CN200945613Y - Intelligent vision robot - Google Patents
Intelligent vision robot Download PDFInfo
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- CN200945613Y CN200945613Y CN 200620040592 CN200620040592U CN200945613Y CN 200945613 Y CN200945613 Y CN 200945613Y CN 200620040592 CN200620040592 CN 200620040592 CN 200620040592 U CN200620040592 U CN 200620040592U CN 200945613 Y CN200945613 Y CN 200945613Y
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Abstract
An intelligent vision robot has the main body of the upper part of the body built by Lego modules and comprises a visual module, a leading module, a microcomputer processor group module, a running module, a left and right hands module, a drive electrical motor and an accumulator etc., wherein, the head visual module consists of two cameras connected with a microcomputer processing module; the microcomputer processor group module comprises a left hand controller, a right hand controller, a base and a head controller; the left and right hands module consists of a shoulder, a cantilever and a jaw clamp type palm; the running module is arranged on a mobile mechanism consisting of a left and right drive wheels and a front and back steering wheels. The intelligent vision robot can replace all repeated simple labor of worker in workshop of poor environment, thereby reducing labor intensity of worker and eliminating the harm to staff health caused by environmental pollution.
Description
Technical field
The utility model relates to a kind of robot, refers in particular to the robot that has intelligent vision, finishes walking, carrying object at particular space.
Background technology
In the social practice of school organization's Factory Tours, we find that the workshop noise pollution of some factories is quite serious, and the workman is easy to generate and is weary of sense in the long-term duplication of labour, not only production efficiency is influenced, and certainly will influence workman's physical and mental health in the course of time.As a hobby person of robot, just germinated use " intelligent vision robot " and substituted under the noise circumstance, the idea of existing workman's repetitive operation action.
The workshop noise pollution is serious, is in for a long time in this kind environment, can make labourer's intelligence be subjected to major injury; Simple duplication of labour meeting makes people's thinking become stiff, and production efficiency is reduced; There is quite strict restriction the artificial work time, works in three shifts although use, and does not also meet people's physiological law.Therefore, this problem is a very real problem, addresses this problem to say to have considerable practical significance.
At home in the Qu Zhikeshuo more advanced enterprise, brought into use mechanical arm to replace hand labor, but, the use of this mechanical arm, only be to replace human having finished to exceed the task that human arm distance and strength can be finished, and considerable mechanical arm only is human a kind of instrument of being handled, does not have proper intelligence.
The utility model content
The purpose of this utility model: be intended to propose a kind of robot that simple Visual intelligent is judged that has, replace the mankind to carry out the duplications of labour such as certain simple judgement, carrying, the injury that can avoid noise pollution that labourer's intelligence is brought, and can carry out for a long time simple duplication of labour, guarantee the efficient of work, the extend labour time.
The robot that this Visual intelligent is judged, be built into the upper body main body of robot with happy high module, by vision module 2, leader's module 4 micro processor group modules 5, walking module 3, a left side, right hand module 1 and camera 8, drive motors, compositions such as battery, it is characterized in that: described head vision module 2 is made of two cameras 8 that are connected with the micro computer processing module, described micro processor group module 5 comprises left hand controller 51, right hand controller 52 and pedestal and head controller 6, a described left side, right hand module is by shoulder arm 11, bracket 12 and clamp type palm 13 constitute, and described walking module 3 is located in by a left side, on the mobile foundation 7 that the deflecting roller 32 that right two driving wheels 31 and front and back are provided with constitutes.
Described vision module 2 is born by the camera of two resolution ratio mega pixels being located at head module, and the change in location of this vision module is by placing drive motors after this module to carry out up and down position adjustments.
The shoulder arm 11, bracket 12 and the clamp type palm 13 that constitute left hand and right hand module 1 are connected with shoulder by the gear-box that is fixed in shoulder, and the angular transducer association is all arranged between each joint.
Leader's module 4 of control hand joint action, three output ports of original LEGO module controller are improved, be about to an output port and become 3, utilize original two output ports on the controller as control end and input, controller gives the control end output signal positive and negative, zero, controller selects among output port A, the B on the slave controller, the C one to be connected with input respectively, makes the output on the controller just become 6 from 3.
Described walking module 3 is located on the pedestal 7, and the base plate of pedestal is provided with the left and right driving wheel 31 that controlled by walking module 3, is equipped with one group of universal wheel 32 on fore-and-aft direction in addition.
The robot that this Visual intelligent is judged at the course of action of connecting power supply and designing program controlling under is: raise one's hand, advance grab thing, realize right-hand man's exchange, turn round judge direction, turn to, advance put down article, retreat and simultaneously arm reduce, get back to start bit and enter a new process.
The robot that this Visual intelligent that proposes according to above technical scheme is judged, can replace in the poor factory floor of environment, carrying out whole operations of repetition simple work workman, both can alleviate a working strength of workers, can eliminate the injury of environment again enterprise employee health.
Description of drawings
Accompanying drawing 1 is an agent structure schematic diagram of the present invention;
Accompanying drawing 3 is the angle transducer that adopts among the present invention and the distribution schematic diagram of control module;
Accompanying drawing 4 leader's module separated time schematic diagrames;
Accompanying drawing 5 is walking module and base combination figure.
Among the figure 1, left hand and right hand module 11, shoulder arm 12, bracket 13, clamp type palm 2, vision module 3, walking module 31, driving wheel 32, universal wheel 4, leader's module 5, left hand and right hand controller 6, pedestal and head controller 7, pedestal L
1～L
5, left side motor R
1～R
5, right side motor B
1～B
4, pedestal and hot nose 8, camera
The specific embodiment
The robot that this Visual intelligent is as shown in the figure judged, it is the working robot who utilizes a kind of energy walking movement of LEGO module establishment.Be built into the upper body main body of robot with happy high module, by vision module 2, leader's module 4, micro processor group module 5, walking module 3, a left side, right hand module 1, camera 8 and drive motors, compositions such as battery, it is characterized in that: described head vision module 2 is made of two cameras that are connected with the micro computer processing module, described micro processor group module 5 comprises left hand controller 51, right hand controller 52 and pedestal and head controller 6, a described left side, right hand module is by shoulder arm 11, bracket 12 and clamp type palm 13 constitutes, described walking module 3 be located in by about on the platform mobile foundation 7 that constitutes of the deflecting roller 32 that is provided with of two driving wheels 31 and front and back.
Described vision module 2 is born at the camera of mega pixel by two resolution ratio being located at head module, and the change in location of this vision module is by placing drive motors after this module to carry out up and down position adjustments.
The shoulder arm 11, bracket 12 and the clamp type palm 13 that constitute left hand and right hand module 1 are connected with shoulder by the gear-box that is fixed in shoulder, and the angular transducer association is all arranged between each joint.
Leader's module 4 of control hand joint action, three output ports of original LEGO module controller are improved, be about to an output port and become 3, utilize original two output ports on the controller as control end and input, controller gives the control end output signal positive and negative, zero, controller selects among output port A, the B on the slave controller, the C one to be connected with input respectively, makes the output on the controller just become 6 from 3.
Described walking module 3 is located on the pedestal 7, and the base plate of pedestal is provided with the left and right driving wheel 31 that controlled by walking module 3, is equipped with one group of universal wheel 32 on fore-and-aft direction in addition.
The robot that this Visual intelligent is judged at the course of action of connecting power supply and designing program controlling under is: raise one's hand, advance grab thing, realize right-hand man's exchange, turn round judge direction, turn to, advance put down article, retreat and simultaneously arm reduce, get back to start bit and enter a new process.
Material and the program of the LEGO that this robot adopts, and the function that in the middle of the program of LEGO, just has so an image handle, by image is converted into functional expression, judge the information such as position, color, size of the object that will seek after being analyzed, judge again at last, find the article that need.For the transmission and the precision problem of the image of running in the actual fabrication, our solution is: the receiving port of launching tower is masked, so just the problem of transmission can be solved fully; The precision problem of picture then be installed 1～angle, angular transducer angle 3 additional at the arm joint place of robot, solve at 4～angle, angle 6.Vision module in the utility model scheme can be sampled in the certain angle scope, by connecting line the image of sampling is real-time transmitted to the computer that is connected with robot, pass through routine analyzer, finish the differentiation of object size and color, need according to task, different instructions to controller, is driven anthropomorphic mechanical arm action and finishes some basic tasks.As: raise one's hand, advance and grab thing, realize right-hand man's exchange, turn round and judge direction, turn to, advance and put down article, retreat and arm reduction simultaneously, get back to start bit and enter a new process, cooperate movable base also can in the zone of regulation, move, enlarge the working region.
In the integration of power arm and leader's module, because employing is the LEGO module entirely, to realize the five degree of freedom joint action module drive shown in the accompanying drawing 2 originally, need 3 controllers control (output port on each controller has only 3).The shortcoming of Cun Zaiing is like this: the cost height, do mutually between the controller around, influenced the stable operation of whole system.By online retrieval and inquisition, the data mining in later stage, we have made leader's module.There is the controller of individual output port to improve with only lifting in the former LEGO assembled material: an output port is become 3, utilize original two output ports on the controller as control end and input, controller (is just being given the control end output signal, negative, zero), controller will be distinguished output port (A, the B on the slave controller, C) select one to be connected in, thereby be effective with input.Output on the controller has just become 6 from 3.
Simultaneously, use homemade leader's module to cooperate the power joint, reached the purpose that reduces controller, but for the reduction of the attractive in appearance and center of gravity of robot, robot can be picked up than not adopting the heavier object of this structure with mechanical arm, and more stable requirement in the moving process of certain distance.By the product word controller 51,52,6 (seeing accompanying drawing 1,3) is installed, is reached the purpose of adjusting center of gravity.
The effect of the controller after the improvement is: use homemade leader's module to cooperate the driving in power joint, do not control by the time difference, control six tunnel I/O on two I/O ends originally.Broken through the limitation of LEGO components and parts.
In the utility model, the robot platform mobile system is with traditional wheeled construction, but not leg shape.For the use of different volumes motor, adjustment hole has been considered in the design of pedestal 7, the position is at front and back universal wheel place.Both considered the balance that current robot is stood, also reserved reserve upgrading leeway, for development potentiality is created in follow-up work.By being located at rotating and reverse of 7 times left and right driving wheels 31 of pedestal, reach robot and move forward and backward.Before and after a universal wheel 32 is respectively arranged, play the supporting role of robot in advancing.
Pay attention to the standardization of supply of electric power, motor is selected model plane motor (voltage 9V) for use.Select for use the starting current that needs of motor (power-equipment) little, can solve the problem of power down by the unified power supply of controller.Putting before this, for reaching long operation, can use voltage-stabilized power supply as supply of electric power easily, this moment, the role transformation of dry cell be the maintenance of controller internal program.Prevent that under the situation of no external power, controller will be lost the program of download.
In addition, the robot that this Visual intelligent is judged, it is ROBOLAB and assembler language that operating system is used language.
Its operation is: the left hand arm is after connecting power initiation operating system, the mailbox zero clearing, assign and begin action under the enabled instruction, and after accepting No. 3 instructions, the 4-angle, angular transducer angle 6 that causes controlling left arm enters duty, rotation along with wherein respective motors, angle 5 sensors upwards rotate 250 radians, the whole piece left arm is lifted, and stop at certain position, then along with the rotation once more of motor, the clamp type palm 13 of left arm front end is opened, and stop, angle 6 sensors rotate 130 radians in the rotation again of motor, left front bracket 12 is lifted stop, revolution subsequently, 4 sensor counter-rotation, 117 radians at the angle inwardly rotate whole left side shoulder, and stop, finish the phase I action of left arm; In static 4 seconds, along with assigning of the another instruction of control device, the 6 sensor zero clearings of 4-angle, angle, after revolution, angle 4 sensors rotate 120 radians, make the whole piece left arm (comprising left side shoulder) and outwards rotate and stop, and revolution then causes angle 6 sensors to rotate 65 radians, left forearm is lifted once more, stop; Then after accepting No. 6 instructions, revolution after 1.3 seconds the clamp type palm 13 of left arm front end open, stop, after accepting No. 8 instructions, along with the rotation of motor 1.3 seconds, the clamp type palm 13 of left arm front end closed up and stops; Along with the continuous rotation of motor, angle 6 sensors rotated 200 radians, left bracket 12 are put down before this, made angle 5 sensor backward rotation, 250 radians again, finally made the whole piece left arm return to reset condition at last.
In the left arm running, right arm is in fact also at the interoperation that carries out with left arm, right arm is after receiving initial order, at first finish the zero clearing at 1-angle, angular transducer angle 3, then along with the rotation of motor, angle 2 sensors rotate 250 radians, right forearm are lifted, and stop, and angle 3 sensors rotate 235 radians, cause the whole piece right arm to lift in being rotated further of motor; Then again in revolution after 1.3 seconds, the clamp type palm 13 of right arm front end is opened, stop.
After it accepts No. 2 instructions again, revolution after 1.3 seconds, the clamp type palm 13 of right arm front end is closed up and stop, then along with motor rotates once more, make angle 1 sensor rotate 125 radians, impel the whole piece right arm inwardly to rotate and stop; Along with the arrival of No. 4 instructions, motor opens the clamp type palm 13 of right arm front end after rotating 1.3 seconds, stops; With the 3 sensor zero clearings of relief angle 1-angle.
When motor rotates once more, angle transducer angle 1 reverse turn, 25 radians outwards change whole piece right arm (right shoulder), and stop; Revolution then 1.5 seconds is closed up the clamp type palm 13 of right arm front end and is stopped; At last, along with the startup once more of motor, 3 sensor backward rotation, 235 radian posterior restoration right arms put down and stop at the angle; And again behind 2 sensor backward rotation, 250 radians of angle, make right arm return to initial state.
The walking process of the robot base that this Visual intelligent is judged is as follows:
After the connection power supply enters starting state, at first with the mailbox zero clearing, accept to be positioned at pedestal 7 left sides after No. 1 instruction, right motor rotates forward after 4 seconds and stops, after the mailbox zero clearing, receive No. 5 instructions, left side motor rotates forward, right motor rotates backward and makes the entire machine people realize the back commentaries on classics of nearly 180 degree after the circulation 5 times, be the object color that the camera 8 of being located at head is judged the place ahead simultaneously, if the color of object is greater than the value of setting in the robot respective detection program, the left motor of this robot rotates backward, right motor rotates forward, after rotating 2 seconds, stop, if the color of object then can make left motor change forward less than setting value, right motor turns round, and is stopping after changeing 0.2 second; After this circulation finished, left and right motor all rotated certain setting-up time forward, went to the thing platform or the member frame side of setting and stopped; After treating that this robot finishes right arm and puts thing action, along with the arrival of No. 7 instructions, the left and right motor under the pedestal all rotated backward 4 seconds, got back to the original position that robot starts working and can reenter next working cycles again.
In the use of actual factory, this robot is as long as change all LEGO members into the corresponding construction spare that adapts to the industry use and the various motors that adapt.
Claims (5)
1, the robot that a kind of Visual intelligent is judged, be built into the upper body main body of robot with happy high module, by vision module (2), leader's module (4) micro processor group module (5), walking module (3), a left side, right hand module (1) and drive motors, camera (8), gear-box, battery is formed, it is characterized in that: described head vision module (2) is made of two cameras that are connected with the micro computer processing module (8), described micro processor group's module (5) comprises left hand controller (51), right hand controller (52) and pedestal and head controller (6), a described left side, right hand module is by shoulder arm (11), bracket (12) and clamp type palm (13) constitute, and described walking module (3) is located in by a left side, on the flatbed mobile foundation (7) that the deflecting roller (32) that right two driving wheels (31) and front and back are provided with constitutes.
2, the robot of a kind of Visual intelligent judgement as claimed in claim 1, it is characterized in that: described vision module (2) is born at the camera (8) of 1,000,000 pixels by two resolution ratio being located at head module, and the change in location of this vision module is by placing drive motors after this module to carry out up and down position adjustments; But adjusting device about head module then carries.
3, the robot of a kind of Visual intelligent judgement as claimed in claim 1, it is characterized in that: the shoulder arm (11), bracket (12) and the clamp type palm (13) that constitute left hand and right hand module (1) are connected with shoulder by the gear-box that is fixed in shoulder, and the angular transducer association is all arranged between each joint.
4, the robot of a kind of Visual intelligent judgement as claimed in claim 1, it is characterized in that: leader's module (4) of control hand joint action, three output ports of original LEGO module controller are improved, be about to an output port and become 3, utilize original two output ports on the controller as control end and input, controller gives the control end output signal positive and negative, zero, controller selects among output port A, the B on the slave controller, the C one to be connected with input respectively, makes the output on the controller just become 6 from 3.
5, the robot of a kind of Visual intelligent judgement as claimed in claim 1, it is characterized in that: described walking module (3) is located on the pedestal (7), the base plate of pedestal is provided with the left and right driving wheel (31) that controlled by walking module (3), is equipped with one group of universal wheel (32) on fore-and-aft direction in addition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620040592 CN200945613Y (en) | 2006-03-28 | 2006-03-28 | Intelligent vision robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620040592 CN200945613Y (en) | 2006-03-28 | 2006-03-28 | Intelligent vision robot |
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| Publication Number | Publication Date |
|---|---|
| CN200945613Y true CN200945613Y (en) | 2007-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620040592 Expired - Fee Related CN200945613Y (en) | 2006-03-28 | 2006-03-28 | Intelligent vision robot |
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| Country | Link |
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| CN (1) | CN200945613Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570938A (en) * | 2015-01-06 | 2015-04-29 | 常州先进制造技术研究所 | Double-arm robot system in plug-in mounting production and intelligent control method of double-arm robot system |
-
2006
- 2006-03-28 CN CN 200620040592 patent/CN200945613Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570938A (en) * | 2015-01-06 | 2015-04-29 | 常州先进制造技术研究所 | Double-arm robot system in plug-in mounting production and intelligent control method of double-arm robot system |
| CN104570938B (en) * | 2015-01-06 | 2019-02-12 | 常州先进制造技术研究所 | A kind of control method inserting the two arm robot system in production |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |