-controlled valve are beaten simultaneously to forward voltage diode, it also is high-voltage tube, high-pressure spray is injected at a high speed simultaneously from the two ends of element, collides at mozzle 86 centers, and sprays from the mozzle sidewall, avoid jet to fling the damage that the element sidewall causes, and influenced the shortcoming of its performance.Work done finishes when recovering, and two electrically-controlled valve are beaten simultaneously to the negative pressure pipe, closes and being connected of forward voltage diode, and fluid is by export element.Use two ends to advance the pattern that goes out simultaneously simultaneously, increased the flow of unit interval, reduced the time of component shrinkage unit distance, make the element reaction sensitive more, it is superfine that the element inner chamber is designed to both sides simultaneously, broad in the middle, be added with the filling chamber at the element two ends, the required fluid volume of component shrinkage unit volume is greatly reduced, also increased the sensitivity of element, be added with simultaneously and fill the chamber, another advantage is when being drained in the pressurising chamber, artificial muscle also has certain volume and hardness, and the soft chamber wall of multilayer also can make it increase pliability, makes it resemble biological muscles more.Pod apertures 87 on the mozzle 86 of this element of pressurising, the aperture, two ends is little relatively, and the hole is also rare, becomes big between pursue in the hole when the center, also becomes aperture, close center maximum and also measures close.88a is two-way electrically-controlled valve, and 89a is a forward voltage diode, and 89b is the negative pressure pipe, and 88b is high-intensity holder.
The anthropomorphic robot
The present invention relates to the robot field, the novel purpose of this use is to produce outward appearance, vision, and behavioral characteristic all resembles human or animal's robot fully.The mankind are the robot of manufacturing in the past, adopts the driver and the mechanical device of fixed shape mostly, and appearance is stiff.The object of the present invention is achieved like this: with high-intensity solid material, to make shape be the outer shape bone the same with real people at least, the material of making can be a metal material, as magnesium, lithium, aluminium alloy, also can be engineering plastics.Composites such as carbon fibre reinforced plastic also can use engineering ceramic material etc. to make.Bone is made into hollow under the situation of intensity permission, in bones and the cavity that rigid shell is arranged that constitutes by bone, comprise the cranium encephalocoele, in thoracic cavity and the pelvic cavity, installation dimension is harder, equipment such as microcomputer that fixing profile is arranged, hydraulic press, battery circuit plate, hydraulic line, holding wire etc., adhering to the artificial muscle sarcocyte in bone framework outside, can be aforesaid " flexible electronic control fluid radial expansion element ", also can be the false muscle that only molding work done in the manner of a certain author is used, be soft packed layer outside muscle layer, outermost layer is the artificial skin layer.Anthropomorphic robot's eyes have used aforesaid eyeball to follow the synthetic eye of stereo imaging system.Anthropomorphic robot's electric control system is identical with aforesaid ROBOT CONTROL system.The various liquid that use in anthropomorphic robot's body, as lubricious liquid, pressurising liquid etc., situation the most true to nature has been dyed the redness as blood, and the pressurising fluid that anthropomorphic robot's artificial muscle uses preferably uses fluent material.Below in conjunction with accompanying drawing, the present invention will be described in detail.
Among anthropomorphic robot Figure 73, provided anthropomorphic robot's artificial skin structure.95 is the hair layer, the simulation human or animal's who makes by macromolecular material hair, and 90 is the top layer, and 91 is uvea, and 92 is sensor layer, and 93 is strengthening layer, 94 is the body temperature simulation layer.90 can use soft translucent macromolecular materials such as rubber or poly-polypeptide to make, decorative pattern is carved with on its surface, decorative pattern can be the natural grain of simulating human body or each position of animal fully, also can be the decorative pattern of redesign, is the skin table line of human design as Fig. 8-1.96 is recessed, and 97 is rill, in this design, no matter recessed and rill employing Any shape, single recessed Breadth Maximum is below 0.5 millimeter, is preferably between the 0.2-0.01, and the artificial skin of making like this will show the most beautiful gloss and good feel.91 uveas, can use macromolecular materials such as rubber, poly-polypeptide, plastic cement to make, within it according to each ethnic group of simulation, the various animal colours of skin are added pigment and are made, the material of this layer use simultaneously has elasticity preferably, with elasticity and the soft feeling that simulates skin.92 is sensor layer, temperature sensor and the pressure sensor arranged for dot matrix in it.93 is strengthening layer, and by high-intensity carbon fiber film, materials such as nylon film are made.Orlop is the temperature simulation layer, can use the heating wire of netted arrangement, or hot liquid is formed.Between each functional layer of present embodiment, can merge, be merged into five layers by six layers, four layers even one deck, promptly layer with layer between not necessarily obvious limit to be arranged, but the artificial skin with above-mentioned 6 kinds of functional layers will simulate anthropomorphic robot's skin the most true to nature.
The network remote maintaining robot
The present invention relates to the long-distance service robot field.
Human knowledge and technology process accumulation in several thousand, by it is nearly 200 years develop rapidly, arrived extremely immense degree, the various device of people's manufacturing, the various engineerings of building, extremely accurate complicated, and much also all be that multidisciplinary cross-synthesis forms, any one single individual is difficult to all understand grasp, and a lot of product has only in a certain respect expert or designer could keep in repair grasp especially.Maintenance in the past or attended operation all must be in the action by expert or designer and just can carry out, along with being carried out of economic globalization, many products are sold to the whole world, be separated by ten thousand li therebetween, give the maintenance maintenance and the after-sales service work of product, brought huge difficulty.The objective of the invention is to produce and a kind ofly can carry out the remote maintenance Operating Guideline, even directly carry out the robot of operated from a distance maintenance by the expert by network.
The object of the present invention is achieved like this, on the The Cloud Terrace that can realize rotating up and down, a gamma camera is installed, on the gamma camera next door laser generator is installed, use as indicator, laser generator sends visible pack laser, the direction of the visible laser bundle irradiation that it sends in the visual field of gamma camera, is preferably in the center in the gamma camera visual field.Next door at gamma camera also is equipped with illuminating lamp, illuminating lamp and laser designator all are installed on the The Cloud Terrace with gamma camera, and can rotate up and down with The Cloud Terrace, language system also is installed on The Cloud Terrace, Mike and audio amplifier are promptly arranged, all these systems all are connected on the field computer, and field computer is connected with the computer at far-end advanced techniques personnel place by wireless and wired Internet.The advanced techniques personnel needn't be close again to on-the-spot during work, only needs by far-end computer the use remote control software, can see field condition, and, need to point out the parts of maintain and replace for on-the-spot those of ordinary skill by laser designator, exchange by voice system.The computer of this system and control system network delivery system can use identical technical scheme per capita with the machine of aforementioned other pattern.
The laser designator of being installed aforesaid general-purpose machinery head part promptly has this kind function.Aforesaid all-purpose robot promptly can be used as the network remote arch maintenance robot and uses.
Two infrared laser eyeballs are followed consciousness by key control system.
Utilize in aforesaid " eyeball is followed three-dimensional imaging and range-measurement system "
The lime light system for tracking also can be made into " two infrared laser eyeballs are followed consciousness by key control system ".Fig. 9, Figure 10 and Figure 76 and Figure 72, Figure 36 have provided this system architecture respectively.
This system by 1, eyeball recognition and tracking system; 2, laser scanning indication mechanism; 3, carry out activation system; 4, affirmation system forms.
Among Fig. 9 and Figure 10,59 is the eye tracking gamma camera, and 109 is completely reflecting mirror, all identical with aforesaid all systems with eyeball system for tracking among Figure 10 at Fig. 9, can use the band screen or not with the mode of screen.110 are laser generation and scanning means.
Figure 76 has provided the structure that activates executing agency, and 113 is photoreceiver, can be luminous point receiving elements such as photosensitive tube, photo resistance, photocell, and its effect is the modulating lasering beam of perception laser scanning device emission.116 for receiving identification circuit, is used to discern the identification signal that modulating lasering beam had that light-sensitive element receives, and 117 for carrying out drive circuit, can be electric-controlled switch (as relay, triode, controllable silicon, driver module etc.).114 for carrying out indicator lamp, and housing can be green.115 for activating indicator lamp.
Figure 72 has provided the structure of laser scanning location device.118 are laser generation and modulation module.119 are the identification modulation signal generator.120 is the scan deflection mirror.121 is the pitch rotation drive unit.122 for horizontally rotating drive unit.123 is transparent ball cover, can use light transmissive materials such as glass, lucite, pottery to make.
Figure 36 has provided the structure of confirming mechanism.124 is the thumb shortcut, and as ACK button, 125 is the shortcut of other finger, all can be used as ACK button.ACK button is definite device of a fixed position, can be hand by or pin step on switch or speech recognition equipment etc. and all can.Also can use the shortcut on the palm shape controller in the mechanical arm described in the general-purpose control system.Said system can be installed when forming complex control system with the robot general-purpose control system.
Operation principle:
This system can with the associating of push-button control system or other manual control system, or use as control system independently separately.To carry out activation system and be installed in button Face, when as autonomous control system, can be installed in the optional position.Use or use separately no matter unite, the installation site is preferably in the visual place in one's power of operating personnel.
When work, operating personnel stare at and look button, and independent execution active device, the eyeball system for tracking is looked not and is calculated oculogyral position and calculate angle, and calculate the position of visual point by computer, and control laser scanning indication mechanism meets at visual some intersection with two bundle laser, just carry out the light-sensitive element place of active device, the two bundle laser that laser scanning device sends, each has different identification signals through the modulating device modulation every bundle, modulation signal can be that analog signal also can be a data signal, every band has different identification signals, have lastingly 10101001 as a branch of, another band has 10101111 also different simulation identification signal or the pulses of frequency.Light-sensitive unit is passed to identification executive circuit module with the signal that receives, and identifies two signs and looks level signal.When two signals are received simultaneously, discern the executive circuit module and send an execution signal to Executive Module, light the activation indicator lamp.Executive Module is in SBR simultaneously, and operating personnel press and confirm the shortcut button after seeing that the activation indicator lamp is bright, and switch is carried out in the Executive Module connection, starts executing agency such as relay, motor etc.
The pluses and minuses of this system and conventional button switching system compare:
This system almost can be used for all occasions that need personnel to operate.
Traditional press button system such as aircraft cockpit, large scale system operating desk etc. often structure are very complicated, and a lot of console switch and button are arranged above.During operation, operating personnel need stretch out one's hand and connect down different buttons, and service speed is very slow, and when aircraft quickened or transship, operation became very difficult.The operating desk of large scale system, personnel need walk up and down and can reach different buttons.In general operation teach programming system of aforesaid robot, operating personnel's both hands have sensor, are in training data control or remote state sometimes, and both hands are occupied, and action button very difficulty maybe can not be operated.Native system is installed can be addressed the above problem easily.Operating personnel only need have a look button or carry out the light-sensitive element of activation system, can select the button or the system that will control.And can set the selected a plurality of buttons of pan simultaneously.Press same button in same position, can open or close the system that this button is controlled at same position.Operation is become be very easy to easily with quick.
In native system, also can use the beam of laser deexcitation to carry out activation system, but beam of laser activates and can only use in unreflected environment, otherwise laser will lose direction and control in various body surfaces reflections.Cause maloperation easily.So preferably use the above laser beam of two bundles, and each Shu Jiguang has different identification codes.Have only two bundle laser intersections ability activation systems.Laser preferably uses the more weak infrared laser that human eye is not had injury.Laser scanning device also can be installed in any position in operating personnel's head or space, but it must or directly take to be rigidly connected with the position relative fixed of eyeball following device, as relative motion then their relative position must be able to be detected and know.
Spatial consciousness stream mouse
This eyeball system for tracking also can be made into spatial consciousness stream mouse.
This utility model can adopt following four kinds of modes to realize
1, spatial model coordinate mode.
2, screen and button image recognition mode completely mount dress or produce the identification light belt at screen, and recognition image is installed on button.
3, laser indication RM.
4, the wear-type recognition device is fixedlyed connected with screen.
1, spatial model coordinate mode
This system can also utilize sterically defined mode to obtain the activation and the control of button and actuating unit.And can be used as the control device of the sight line mouse beacon (stream of consciousness mouse) of computer or other device display screen.
The purpose of this utility model is achieved in that
Use a sight line sniffer module that can obtain eyeball locus and space angle, as described above the described control seat of all-purpose robot control device and the helmet.Sight tracking device is installed, just eyeball recognition and tracking device as Figure 27 and on the helmet.In same operating space, " push-botton operation execution activation system " and computer display and various instrument display screen.Just there have been fixing position or fixing eyeball to rotate corresponding angles, be that eyeball (or sight line) rotates or each angle of watching attentively just can be corresponding to a stationary device, button operation is carried out the locus angle coordinate value of activation system or display screen and is imported computer in advance, can realize to the button actuating unit look not Ji Huo and to the control of onscreen cursor.
Can use the simplification device shown in Figure 14 or Figure 53 in actual applications, 140 is " wear-type eyeball rotation detecting device " in Figure 14, it still adopts eyeball to follow gamma camera, and measure oculogyral angle and speed through the mode of image comparison, 142 is holder, be fixed on the display screen, 141 for having the rigidity connecting rod of a plurality of turning cylinders, it couples together " wear-type eyeball rotation detecting device " and holder, each turning cylinder place 141 all is equipped with angular transducer, to measure the position of axle, 143 is shortcut and affirmation handle.
2, screen and button image recognition mode completely mount or produce the identification light belt at screen, and recognition image is installed on button.
The purpose of this utility model image recognition software that can also use a computer carries out the space coordinates location of button screen, the space coordinates of coming ACK button or executive control system or screen in conjunction with " eyeball rotates and discerns the sight line system for tracking ".The image recognition mode can be taked following several structure again:
1, visual scene Recognition gamma camera adopts to fix and presses the dress mode, and promptly gamma camera is fixed on operating personnel's head, does not only rotate with eyeball with operating personnel's head rotation, and this kind mode can be stared at the position of viewpoint in conjunction with the laser indication, also can not need.
2, visual scene Recognition gamma camera adopts and follows scan mode.Be that visual scene Recognition gamma camera adopts and follows the eyeball scan mode, also promptly that is to say that at the visual field of visual scene Recognition gamma camera central point eyes stare at viewpoint.
3, install the feature identification code on the thing additional being identified, be that image recognition software only needs the recognition feature image as bar code, and no longer need to discern the concrete feature of each element, this mode will help to significantly reduce the operand of software, help improving reaction speed, and reduce cost.
4, be added with the identification laser facula of following sight line, but identification software still needs recognition screen edge coordinate, button or active device.
(1) visual scene Recognition gamma camera adopts the fixing dress mode embodiment that presses
In this mode, scene Recognition gamma camera and eyeball identification following device adopts the locus to fixedly connected mode, optimum position such as Figure 45 and shown in Figure 46,420 is the scene gamma camera, be fixed on two centre positions, its visual field is identical with people's the visual field or big slightly, best position is the center at two lines, the visual field center of such two prestiges at eye level forwards the time, 0 coordinate position that also is eyeball recognition and tracking system overlaps with the center, the visual field of scene gamma camera, object with identical with scene gamma camera location in space (both optics visual field central axis), has significantly reduced the software operand to angle, two eyeball locus (i.e. two eyeballs synthesized sight line) so.
Its operation principle is as follows:
During work, the scene gamma camera takes the object image in operating personnel's the visual field, and the image recognition computer is given in passback, identify each object by the image recognition computer, as the residing position of the light-sensitive element image of " actuator-activated device ", have button image, display screen of actuator-activated device etc.As then identifying the original position space coordinates that frame is the reading scan line for display screen.Obtain two space coordinates of staring at viewpoint of operating personnel by the eye tracking recognition device, with this coordinate figure and the comparison of above-mentioned target object position coordinates, can drawing operating personnel, what object stares at what look be, or stare at look be screen where.
Technology summary: this scheme has adopted fixing gamma camera photographed scene, and by the image recognition computer look do not go out object comprise which kind of object, locus coordinate, then with eye tracking look other operating personnel space that system draws stare at viewpoint position coordinates relatively, can draw operating personnel and look what object staring at, or screen where, thereby reach activator button operating system or activate executing agency in conjunction with aforesaid operating system, or handle the purpose of screen mouse.
These scheme characteristics: this scheme is compared with other scheme of the present invention, and simple in structure, easy to operate, it is few that operating personnel wear object, but shortcoming is that its object scene identification computer software operand is very big.
(2), visual scene Recognition gamma camera adopts and follows scan mode embodiment
This scheme adopts the scene gamma camera to follow operating personnel and stares at the way that viewpoint is rotated, and installs a The Cloud Terrace that can drive about gamma camera and rotate up and down on the scene gamma camera in Figure 45 and Figure 46 additional.During work, at first look and do not go out oculogyral angle and speed by " eye tracking is looked other system ", pass to the control computer then, drive gamma camera by control system control The Cloud Terrace and rotate identical angle with same speed, the control mode and the structure of its controlling organization and aforesaid " double eyeball is followed stereo imaging system " are basic identical, difference is that " double eyeball is followed stereo imaging system " is two scene gamma cameras of control, at this is scene gamma camera of control, sight line among the embodiment is meant the center line of two eyeball sight line lines, shown in figure 32,155 is operating personnel's left eye sight line in the figure, 156 is the right eye sight line, and 157 is the also promptly synthetic sight line of center line of two sight line lines.The scene gamma camera can be installed on the line 157 of two an eye line, on promptly synthetic sight line 157 basic points, also can be placed on head, as Figure 25 and shown in Figure 26.Among Figure 25 and 26,158 for being installed in the scene gamma camera of operating personnel's head, and 421 is The Cloud Terrace.
This mode and aforementioned manner operation principle and pluses and minuses are basic identical, and difference is that its scene gamma camera central point overlaps with the sight line central point, can significantly reduce software complexity and operand.
(3), (4) are adopted visual scene Recognition gamma camera but are looked being identified to install the feature identification code on the thing additional and be added with to follow
The identification laser facula mode of line
In the present embodiment, in order to increase the speed of object identification, reduce the operand of software, can increase the feature identification marking on object, it can be the bar chart sign indicating number, or the infraluminescence sign indicating number of feature.In Figure 62, provided a kind of embodiment that uses infrared laser pipe emission characteristic identification code.In Figure 62,161 for being fixed on four semiconductor laser transmitting tubes on four angles of screen, and the infrared laser that sends has narrow frequency range, laser is dispersion shape through the expansion bundle and outwards launches, it promptly is not pencil, four luminous tubes can be with not having the no feature identification of modulation frequently, also can be added with feature and look other sign indicating number, also can using other single-frequency light source certainly at this light source.
The scene gamma camera front end that is fixed on two center positions in embodiment (1) among Figure 45 and 46 is placed with narrow band pass filter, promptly only allow the light of infrared laser transmitting tube see through and enter the scene gamma camera, because though the infrared laser that LASER Discharge Tube sends is through expanding bundle, intensity at the space any point is significantly less than the fault limit value that human eye is damaged, but in its luminous very narrow frequency range, its intensity still is far longer than the surrounding environment light intensity.In the image that the scene gamma camera that narrow band pass filter is installed is clapped, be to have only four identification hot spots on the black background, computer only need identify the space coordinates of these four luminous points, the operating personnel's two-wire that identifies with " eye tracking recognition system " position of staring at viewpoint compares then, can draw operating personnel stare at viewpoint on screen screen coordinate value, thereby reach purpose of the present invention.
In this embodiment, can also cancel above-mentioned laser hole drilling illuminator, look distinguishing label and four bar codes are installed in the position of four luminous points, narrow band pass filter before the cancellation scene gamma camera, the scene gamma camera is only discerned four feature bar-code identification labels when identification, also can reduce the operand of software greatly.
In the above-described embodiments, can also add on the viewpoint that laser identification hot spot and laser sight line follow scanning system staring at, use " the laser sight line is followed scanning system " in aforesaid " Touchless manipulation system " to get final product, on the image that the scene gamma camera is clapped, five identification points will be arranged like this, only need to discern and calculate the position and the relative coordinate of these five points, can learn and stare at the position of viewpoint on screen.
3. stream of consciousness mouse (laser finger-length measurement)
Purpose of the present invention can also use following mode to realize, on operating personnel's head, wear and " two infrared laser eyeballs are followed consciousness by strong control system " identical eyeball recognition and tracking system and laser scanning indication mechanism, laser can be single bundle or two-beam, be preferably two-beam, can be frequently also can be together frequently different, require preferably to adopt difference frequently under the high anti-interference environment.
Operation principle:
Produce radiation transistion after utilizing material to absorb laser, thereby change the laser of orientation the optical signal of all directions into, thereby by horizontal detector perception, thereby know the laser facula position of sight line just.
Structure:
A laser acquisition screen is installed before display screen, and its effect is to measure to drop on the position of following on the display screen and marking the laser facula of operating personnel's sight line point, and it can use a lot of methods to make: 1, transparent photosensitive probe method; 2, scattering, diffraction approach; 3, radiation transistion method (radiation transistion).
Figure 49, Figure 48 have provided the detailed structure of the screen of fluorescence excitation method.126 is photosensitive surveying tape, 127 is steering tape, 128 are detection fluorescence excitation district, center, and 129 is guide rod, and 130 is the outer absorbed layer of guide rod, 131 is photosensitive receiving element, 132 for first being with optical filter, 128 film like structures of making for transparent optical material, be mixed with fluorescent material in it or itself be excited after also can send fluorescence, for not influencing the display quality of former screen, 128 are preferably water white.
Optical maser wavelength requires to be preferably in the absorption band of fluorescent material, and ideal situation is to overlap with absworption peak.The fluorescent radiation spectrum of fluorescent material is compared with absorption band, and best-case is not overlap, and tangible red shift, such advantage are arranged is effectively to reduce RESONANCE ABSORPTION, fully increases the transmitance of fluorescence.The distribution of fluorescent material in screen can be even distribution also can as Figure 50 shown in Figure 22 being in staggered distribution with sheet, Figure 22 be the cross-sectional view of screen, the advantage that is in staggered distribution is still and reduces absorption, the increase transmitance.Figure 50 is the plane, and 133 is the picture element on the former screen, and 431 is the fluorescence particle.The level structure of fluorescent material, ideal situation are as shown in figure 21.Use has the material of above-mentioned two kinds of level structures, all can obtain very desirable efficient and low RESONANCE ABSORPTION rate, when choosing fluorescent material, should require it that short as far as possible fluorescence lifetime is arranged, when laser streaks at a high speed, just can not produce the hot spot conditions of streaking like this on screen.Can increase simultaneously the frequency of Laser Modulation identification pulse.
Figure 49 and Figure 48, Figure 51 have provided the detailed structure of steering tape, 129 make for bar-shaped transparent optical material, its cross section can be circle or polygon, rectangle preferably, it also can be a cavity, its outside is the veiling glare absorbed layer of dark color or black, and its end connects with the detection screen, and the other end is connected with light-sensitive element.It is divided into the exploring laser light hot spot again, and the row of the horizontal X-axis coordinate of institute's excited fluorescent point are surveyed the row of leading necktie and surveying the Y-axis coordinate and surveyed steering tape.Row is surveyed the optic axis of steering tape, the dead in line of the delegation's scanning element that should survey with it.Row are surveyed the optic axis of steering tape, the row pixel that should survey with it be connected dead in line.Its effect is, only allows laser with delegation or same row, and the light of the phosphor dot that inspires passes through, and arrives photosensitive detecting element.And the light of the phosphor dot of the position of bigger other row or column of incidence angle can not arrive, and in the time of on being mapped to sidewall, all is absorbed.Steering tape guide rod wherein is above-mentioned directly bar-shaped except making, also can make the bending shown in Figure 34 and Figure 65, and make one and be bent upwards one and be bent downwardly alternately and arrange, perhaps make one and be bent upwards, a straight rod, reclinate three bifurcation structures.Perhaps making two is bent upwards but the angle of bend difference, a straight rod, two are bent downwardly but different five bifurcateds or the more bifurcation structures of angle of bend, even directly make the unlimited bifurcation structure that adopts optical fiber to make, adopt many bifurcation structures compared with the straight bar structure shown in Figure 48 Figure 49, Figure 51, littler to the light-sensitive element width requirement, allow to use the light-sensitive element of bigger width, thereby can effectively reduce cost and manufacture difficulty.No matter use many bifurcation structures and optical fiber, the absorber portion 136 and the lead segment 137 of linearity all need be arranged, the angle of lead segment bending should guarantee along the light that is parallel to uptake zone optic axis direction incident, can reflection take place and arrive light-sensitive element at the lead segment wall.Be preferably less than the angle of total reflection.138 is optical medium, and it is different with lead segment center optical navigation section outsourcing medium refraction coefficient, so that light is instead given birth to total reflection at intersection.
The operation principle of fluorescence excitation method is:
Fluorescence excitation is surveyed the front that screen is installed in former display screen.And through calibration, the unit's point that makes fluorescence excitation survey the screen upper left corner overlaps with the display screen upper left corner, and row and column overlaps with the row and column of display screen.
During work, when operating personnel stare at when looking certain is some on the display screen, eyeball is followed gamma camera and is taken the oculogyral image of operating personnel, and pass to computer, by computer through relatively calculating oculogyral angle and speed, and drive double laser beam along with sight line moves through driver module, and be radiated at simultaneously and stare on the viewpoint, just be radiated at simultaneously and survey on the screen, because optical maser wavelength is identical with the fluorescent material absorption spectrum, thereby the fluorescence excitation material gives off fluorescence, owing to have only and be excited luminously by the fluorescent material of laser excitation position, simultaneously laser is pack laser.Therefore, it just is a phosphor dot that sight line is watched the place attentively, have only with phosphor dot can receive fluorescence with the light-sensitive element of delegation and same row, so phosphor dot is also promptly stared at viewpoint or is the sight line point, coordinate position on screen is promptly determined by unique, this coordinate figure is passed to the computer that display screen connects.On screen, produce a cursor and change and move, can realize the function of sight line mouse beacon with the sight line point coordinates.Certainly it also can use aforementioned " two infrared laser eyeballs are followed consciousness by strong control system " described affirmation control system and quick strong operating means.
Before aforesaid steering tape or light-sensitive element, first be with optical filter for improving anti-interference of stray light ability, can also adding.
It is identical with wavelength of fluorescence that optical filter sees through peak value, promptly only allows useful detection fluorescence see through, and do not allow other the light of wavelength see through.Certainly survey screen and also can use scattering method manufacturing, change the phosphor dot among Figure 22 and Figure 50 into little scattering particles, as air bubble or little multiaspect crystal grain, directly the laser with double laser beam reflexes to light-sensitive element.Also can be made into and survey screen and arrive aforementioned purpose.
Use aforesaid " two infrared laser eyeballs are followed consciousness by strong control system " and " eyeball is followed mouse " can form complete contactless control system together, can be fully by the convenient and swift control of sight line realization to button or operating system and screen cursor.The Comprehensive Control programing system platform that can form complete wired, packet radio includes network robot again in conjunction with aforesaid " trailing type remote control and teach programming control system ".
Monitoring formula mode of operation
Various robots described in the present invention, for be adapted to multitask, small lot or single in batches multitask and random environment in the time.Can use monitoring formula mode of operation solution, particularly all-purpose robot and anthropomorphic robot.
Its basic structure is made of three parts: 1. on-the-spot robot; 2. transmission system module; 3. monitoring formula is controlled the teach programming system.
1. on-the-spot robot refers to have on the structure executing agency such as various mechanical arm, has the computer that can carry out the logical program computing, has the software of executable program control, comprises carrying out intelligent decision identification even artificial intelligence software that can anthropomorphic thinking.2. transmission system can be used following several mode;＜1〉the direct connected mode of the simplest holding wire is as Fig. 5;＜2〉can use the wireless data transmission module transmission means, as Figure 18;＜3〉it is wireless can using robotic end, carries out the global radio transmission manner by the internet, as Fig. 8;＜4〉can use global Satellite Communication System to carry out transfer of data.
150 is on-the-spot robot among the above-mentioned figure, 151 are the wire transmission module, 153 is on-the-spot robotic end wireless transport module, 154 are monitoring operation control end wireless transport module, 433 is the wireless network data transport module, 434 is the internet interface module, and 156 is the internet, and 157 are the monitoring operation control system.
In aforesaid various robots, anthropomorphic robot and all-purpose robot preferably use back three kinds of transmission modes.Monitoring formula operation control system can be used aforesaid general operation platform.In monitoring formula operation control model solution, can use 1 pair 1 monitoring formula operation control model, also can use cluster packet type monitoring control model.In Figure 77, provided the block diagram of this kind mode of operation.
Many robots in a zone are divided into one group.Hexagon among the figure is the zone that a group is comprised, and its scope depends on the scope that emergency work Che Suoneng arrives rapidly, can be wide several kilometers scope as domestic robot.In the drawings, 158 is robot, and 159 are emergency operation control maintenance car.The robot of work on the spot has two cover wireless system for transmitting data, and one overlaps as shown in Figure 8, promptly uses the low-power wireless digital transmission module, is connected to the internet, realizes that by the internet remote transmission is connected to the monitoring operational control center.Among Figure 77, be the monitoring operational control center of a standard in 160 scopes, 161 is the command scheduling center, and its effect is that different work groups is assigned and switches in the monitoring operation of robot.At the monitoring operational control center, monitoring is controlled personnel and is grouped preparation by its technical ability speciality, controls in the group as the monitoring of domestic robot, can enroll cook, gardener, nurse, preschool teacher's school, translation and common staff on demand.In Figure 77, be a work group in 162 scopes, by a group leader to every hyte person's allocating task, 163 are group leader, and 164 is the group member, controls the center in monitoring, the different robot that the monitoring personnel control according to monitoring uses different operation control platforms, robot for the non-biped walking of using single armed or both arms can use aforesaid general controls platform, band data acquisition arm.To waiting the robot of biped walking with resembling the anthropomorphic robot, then need use the complete all-around exercises joint data collecting system that has both legs, both resembled the data acquisition feedback clothes that the biped running gear uses.The anthropomorphic robot also need have " double eyeball motion tracking system ".All monitoring control system robots are preferably with " double eyeball 3 d display device " and reach " the contactless key control system of pressing ".
The basic principle of monitoring formula mode of operation is as follows:
Robot itself carries from body computer and has gamma camera and various sensor, and various software programs can be installed, but comprises that the driven machine people carries out the artificial intelligence program of autonomic activities.During work, when robot carries out normal running, as the non-autonomous robot of unartificial intelligence, carry out repetitive operation, or the artificial intelligence autonomous robot is pressed normal procedure when operation, robot is returned to the monitoring operating personnel with on-the-spot image and sensor signal, and monitoring operating personnel and nonintervention just monitor; When cluster is worked, monitoring personnel can guard many robots simultaneously, generally be responsible for by group leader, simultaneously with the process of robot program operation, at least the conclusion that is the program operation is in decipherable mode, be returned to the monitoring operating personnel, especially more will be with robot " process and the result of thinking pass back " for the artificial intelligence autonomous robot, in case robot working procedure appearance mistake or required finishing of task exceed the ability of program, can control personnel by monitoring directly controls it and finishes the work, this kind mode of operation has solved the work of multitask complex environment well, thinks deeply the problem that erroneous results causes serious consequence thereby reach the artificial intelligence program.This kind working method makes controls robot and the programing work of robot is all finished by the control personnel that were subjected to professional training, thereby site operation personnel's technical ability is required to reduce to zero.Greatly facilitate on-the-spot user of service.As when being applied to family expenses, owner only needs with language, literal, and modes such as figure, the task that robot need be finished is assigned to the monitoring control staff and is got final product.

Claims (5)

1, a kind of bio-robot is characterized in that adopting sensor collection people or biological biological activity information to control.
2,, it is characterized in that adopting each joint motion information of angular transducer collection people, the motion in each joint of control robot according to claims 1 described bio-robot.
3, according to claims 1 described bio-robot, it is characterized in that adopting the figure harvester, obtain the oculomotor device of people.
4, according to claims 2 described bio-robots, it is characterized in that on mechanical arm, being equipped with welding gun and magnetic field collating unit.
5, according to claims 3 described bio-robots, it is characterized in that utilizing gamma camera collection people eyeball movable information, remove to control the scene gamma camera, and with the scene gamma camera clap image be presented on the display screen at right and left eyes place the three-dimensional stereo display device of making respectively.
CN 200410010180 2004-04-02 2004-04-02 Biological information follow-up instant-teaching control robot Pending CN1676286A (en)

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CN107255969A (en) * 2017-06-28 2017-10-17 重庆柚瓣家科技有限公司 Endowment robot supervisory systems
CN107329445A (en) * 2017-06-28 2017-11-07 重庆柚瓣家科技有限公司 The method of robot behavior criterion intelligent supervision
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