CN204209691U - The card machine robot of the self adaptation position of human body utilizing biological information of human body to control - Google Patents
The card machine robot of the self adaptation position of human body utilizing biological information of human body to control Download PDFInfo
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- CN204209691U CN204209691U CN201420578461.2U CN201420578461U CN204209691U CN 204209691 U CN204209691 U CN 204209691U CN 201420578461 U CN201420578461 U CN 201420578461U CN 204209691 U CN204209691 U CN 204209691U
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Abstract
The utility model provides a kind of card machine robot of the self adaptation position of human body utilizing biological information of human body to control, it is characterized in that: comprising: controller, vehicle sensors, biological information of human body sensor, controller comprises central processing unit, sensor interface, card interface interface, actuator interface, communication interface and power supply, biological information of human body sensor comprises: infrared sensor, recognition of face device, eyeball identifier, gesture recognition and voice pickup device, sensor information is delivered to central processing unit by sensor interface by biological information of human body sensor, central processing unit sends control instruction by actuator interface, the action of controller mechanical arm actuator, mechanical arm setting in motion in actuator, mechanical arm can carry out moving and rotating in a dimension direction in 3 of space, make the card taking of personnel, card feed, action of swiping the card is naturally comfortable, avoid human body and adjust self attitude or vehicle location on a large scale, improve operating efficiency, improve the comfort level of user, improve security.
Description
Technical field
The present invention relates to the card taking of self adaptation card feed to swipe the card the card machine robot of people's position of human body, especially relate to and utilize human body biological characteristic information, control to need in conjunction with other, the motion of control card interface place mechanical arm, make it automatically adapt to the device of operating personnel's position of human body.
Background technology
Carry out in the scene of card operation using the POS, card sender or card collection machine, swipe the card or the position of card taking or card feed personnel and equipment card interface (card taking mouth, receive bayonet socket, face etc. of swiping the card, be referred to as card interface herein) because of a variety of causes Incomplete matching, need to adjust.
A kind of is by the position of personnel adjustment oneself.Under this mode, sometimes there is inconvenience.Enter community card taking as driver drives a car, if parking spot is improper, driver need adjust oneself body position, sometimes also must adjust parking spot.By the constraint of safety belt and the restriction of sitting posture, being limited in scope of self-stance adjustment, adjustment inconvenience or uncomfortable; The rational position stopped ensures vehicle safety and the not awkward position of arm operation, if parking spot is comparatively far away or depart from, need readjust vehicle, at slope or corner location, to driver stop require higher.According to ergonomics, the safe and reasonable region of card interface is less, and for female driver, because women's stature is less, arm is shorter, and this scope is less.Exceed this Regional drivers will have to adjust sitting posture on a large scale, or adjustment vehicle location, or process of getting off, bring the inconvenience in use and uncomfortable thus, also bring potential safety hazard sometimes.
Another kind is the position of automatic adjustment equipment.In existing technology, normally respond to car body distance, then control card machine in whole or in part, adjustment and car body distance in the horizontal direction.Under this mode, card machine does not adjust at height and direction of vehicle movement, is limited in scope; Control object be card machine in whole or in part, the speed of service is slow, poor stability; Inapplicable for the card machine in using, need to do larger repacking.
For above-mentioned defect, the present invention proposes a kind of card machine robot meeting the self adaptation position of human body of ergonomics utilizing biological information of human body to control, both may be used for, in new card machine design, also to transform existing card machine, increasing adaptation function.
Summary of the invention
The technical scheme that the utility model provides, in order to solve the technical problem of the inconvenience of position adjustment between human body and card machine in the use of existing card machine.
The utility model provides a kind of card machine robot of the self adaptation position of human body utilizing biological information of human body to control, it is characterized in that: comprising: controller, vehicle sensors, biological information of human body sensor, controller comprises central processing unit, sensor interface, card interface interface, actuator interface, communication interface and power supply; Biological information of human body sensor comprises: infrared sensor, recognition of face device, eyeball identifier, gesture recognition and voice pickup device, sensor information is delivered to central processing unit by sensor interface by biological information of human body sensor, central processing unit sends control instruction by actuator interface, the action of controller mechanical arm actuator, mechanical arm setting in motion in actuator, mechanical arm can carry out moving and rotating in a dimension direction in 3 of space.
Optionally, biological information of human body sensor is arranged on the robotic arm or on card interface.
Optionally, described card machine robot arranges loudspeaker or bulb.
Adopt device of the present invention, compared with prior art, the position of human body is accurately judged by human-body biological recognition technology, controller mechanical arm adjustment card interface arrives the rational position mated with position of human body, automatically can carry out moving and rotating adjustment in three of a space dimension direction, control range is large, make the card taking of personnel, card feed, action of swiping the card is naturally comfortable, the personnel that avoid adjust self attitude or vehicle location on a large scale, improve security, improve the comfort level of user, improve operating efficiency.
Accompanying drawing explanation
The card machine schematic diagram of Fig. 1 self adaptation position of human body
Fig. 2 multiple card machine robot shared control unit networking schematic diagram
Marginal data: 1-controller, 2-card interface, 3-biological information of human body sensor, 4-vehicle sensors, 5-environmental sensor, other sensor of 6-, 7-mechanical arm actuator, 8-mechanical arm, other actuator of 9-, 10-central processing unit, 11-sensor interface, 12-card interface interface, 13-communication interface, 14-actuator interface, 15-power supply, 30-central controller, 31-communication interface, 32-many sensors, 33-many actuators, A-card machine robot, B-card machine robot, X-card machine robot
Detailed description of the invention
Be described in further detail below in conjunction with the enforcement of accompanying drawing to technical solution of the present invention.
The robot principle of self adaptation position of human body of the present invention is shown in Fig. 1.Controller 1 comprises central processing unit 10, sensor interface 11, card interface interface 12, actuator interface 14, communication interface 13 and power supply 15 etc. 6 part composition.Vehicle sensors 4 is experienced after vehicle reaches, stops, and robot system starts to start.Biological information of human body sensor 3 detects the biological information of human body, biological information of human body sensor comprises infrared sensor, recognition of face device, eyeball identifier, gesture recognition, voice pickup device etc., these sensor informations deliver to central processing unit 10 by sensor interface 11, by central processing unit 10, above-mentioned information is comprehensively analyzed, in conjunction with mission requirements, control instruction is sent, controller mechanical arm actuator 7 or other actuator 9 action by actuator interface 14.Mechanical arm 8 setting in motion in actuator, mechanical arm 8 can carry out moving and rotating in a dimension direction in 3 of space.Card interface 2 on the robotic arm 8, the assigned address finally making card interface 2 reach controller 1 to expect.Personnel complete card taking or card feed or the operation information of the operation such as to swipe the card, central processing unit 10 is delivered to by card interface interface 12, controller mechanical arm 8 carries out reply action again, control other actuator 9 simultaneously and carry out relevant action, the clearance, voice message, lamplight pointing etc. of such as gate inhibition, restrictor bar, wait for the arriving of next operation.
The motion of central processing unit 10 controller mechanical arm 8, control mode can adopt open loop or closed-loop fashion.Open loop approach refers to that the instruction that central processing unit 10 sends is disposable, or unidirectional, no longer receives the positional information of human body in whole control procedure, and namely mechanical arm 8 instruction disposable or unidirectional according to this stop after reaching final position.Closed-loop fashion refers to that central processing unit 10 is before sending movement instruction to mechanical arm 8 stop motion to mechanical arm 8, receiving the out of Memory such as the positional information of human body, information of vehicles always, after recalculating analysis, constantly sending instruction controller mechanical arm 8 and move.
Sensor comprises biological information of human body sensor 3, vehicle sensors 4, environmental sensor 5 and other sensor 6.No matter wherein environment, vehicle sensors, be open loop or closed-loop control, all can be placed on card machine body, periphery or mechanical arm; But in closed-loop control, biological information of human body sensor 3 must be placed on mechanical arm 8 or card interface 2.
Communication interface 13 for the debugging of system and follow-up maintenance, software upgrading etc., and with other robot or the communication with central controller 30, see Fig. 2.Software upgrading is by local wired connection, and the communication also by smart mobile phone and system carries out.
A kind of networking application is shown in Fig. 2, and a central controller 30 can control Duo Tao card machine robot.Each card machine robot bears the function of sensor and actuator, and the analyzing and processing ability of himself processor 10 weakens, and is born by central controller 30.Central controller by its communication interface 31 and other card machine robot A, B ..., X communication interface 13 communicate, obtain the information of multiple sensor 32, send the operational order to multiple actuator 33.Namely communication mode by wired, is also undertaken by wireless or optical fiber etc.
System possesses fault-tolerant ability.When there being action need, robot is not activated or start failure, and operating personnel can carry out card taking by hand, swipe the card or the operation such as card feed.Mechanical arm runs into barrier in running, and has adjustment capability.Run into obstacle, one is by original sensor sensing, and two is that the control signal fed back by mechanical arm 8 is abnormal realizes, or arranges other sensor on the robotic arm and open realization.
Mechanical arm 8 adopts flexible design, and one is use flexible material, and two is the run signal detecting mechanical arm feedback, prevents the injury to human body or vehicle.
Claims (3)
1. the card machine robot of the self adaptation position of human body utilizing biological information of human body to control, it is characterized in that: comprising: controller, vehicle sensors, biological information of human body sensor, controller comprises central processing unit, sensor interface, card interface interface, actuator interface, communication interface and power supply; Biological information of human body sensor comprises: infrared sensor, recognition of face device, eyeball identifier, gesture recognition and voice pickup device, sensor information is delivered to central processing unit by sensor interface by biological information of human body sensor, central processing unit sends control instruction by actuator interface, the action of controller mechanical arm actuator, mechanical arm setting in motion in actuator, mechanical arm can carry out moving and rotating in a dimension direction in 3 of space.
2. card machine robot as claimed in claim 1, is characterized in that: biological information of human body sensor is arranged on the robotic arm or on card interface.
3. card machine robot as claimed in claim 1, is characterized in that: described card machine robot arranges loudspeaker or bulb.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420578461.2U CN204209691U (en) | 2014-10-09 | 2014-10-09 | The card machine robot of the self adaptation position of human body utilizing biological information of human body to control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420578461.2U CN204209691U (en) | 2014-10-09 | 2014-10-09 | The card machine robot of the self adaptation position of human body utilizing biological information of human body to control |
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| CN204209691U true CN204209691U (en) | 2015-03-18 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017008182A1 (en) * | 2015-07-15 | 2017-01-19 | 深圳市优必选科技有限公司 | Control system for intelligent robot |
| CN107369217A (en) * | 2017-07-11 | 2017-11-21 | 山东建筑大学 | A kind of automatic card taking system for expressway tol lcollection card taking |
| CN107705379A (en) * | 2017-10-13 | 2018-02-16 | 浙江交通职业技术学院 | A kind of accessible highway charge card access device |
| CN109671168A (en) * | 2017-10-13 | 2019-04-23 | 浙江交通职业技术学院 | A kind of multifunctional adaptive highway toll card access device |
-
2014
- 2014-10-09 CN CN201420578461.2U patent/CN204209691U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017008182A1 (en) * | 2015-07-15 | 2017-01-19 | 深圳市优必选科技有限公司 | Control system for intelligent robot |
| CN107369217A (en) * | 2017-07-11 | 2017-11-21 | 山东建筑大学 | A kind of automatic card taking system for expressway tol lcollection card taking |
| CN107705379A (en) * | 2017-10-13 | 2018-02-16 | 浙江交通职业技术学院 | A kind of accessible highway charge card access device |
| CN109671168A (en) * | 2017-10-13 | 2019-04-23 | 浙江交通职业技术学院 | A kind of multifunctional adaptive highway toll card access device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150318 |