CN204209679U - Autonomous service robot - Google Patents

Autonomous service robot Download PDF

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Publication number
CN204209679U
CN204209679U CN201420453259.7U CN201420453259U CN204209679U CN 204209679 U CN204209679 U CN 204209679U CN 201420453259 U CN201420453259 U CN 201420453259U CN 204209679 U CN204209679 U CN 204209679U
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CN
China
Prior art keywords
robot
module
service robot
wifi
wheel type
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Expired - Fee Related
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CN201420453259.7U
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Chinese (zh)
Inventor
谭立新
张卫兵
邓知辉
罗坚
李刚成
肖成
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Hunan College of Information
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Hunan College of Information
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Priority to CN201420453259.7U priority Critical patent/CN204209679U/en
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Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of autonomous service robot, comprise wheel type machine human body, manipulator, embedded vision module, WIFI visual transmission and Based PC machine monitoring and control system and robot controlling plate; Manipulator is arranged on wheel type machine human body; Embedded vision module is arranged on the top of described manipulator, and is connected with robot controlling plate, and embedded vision module is for processing outside ambient image information; WIFI visual transmission and Based PC machine monitoring and control system comprise WIFI module and PC, and WIFI module is arranged in described wheel type machine human body, and PC is long-range to service robot sending controling instruction by WIFI module; Robot controlling plate is arranged on wheel type machine human body, and robot controlling buttress controls wheeled robot body, manipulator and embedded vision module according to the control instruction that WIFI module passes over.The utility model adopts embedded vision module to ensure that service diversity and the stability of robot.

Description

Autonomous service robot
Technical field
The utility model relates to robot interactive and control technology field, particularly relates to a kind of autonomous service robot.
Background technology
Service robot is a kind of robot of half autonomous or full utonomous working, and it can complete the services of human health of intending, but does not comprise manufacturing-oriented equipment.
At present, service robot is all get off to carry out task based on semiautomatic-mode, and this just must by manually operating and controlling; This also just becomes the short slab of service robot development.
And now autonomous service robot always is and uses PC to participate in complicated image procossing, then by wireless come the action of control, like this, consume a large amount of transmission times and receive the restriction of distance; And high-resolution object recognition technique is also perplex the development of robot automtion further.
Therefore, those skilled in the art is devoted to a kind of autonomous service robot of exploitation, all image processing process all complete by it on the body of robot, thus direct control unit tool hand and robot body carry out co-ordination, realize autonomous tracing object, lock object, analytic target shape, the function such as independently to finish the work.
Utility model content
Because the above-mentioned defect of prior art, technical problem to be solved in the utility model is to provide a kind of autonomous service robot.
For achieving the above object, the utility model provides a kind of autonomous service robot, comprise wheel type machine human body and manipulator, it is characterized in that, described service robot also comprises embedded vision module, WIFI visual transmission and Based PC machine monitoring and control system and robot controlling plate;
Described manipulator is arranged on described wheel type machine human body;
Described embedded vision module is arranged on the top of described manipulator, and is connected with described robot controlling plate, and described embedded vision module is for processing outside ambient image information;
Described WIFI visual transmission and Based PC machine monitoring and control system comprise WIFI module and PC, and described WIFI module is arranged in described wheel type machine human body, and described PC is long-range to described service robot sending controling instruction by described WIFI module;
Described robot controlling plate is arranged on described wheel type machine human body, and described robot controlling buttress controls described wheel type machine human body, described manipulator and described embedded vision module according to the described control instruction that described WIFI module passes over.
Further, described wheel type machine human body comprises four driving wheels and panel, and described driving wheel is arranged on the both sides of described panel symmetrically; Described panel is provided with multiple fixing hole.
Further, described manipulator adopts five degree of freedom aluminum alloy machinery hand, comprises 5 micro-Servo-controllers.
Further, described service robot also comprises and is arranged on camera on described wheel type machine human body and Vision Table; Described external environment condition image information handled by described embedded vision module gathered by described camera.
Further, described embedded vision module adopts Propeller P8X32A eight core 32 chips embedding Linux system.
Further, described robot controlling plate comprises motor drive module and servo driving module.
Further, described WIFI module is router.
Further, described router is provided with the OpenWrt software built by linux.
Further, described PC passes through the WIFIREBOT client software of self installation to described service robot sending controling instruction.
Further, described robot controlling plate adopts the embedded control system based on arduino2560.
The utility model discloses a kind of small autonomous service robot solution, the diversity of serving and intelligent is realized by the operational capability co-ordination that wireless network transmissions utilizes computer powerful by integrated embedded vision system and movable mechanical arm, the field of relating generally to is service type robot, whole system is by embedded vision system lock onto target, followed the tracks of by 4 wheel driven mobile platform, performed by mechanical arm again, finally by information such as the timely capturing pictures of WIFI wireless device and the feedbacks of finishing the work.
High-resolution object recognition technique perplexs the further intelligentized development problem of service robot always, it was the image procossing of the participation complexity using PC in the past always, again by wireless come the action of control, so a large amount of transmission times and the restriction receiving distance is consumed, robot uses 32 8 core master chips to embed linux operating system as embedded controller, all image procossing can on robot body Direct Recognition out, thus direct control unit tool hand and robot body carry out co-ordination.
A kind of robot with vision system of the present utility model, the edge features based on embedded vision module is adopted to follow the tracks of the accuracy and continuity that reach with the circular modelization of matching characteristic and centre coordinate extraction algorithm and dynamically capture, and the optimum mechanical arm trajectory planning algorithm that can obtain the coordinates of targets control manipulator execution CA time responds action fast, be transferred to PC by wifi again to complete task and monitor and plan, ensure that service diversity and the stability of robot.
Be described further below with reference to the technique effect of accompanying drawing to design of the present utility model, concrete structure and generation, to understand the purpose of this utility model, characteristic sum effect fully.
Accompanying drawing explanation
Fig. 1 is the structural representation of autonomous service robot of the present utility model;
Fig. 2 is the structural representation of a preferred embodiment of autonomous service robot of the present utility model;
The structural representation of the four-wheel drive robot body of Fig. 3 autonomous service robot of the present utility model;
Fig. 4 is the structural representation of the Five-degree-of-freedmanipulator manipulator of autonomous service robot of the present utility model;
Fig. 5 be the WIFI visual transmission of autonomous service robot of the present utility model and Based PC machine monitoring and control software design system realize block diagram;
Fig. 6 is the software system architecture figure of autonomous service robot of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is elaborated; the present embodiment is implemented under with technical solutions of the utility model prerequisite; give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
Autonomous service robot of the present utility model as illustrated in fig. 1 and 2, comprising: wheel type machine human body, Five-degree-of-freedmanipulator manipulator, embedded vision module, robot controlling plate and WIFI visual transmission and Based PC machine monitoring and control system.Embedded vision module is used for processing the image information of external environment condition; WIFI visual transmission and Based PC machine monitoring and control system are the control systems of whole service robot, and also comprise WIFI module, it is arranged on wheeled robot body interior, and PC is by the action of WIFI module remote control service robot.Robot controlling plate is arranged on wheel type machine human body, and it controls wheeled robot body, manipulator and embedded vision module according to the control instruction that WIFI module passes over.
Wheel type machine human body:
The machine body of service robot common are wheel type machine human body and anthropomorphic robot body two kinds.But anthropomorphic robot body is due to its complex structure, and in the face of complex environment, anthropomorphic robot body is easily interfered, and the balance of handling machine people also needs to take a large amount of processors spends a large amount of algorithms to carry out computing, so and inadvisable, the substitute is wheel type machine human body.Wheel type machine human body comprises four driving wheels and panel, and driving wheel is arranged on the both sides of panel symmetrically; Panel is provided with multiple fixing hole, to meet the expansion of upgrading later, and oxidation frosted process has been carried out on the surface of panel, to play anti-oxidant object of getting rusty.In a preferred embodiment of the present utility model, in order to the carrying capacity and climbing capacity increasing robot adopts four-wheel drive robot body, specifically as shown in Figure 3, comprise four wheels and a panel; Four wheels are fixed on the both sides of panel symmetrically.
The important technological parameters of four-wheel drive robot body is:
1. wheel diameter: 120mm;
2. wheel width: 60mm;
3. land lengths: 195mm (length of wagon: 270mm);
4. berm width: 142mm (body width: 280mm);
5. podium level: 120mm;
6. platform weight: 1280g;
7. chassis ground height: 26mm;
8. Rated motor voltage: 12VDC;
9. empty load of motor rotating speed: 100 revs/min;
10. Rated motor rotating speed: 90 revs/min;
11. motor gearbox length: 19mm;
12. Rated motor electric current: 0.52A;
13. Rated motor torque: 0.263N.m;
14. motor torque capacity: 0.597N.m.
Five-degree-of-freedmanipulator manipulator:
Manipulator is arranged on the fixing hole of the panel of wheel type machine human body.Manipulator is the automated machine device obtaining at present most broad practice in robot technical field, can see its figure in fields such as industry manufacture, therapeutic treatment, entertainment service, military affairs and space probations.The utility model adopts five degree of freedom aluminum alloy machinery hand, specifically as shown in Figure 4, comprise 5 accurate micro-Servo-controllers, correspond respectively to arm, shoulder, elbow, front wrist and clamper five rotary joints, each joint can be movable within the limits prescribed, it can be installed to mobile platform for the visual operation of staff, and real time modifying control instruction, accurately completes each task at any time.The general frame of manipulator uses aluminium alloy Metal plate frosted oxidation processes mechanical parts to add angle steering wheel formation, and the control mode of angle steering wheel is that high impulse control signal controls.Shi 32 road steering engine controller is adopted in preferred embodiment of the present utility model.
The important technological parameters of 32 road steering engine controllers is:
1, output channel: 32 tunnels (impulse modulation output or Transistor-Transistor Logic level export);
2, logic is powered: 6-12VDC or USB powers (have resettable fuse, use during convenient debugging);
3, resolution ratio is driven: 0.09 °;
4, actuating speed resolution ratio: 0.09 °/sec;
5, communication interface: USB/TTL serial interface;
2400,9600,38.4K, 115.2K 6, serial port baud rate:;
7, control mode: immediately, regularly, constant speed control etc.;
8,4 analog/digital signal input terminals are provided, can be set to static or latch;
9, servos control pattern: single steering engine controls, group's servos control;
10, ISP download program interface is provided, can secondary development be supplied;
11, size: 58.5 × 76.2mm.
Embedded vision module:
In the utility model, adopt Propeller P8X32A eight core 32 chips of parallax company to embed Linux system, Linux system is run OPENCV image procossing storehouse and drives OV7665 camera to realize; Conventional algorithm is all finished writing in the mode of function, and the functional module that call instruction comes in calling module can be carried out by serial bus in outside, does like this and the sophisticated functions such as visual processes can be able to be built in an integration module.
Its important technological parameters is:
VGA resolution: (640 × 480) RGB565/YUV655color sensor;
Image procossing speed: 10 frames;
Original image can be stored on Flash card, and sizes of memory is (640:320:160:80) × (480:240:120:60);
Support average, intermediate value, standard variance, threshold value sets;
Support the USD/USDHC/USDXC flash card of FAT16/32 form;
Two-way servos control;
TTL UART exports (being up to 115200baud, 19200bps is default value).
Embedded vision module is an independently module, is arranged on the top of manipulator, and it is connected with robot controlling plate by connecting line, is connected on wireless router by USB interface meanwhile.Robot controlling plate controls this module by calling corresponding instruction, further increases stability and the processing speed of system.
WIFI visual transmission and Based PC machine monitoring and control system:
WiFi visual transmission of the present utility model is with WiFi wireless network for data transport vehicle, realizes controlling in real time, the intelligence system of the function such as audio video transmission and IMAQ.
WiFi is a kind of WLAN application technology, since it occurs, by means of networking convenience, has been easy to the features such as expansion, has had a wide range of applications.And wireless access and high-speed transfer are the important technical advantage of WiFi, the combination of WiFi technology and Robotics just creates WiFi Robot.WiFi Robot is the multifunctional intellectual remote sensing robot integrating the function such as long-distance radio communication, audio video transmission, data acquisition, mechanical universal The Cloud Terrace, signal light control, environment measuring, ultrasonic ranging, infrared obstacle, ultrasonic wave navigator, power 4 wheel driven, camera The Cloud Terrace, using WiFi network as data transfer platform, take high speed MCU as data processing centre, carry out Long-distance Control by equipment such as computer, smart mobile phone, panel computers, and can greater functionality be expanded.
The general principle of WIFI visual transmission of the present utility model is:
Operator is connected in the built-in WiFi module of wheel type machine human body at operating terminal by WiFi wireless network, and send associative operation instruction to it, WiFi module receives instruction and passes to robot controlling plate, and robot controlling plate performs corresponding instruction by control circuit by robot; Simultaneously, be arranged on various sensor in robot and data back can be passed to operating terminal by WiFi network by camera, thus realize up-downgoing control and two-way communication, so that operator understands the environment around robot in real time, and environmentally situation sends instruction control and performs specific task, realize interactive operation, Fig. 5 is that entire system realizes block diagram.
Circuit hardware designs:
Circuit hardware comprises body part, router, camera and The Cloud Terrace and robot controlling plate.
(1) body part: body part comprises 4 12V/120 and turns direct current generator and battery pack, and motor is in parallel between two, is equivalent to driving two motors.And conveniently battery charging and discharging, is provided with charge-discharge circuit, only need toggle switch can realize discharge and recharge operation.Battery power 12V, can use, for robot improves lasting motive force in multiple parallel connection.
(2) camera and Vision Table: camera selects high-quality high-definition camera to monitor, and camera meets 0 ° ~ 180 ° levels, and 0 ° ~ about 180 ° rotate, can Remote Open or closedown.Camera model is Sony PS2, and communication interface is usb protocol; The Cloud Terrace is made up of 2 MG995 digital rudder controllers and other auxiliary material.
(3) router (WiFi module): the mini 3G wireless router of 150Mbit.s-1 that WiFi module adopts TP-LINK completely newly to release.It is little that this router has size, the feature that supply voltage is low; Its supply voltage only has 5V, and supports OpenWrt.OpenWrt is a route firmware of increasing income based on Linux, and provide a file system can write completely and software kit management, after the router brush machine to support OpenWrt, it is equivalent to a Linux mini system.Router selects OpenWrt as operating system, the photo site of USB camera collection is issued the PC control terminal of far-end, and the order sent by host computer is transmitted to single-chip computer control system by serial ports.
(4) robot controlling plate: mainly comprise power module, motor drive module, servo driving module, download serial ports, single chip circuit, infrared obstacle, car light control and data communication interface etc.
Motor drive module comprises a driving chip and a single-chip microcomputer.Wherein driving chip is the BTS7960 DC brush motor driving chip adopting company of Infineon, and it has big current MOSFET half-bridge structure.This chip has higher integrated level and enough fan-out capabilities, and has advantage in energy consumption.In integrated and miniaturized electric machine control system, be suitable as desirable motor drive ic.The H electric-motor drive unit that BTS7960 and single-chip microcomputer form.Because adopted driving chip is half-bridge, therefore need to adopt two panels to form the rotating that full-bridge realizes motor.Single-chip microcomputer is for controlling driving chip: single-chip microcomputer produces the control signal of 2 road PWM outputs as two panels BTS7960, requires that PWM0, PWM1 can not be high level simultaneously simultaneously.Adopting timer to export hardware pwm pulse, making singlechip CPU only participate in computing when changing PWM dutycycle, like this can significantly mitigation system computational burden and PWM software programming cost.
Servo driving module adopts LM2596 switching mode voltage stabilizing chip.Linear voltage regulator has the advantage that output voltage is constant or adjustable, the precision of voltage regulation is high, but because its Serial regulation working method can cause larger " heat loss " at work, cause that its power utilization rate is not high, operating efficiency is low, not easily reach the requirement of portable set to low-power consumption.Therefore for ensureing higher power utilization rate, servo driving module adopts LM2596 switching mode voltage stabilizing chip to realize, and it can provide more than 3A electric current, drives powerful.Because steering wheel model is MG995, its operating voltage is 5.0V ~ 7.0V. therefore adjustable LM2596-ADJ chip of servo driving chip selection, its output voltage Vout=Vref (1.0+R2/R1), wherein, Vref=1.23V is chip internal reference voltage.
Software for Design
Software section is the embodiment of robot automtion, the running status that its control WiFiRobot is all.Whole software system architecture as shown in Figure 6, comprising: router, upper computer software and slave computer software.Router operating system adopts OpenWrt, and this part completes in router brush machine part, mainly completes the functions such as video acquisition, data transmission, forwarding.Upper computer software controls signal light control, takes pictures, the behavior such as real time control machine device people motion.Slave computer software by receiving the order from host computer, thus performs corresponding operating.And the tie connected between host computer and slave computer is exactly communication protocol, software section comprises communication protocol, client control software design and slave computer software.The exploitation of communication protocol and host computer is mainly introduced at this.
Communication protocol host computer adopts data packet format move instruction, and the form of monocase also can be adopted to send, and because the interference of monocase communication mode is comparatively large, therefore adopts data packet format move instruction, packet header OXFF, bag tail OXFF, no parity check position.Host computer utilizes wireless network card to send packet to router by Socket, and router is untied packet by unpacking mechanism, is sent to single-chip microcomputer and performs associative operation by control module by serial ports.Its agreement regulation is as shown in table 1.
Table 1 communication protocol specifies
Upper computer software
For parametric controller, document gives a kind of method based on WindowsCE.net technology, uses VisualStudio2010 to write C# host computer client in literary composition.Adopt ICP/IP protocol, utilize Socket to send packet to router.Upper computer software adopts WIFIREBOT client software, comprises two windows: main window and allocation window.Main window comprises video viewing area and control button district, is mainly used in display passback video and realizes motion planning and robot control.Allocation window mainly completes the configuration of WiFi wireless network and the self-defined key assignments of robot controlling instruction.
According to the communication protocol of table 1, the mode that host computer is packed with Byte by Socket sends control command to robot, receives camera passback video flowing simultaneously and shows in real time in video viewing area.The video that camera is taken also can be resolved into a sheet by a sheet independently jpg picture and be sent to client by video section, and picture is combined into video by client again.Send for Socket data, first create the example of Socket object, after creating Socket example, namely host computer is connected to router by Connect method, and sends data by Send method router.Data are sent completely rear Close method and close Socket with releasing resource.
In addition, the mode of configuration file is adopted to access the data of last configuration, in order to avoid repeated configuration, and by definition 8 keyboard values, be convenient to the execution of observation event, the all-around mobile of motor and steering wheel can be realized with this conveniently by the trigger event of keyboard, and add and to take pictures and car light control command, after tested upper computer software operational excellence.
Slave computer software
Slave computer software drive plate adopts arduino2560 controller.Embedded control system based on arduino2560 provides the high and scheme that cost is low of a kind of flexibility.Program of lower computer mainly comprises: external interrupt, steering wheel PWM interruption, timer, serial ports interruption, initialization etc.Program of lower computer receives the host computer order forwarded from router, realizes the functions such as data receiver, the comprehensive control of camera The Cloud Terrace, motor steering, car light control, battery electric quantity instruction, infrared obstacle.
More than describe preferred embodiment of the present utility model in detail.Should be appreciated that the ordinary skill of this area just can make many modifications and variations according to design of the present utility model without the need to creative work.Therefore, all technical staff in the art according to design of the present utility model on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment, all should by the determined protection domain of claims.

Claims (10)

1. an autonomous service robot, comprises wheel type machine human body and manipulator, it is characterized in that, described service robot also comprises embedded vision module, WIFI visual transmission and Based PC machine monitoring and control system and robot controlling plate;
Described manipulator is arranged on described wheel type machine human body;
Described embedded vision module is arranged on the top of described manipulator, and is connected with described robot controlling plate, and described embedded vision module is for processing outside ambient image information;
Described WIFI visual transmission and Based PC machine monitoring and control system comprise WIFI module and PC, and described WIFI module is arranged in described wheel type machine human body, and described PC is long-range to described service robot sending controling instruction by described WIFI module;
Described robot controlling plate is arranged on described wheel type machine human body, and described robot controlling buttress controls described wheel type machine human body, described manipulator and described embedded vision module according to the described control instruction that described WIFI module passes over.
2. autonomous service robot as claimed in claim 1, wherein, described wheel type machine human body comprises four driving wheels and panel, and described driving wheel is arranged on the both sides of described panel symmetrically; Described panel is provided with multiple fixing hole.
3. autonomous service robot as claimed in claim 1, wherein, described manipulator adopts five degree of freedom aluminum alloy machinery hand, comprises 5 micro-Servo-controllers.
4. service robot as claimed in claim 1 autonomous, wherein, described service robot also comprises and is arranged on camera on described wheel type machine human body and Vision Table; Described external environment condition image information handled by described embedded vision module gathered by described camera.
5. autonomous service robot as claimed in claim 1, wherein, described embedded vision module adopts Propeller P8X32A eight core 32 chips embedding Linux system.
6. autonomous service robot as claimed in claim 1, wherein, described robot controlling plate comprises motor drive module and servo driving module.
7. autonomous service robot as claimed in claim 1, wherein, described WIFI module is router.
8. autonomous service robot as claimed in claim 7, wherein, described router is provided with the OpenWrt software built by linux.
9. autonomous service robot as claimed in claim 1, wherein, the WIFIREBOT client software that described PC passes through self to install is to described service robot sending controling instruction.
10. autonomous service robot as claimed in claim 1, wherein, described robot controlling plate adopts the embedded control system based on arduino2560.
CN201420453259.7U 2014-08-12 2014-08-12 Autonomous service robot Expired - Fee Related CN204209679U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104175308A (en) * 2014-08-12 2014-12-03 湖南信息职业技术学院 Self-service robot
CN104808625A (en) * 2015-04-17 2015-07-29 南京信息职业技术学院 Remote networking inspection tour system for smart home
CN105058379A (en) * 2015-09-11 2015-11-18 国网福建省电力有限公司 Rectangular coordinate mechanical arm control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104175308A (en) * 2014-08-12 2014-12-03 湖南信息职业技术学院 Self-service robot
CN104808625A (en) * 2015-04-17 2015-07-29 南京信息职业技术学院 Remote networking inspection tour system for smart home
CN105058379A (en) * 2015-09-11 2015-11-18 国网福建省电力有限公司 Rectangular coordinate mechanical arm control system

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20150318

Termination date: 20180812