CN202825840U - Visual robot under the condition of wireless network - Google Patents

Visual robot under the condition of wireless network Download PDF

Info

Publication number
CN202825840U
CN202825840U CN 201220524240 CN201220524240U CN202825840U CN 202825840 U CN202825840 U CN 202825840U CN 201220524240 CN201220524240 CN 201220524240 CN 201220524240 U CN201220524240 U CN 201220524240U CN 202825840 U CN202825840 U CN 202825840U
Authority
CN
China
Prior art keywords
robot
wireless network
wireless
visual
robotics
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CN 201220524240
Other languages
Chinese (zh)
Inventor
宋国荣
刘兴奇
王洋
高忠阳
何存富
吴斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing University of Technology
Original Assignee
Beijing University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CN 201220524240 priority Critical patent/CN202825840U/en
Application granted granted Critical
Publication of CN202825840U publication Critical patent/CN202825840U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Landscapes

  • Manipulator (AREA)

Abstract

The utility model relates to a visual robot under the condition of wireless network and belongs to research and development field of the visual and wireless robot. The visual robot under the condition of wireless network can realize the function of remote motion control of robot wireless, visual image acquisition and obstacle distance monitoring and the like. The system of the visual robot under the condition of wireless network mainly comprises a microcomputer as a main control machine, an environmental monitoring camera, a robot vision camera, an ultrasonic transducers of measuring distance and NI LabVIEW Robotics Starter Kit 2.0 hardware. The visual robot under the condition of wireless network mainly aims at the development and research of the visualization and wireless of the robot, the system set up can be used to the acquisition and process of the physical information of the specific environment, and real-time response can be provided to the exceptional case through the control of the robot.

Description

Visualization robot under a kind of wireless network environment
Technical field
The utility model belongs to visualization, wireless penetration robot development and research field.
Background technology
Robotics is a kind of take automatic technology and computer technology as main body, the integration application technology of the various modern that organically blends information technology.Along with the development of the technology such as computer, microelectronics, automatically control, network, Robotics has also obtained rapid progress.At present, the application study for the intelligent robot has both at home and abroad developed nearly half a century, and during this period of time, robot application is started to walk by field of industrial production, develops into gradually the numerous areas such as agricultural, medical treatment, national defence and Aero-Space.The exploitation of these application becomes important production strength indispensable in the productive life so that robot replaces manual work gradually, and common application has industrial machinery arm, military robot, space exploration robot and the entertainment service humanoid robot etc. reconnoitred.
Having the environment sensing ability is that the mobile robot realizes intelligentized basis, and key effect has been played in the utilization of sensor in robot control.Vision sensor becomes gradually the focus in robot research field, and constantly is applied in real life as a kind of sensing equipment that the environmental information of enriching the most can be provided for autonomous mobile robot.
The utility model carries out Expansion development take NI LabVIEW Robotics Starter Kit 2.0 hardware platforms as the basis, take the real-time of this hardware platform, high efficiency disposal ability as support, realize visualization and the wireless penetration function of wheeled mobile robot, and exploitation control software, utilize this robot to realize the long distance wireless visual monitoring, and can realize obtaining robot environmental physics information of living in by setting up of function sensor.Therefore, make up one take the wireless penetration information exchange platform as medium of communication, realize that the signal between main frame, robot and the camera is mutual, become the prerequisite of this project development.This Functional Design, can realize that the visualization tele-robotic carries out real time image collection to foreign environment on the one hand, and utilize wireless transmission method that the detection information of robot is sent to main frame realization environmental monitoring, the real-time control instruction that sends of processing host of robot on the other hand, and the early warning and monitoring data are made real-time response.
Summary of the invention
The utility model exploitation is based on NI LabVIEW Robotics Starter Kit 2.0 robot hardware's development platforms, finished the design and development of the visualization robot under the wireless network environment, control by building with the software programming of NI LabVIEW Robotics 2011 of wireless network platform, realize robotic vision monitoring and motion control.And realization obtaining and monitoring robot environmental physics information of living in processed in dependence to the signal of multisensor.
To achieve these goals, the utility model has adopted following scheme: the visualization robot under this wireless network environment is characterized in that: comprise NI LabVIEW Robotics Starter Kit 2.0 hardware platforms 7, wireless router 8, ultrasonic distance-measuring sensor 4, robot vision camera 3, the environmental monitoring camera 2 that includes the wheeled motion 6 of embedded controller 5 and robot and the microcomputer 1 that NI LabVIEW Robotics 2011 softwares are installed; Described NI LabVIEW Robotics Starter Kit 2.0 hardware platforms 7 that include embedded controller 5 and robot wheeled motion 6 link to each other with wireless router 8 with ultrasonic distance-measuring sensor 4, described wireless router 8 links to each other with wireless mode and robot vision camera 3, microcomputer 1 that NI LabVIEW Robotics 2011 softwares are installed, and the microcomputer 1 of the described NI of being equipped with LabVIEW Robotics 2011 softwares links to each other with environmental monitoring camera 2.
As shown in Figure 1, visualization robot under the described wireless network environment sends motion control instruction by the microcomputer that comprises vision robot under the wireless network environment and control software, wireless network through the wireless router establishment, deliver to NI LabVIEW Robotics Starter Kit 2.0 hardware platforms that include embedded controller, and control side-to-side movement motor, the wheeled motion motion of band mobile robot has realized the motion control of robot.
Described vision camera is delivered to wireless router by wireless network with visual pattern information, and transfers to the respective interface that the vision robot under the wireless network environment in the microcomputer controls software through it.Described environmental monitoring camera is delivered to the respective interface that vision robot under the wireless network environment controls software with robot motion's ambient signal.Described ultrasonic distance-measuring sensor obtains signal, delivers to embedded controller, and the wireless network that creates through wireless router is delivered to the respective interface that vision robot under the wireless network environment controls software with signal.
This utility model has realized under NI LabVIEW Robotics Starter Kit 2.0 hardware platforms, the wireless penetration Long-distance Control of wheeled kinematic robot and visualization monitoring, develop simultaneously corresponding control program, so that the user can finish the visualization environmental monitoring under robot motion's condition monitoring and the robot visual angle simultaneously before computer, and move by robot, realize obtaining and monitoring physical message in its place environment.
Description of drawings
Visualization robot composition frame chart under Fig. 1 wireless network environment
The usage example figure of Fig. 2 visualization tele-robotic
The specific embodiment
In conjunction with Fig. 1 the utility model is described further:
With reference to Fig. 1: the visualization robot under the wireless network environment, mainly microcomputer 1, environmental monitoring camera 2, robot vision camera 3, ultrasonic distance-measuring sensor 4 and NI LabVIEW Robotics Starter Kit 2.0 hardware platforms 7 by master control form.The core of system take NI sbRIO-9632 embedded controller as robot components utilizes its calculation process and digital I/O input/output function to realize the motion control of robot mechanism; Utilize PING))) Series Ultrasonic distance measuring sensor emission 40M ultrasonic signal, and ultrasonic echo received, through the embedded controller calculation process, realize that robot is to the detection of itself and front end distance of obstacle; Utilize EasyN-F series IP Camera as the robot vision signal collecting device, from the angle of robot ambient signal is gathered, and the wireless network that creates by wireless router sends to microcomputer, the wireless transmission of realization robot vision signal; By the environment camera that has linearize to be connected with microcomputer, gather the vision signal of robot running environment, and deliver to the corresponding software interface display of microcomputer.
With reference to shown in Figure 1: microcomputer is the core control section of a whole set of visualization tele-robotic, main motion control, ultrasonic ranging signals collecting, analysis and the processing that realizes the robot part, realize the obtaining, analyze and process etc. of visual pattern of robot vision camera and environmental monitoring camera, and realize mutual with the wireless network that the signal and communication of NI LabVIEW Robotics Starter Kit 2.0 hardware platforms and robot vision camera is all created by wireless router.
NI LabVIEW Robotics Starter Kit 2.0 hardware platforms are take NI sbRIO-9632 embedded controller as core, and its processor speed is 400MHz, internal memory 128M.Integrated real-time processor in single integrated circuit board, 2M can repeat to arrange field programmable gate array (FPGA), analog-and digital-I/O etc., but and the analog-and digital-I/O of expanding built-in.
With reference to shown in Figure 1: described robot vision camera adopts the F series IP Camera under the EasyN brand, this product adopts MJPEG hardware-compressed technology, can be on LAN/WAN with the real time video image of 30 frames/per second high quality (VGA or CIF), simultaneously embedded WEB server, support IE browses the Remote configuration with webpage.This equipment is fixed on robot hardware's platform, can realize on the vertical direction 90 degree, and the rotatablely moving of 270 degree on the horizontal direction, is used for realizing the monitoring to surrounding environment, and its signal is undertaken by WLAN form and microcomputer alternately.Described ultrasonic distance sensor adopts the PING of Parallax company))) series of products, its measurement category can be finished accurate, contactless range measurement between 2 centimetres (0.8 inches) to 3 meters (3.3 meters).This equipment is installed on the robot front end steering wheel, by the supersonic sounding of steering wheel rotation realization to different angles.
Native system in use, operating personnel only need robot is placed in the corresponding movement environment, the vision robot who opens under the wireless network environment in the microcomputer controls software, real-time pictures transmission by robot vision camera and the wireless penetration of environmental monitoring camera, movement environment to robot is monitored, simultaneously robot is controlled, realize its to the physical message of multiple environment obtain and to the real-time response under the specific condition.
Below in conjunction with accompanying drawing 2, by specific embodiment the utility model is further described, following examples are descriptive, are not determinate, can not limit protection domain of the present utility model with this.The specific works process of the present embodiment is as follows:
(1) the visualization robot under the wireless network environment is placed on as shown in Figure 2 in the L shaped environment in the geometric space, the space is comprised of a main rectangle and a little corner region.Place around the corner environmental monitoring camera 2, environment is carried out the visualizations collection, be used for the ruuning situation of robot under this fixed angle of monitoring and the environmental information in the certain limit.
(2) robot is set out by the 1a position, along route shuttling movement in environment of 1a → 1b → 1c → 1d → 1a.In this process, linear uniform motion is done by robot in 1a → 1b process, and the robot vision camera is over against robot motion's direction, the Real-time Collection image information in front.
(3) after robot arrives 1b, stop motion, and keep the former direction of motion; The robot vision camera slowly turns to the left side, and the space environment in robot left side is carried out IMAQ, and this hard-over that rotatablely moves in the horizontal direction can reach 270 °.After going back to robot motion's direction, camera stops operating.
(4) robot continues to move with uniform velocity along 1b → 1c → 1d → 1a path, and the robot vision camera keeps motionless over against robot motion's direction in this process, so moves in circles.
By the motion control to robot under this pattern, can effectively realize the long distance wireless control to robot, use by the collocation of environmental monitoring camera and robot vision camera simultaneously, effectively monitoring of environmental information and robot motion's situation.As the environmental monitoring example, the method can effectively change the fixed point camera to angle limits and the monitoring range limitation of environmental monitoring, Effective Raise environmental monitoring ability.

Claims (1)

1. the visualization robot under the wireless network environment is characterized in that: comprise NI LabVIEW Robotics Starter Kit 2.0 hardware platforms, wireless router, ultrasonic distance-measuring sensor, robot vision camera, the environmental monitoring camera that includes the wheeled motion of embedded controller and robot and the microcomputer that NI LabVIEW Robotics 2011 softwares are installed; Described NI LabVIEW Robotics Starter Kit 2.0 hardware platforms that include embedded controller and robot wheeled motion link to each other with wireless router with ultrasonic distance-measuring sensor, described wireless router links to each other with wireless mode and robot vision camera, microcomputer that NI LabVIEW Robotics 2011 softwares are installed, and the microcomputer of the described NI of being equipped with LabVIEW Robotics 2011 softwares links to each other and links to each other with the environmental monitoring camera.
CN 201220524240 2012-10-14 2012-10-14 Visual robot under the condition of wireless network Expired - Lifetime CN202825840U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220524240 CN202825840U (en) 2012-10-14 2012-10-14 Visual robot under the condition of wireless network

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220524240 CN202825840U (en) 2012-10-14 2012-10-14 Visual robot under the condition of wireless network

Publications (1)

Publication Number Publication Date
CN202825840U true CN202825840U (en) 2013-03-27

Family

ID=47937630

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220524240 Expired - Lifetime CN202825840U (en) 2012-10-14 2012-10-14 Visual robot under the condition of wireless network

Country Status (1)

Country Link
CN (1) CN202825840U (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103605370A (en) * 2013-08-20 2014-02-26 山西路桥建设集团有限公司 Automatic automobile searching and positioning system
CN103792943A (en) * 2014-02-19 2014-05-14 北京工业大学 Robot autonomic movement control method based on distance information and example learning
CN104267598A (en) * 2014-09-19 2015-01-07 江南大学 Method for designing fuzzy PI controller of Delta robot movement mechanism
CN107547863A (en) * 2017-05-15 2018-01-05 苏州蓝甲虫机器人科技有限公司 A kind of Binocular robot
CN110065061A (en) * 2018-01-24 2019-07-30 南京机器人研究院有限公司 A kind of robot ambulation control method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103605370A (en) * 2013-08-20 2014-02-26 山西路桥建设集团有限公司 Automatic automobile searching and positioning system
CN103792943A (en) * 2014-02-19 2014-05-14 北京工业大学 Robot autonomic movement control method based on distance information and example learning
CN103792943B (en) * 2014-02-19 2017-01-11 北京工业大学 Robot autonomic movement control method based on distance information and example learning
CN104267598A (en) * 2014-09-19 2015-01-07 江南大学 Method for designing fuzzy PI controller of Delta robot movement mechanism
CN107547863A (en) * 2017-05-15 2018-01-05 苏州蓝甲虫机器人科技有限公司 A kind of Binocular robot
CN110065061A (en) * 2018-01-24 2019-07-30 南京机器人研究院有限公司 A kind of robot ambulation control method

Similar Documents

Publication Publication Date Title
CN202825840U (en) Visual robot under the condition of wireless network
CN104503450B (en) Realize the service robot of intelligent obstacle detouring
CN104111655B (en) A kind of smart home service robot system based on remote control
CN104385284B (en) A kind of method realizing intelligent obstacle detouring
CN105955230B (en) Real-time monitoring method of intelligent manufacturing workshop based on Unity3D
CN102880180A (en) LabVIEW Robotics-based visual remote robot
CN106041927A (en) Hybrid vision servo system and method combining eye-to-hand and eye-in-hand structures
CN103895022A (en) Wearable type somatosensory control mechanical arm
CN105128032B (en) Snake-shaped robot with nuclear equipment pipe detection function
CN107491077A (en) A kind of indoor floor-sweeping machine device people based on cell phone application control
CN106863324A (en) A kind of service robot platform of view-based access control model
CN104369189A (en) Industrial robot state visualization system
CN110977981A (en) Robot virtual reality synchronization system and synchronization method
JP6150429B2 (en) Robot control system, robot, output control program, and output control method
CN207875805U (en) A kind of intelligent detecting construction robot
CN206039291U (en) Have self -contained navigation and remote control's six -legged robot concurrently
CN206123654U (en) Vision -guided's omnidirectional movement double arm robot
CN107647828A (en) The sweeping robot of fish-eye camera is installed
WO2017000784A1 (en) Motion control device and motion control method
CN202568760U (en) Accompanying robot system aiding visually impaired people in walking
CN206459622U (en) Gardens town road traffic survey tool
CN103624763A (en) Wireless remote control building environment parameter detection robot
CN210414556U (en) Indoor security protection robot based on Arduino
CN103902020B (en) Data glove wrist joint detection device
CN209755231U (en) Robot system for tunnel inspection

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
CX01 Expiry of patent term

Granted publication date: 20130327

CX01 Expiry of patent term