CN204366968U - Multi-degree of freedom humanoid robot based on three-dimensional somatosensory video camera - Google Patents

Multi-degree of freedom humanoid robot based on three-dimensional somatosensory video camera Download PDF

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Publication number
CN204366968U
CN204366968U CN 201520000518 CN201520000518U CN204366968U CN 204366968 U CN204366968 U CN 204366968U CN 201520000518 CN201520000518 CN 201520000518 CN 201520000518 U CN201520000518 U CN 201520000518U CN 204366968 U CN204366968 U CN 204366968U
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robot
camera
articulated
degree
freedom
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CN 201520000518
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Chinese (zh)
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朱铮涛
卢韶安
黄凯焕
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广东工业大学
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Abstract

The utility model discloses a multi-degree of freedom humanoid robot based on a three-dimensional somatosensory video camera. The multi-degree of freedom humanoid robot comprises a camera, an articulated robot, a central control unit and the three-dimensional somatosensory video camera, wherein the camera is installed on the multi-degree of freedom articulated robot and can move with the moving of the articulated robot, the camera shoots the scene in the front of the articulated robot and transmits the shot information to the central control unit, a human observes the scene in the front of the articulated robot in movement through a screen of the central control unit to do corresponding actions, the three-dimensional somatosensory video camera collects the action information of a human body and transmits the action information to the articulated robot, and the articulated robot does the same actions. The multi-degree of freedom humanoid robot based on the three-dimensional somatosensory video camera can imitate the human to do the corresponding actions and replace the human to complete high-risk work in some high-risk places. The multi-degree of freedom humanoid robot based on the three-dimensional somatosensory video camera is reasonable in design and convenient and practical.

Description

基于三维体感摄影机的多自由度仿人机器人 Multi-DOF humanoid robot based 3D somatosensory camera

技术领域 FIELD

[0001 ] 本发明是一种机器人,特别是一种基于三维体感摄影机的多自由度仿人机器人。 [0001] The present invention is a robot, in particular a three-dimensional body based on sensing camera multi-DOF humanoid robot.

背景技术 Background technique

[0002]目前,研制中的智能机器人智能水平并不高,只能说是智能机器人的初级阶段。 [0002] Currently, smart intelligent robot research level is not high, can only say that the initial stage of intelligent robots. 智能机器人研宄中有两方面的核心问题:一方面是提高智能机器人的自主性,即希望智能机器人进一步独立于人,具有更为友善的人机界面。 Intelligent Robot study based on the core issue has two aspects: one is to increase the autonomy of intelligent robots, intelligent robots further hope that is independent of the people, with a more friendly user interface. 从长远来说,希望操作人员只要给出要完成的任务,机器人能自动形成完成该任务的步骤,并自动完成。 In the long run, as long as the operator gives hope to complete the task, the robot can automatically steps to complete the task of forming and automatically. 另一方面是提高智能机器人的适应性,提高智能机器人适应环境变化的能力,希望加强智能机器人与环境之间的交互关系O On the other hand it is to improve the adaptability of intelligent robots, intelligent robots to improve the ability to adapt to environmental change, hope to strengthen relations O interaction between intelligent robots and the environment

[0003]当前三维体感摄影机的发展重点虽然还在游戏领域,但是从长远发展来看,为了体验更加绚丽与科幻的操控方式和人机交互体验,三维体感摄影机的应用必将会呈多样性发展趋势。 [0003] The current three-dimensional somatosensory camera focused on the development, although still in the game field, but in the long-term development, in order to experience more brilliant science fiction and control methods and interactive experience, a sense of three-dimensional body camera application will certainly was the diversity of development trend.

发明内容 SUMMARY

[0004] 本实用新型的目的在于提供一种可以模仿人做相应的动作,代替人类在一些高危场所完成高危工作的基于三维体感摄影机的多自由度仿人机器人。 [0004] The object of the present invention is to provide a mimic human movements accordingly, instead of the complete human work in some high-risk risk areas based on the three-dimensional multi-DOF somatosensory camera humanoid robot.

[0005] 本实用新型采用的技术方案是:本实用新型的基于三维体感摄影机的多自由度仿人机器人,包括有摄像头、关节机器人、中央控制单元、三维体感摄影机,其中摄像头安装在多自由度的关节机器人上,摄像头随关节机器人运动而运动,摄像头拍摄关节机器人前方的情景,且摄像头把拍摄的信息传至中央控制单元,人通过中央控制单元的屏幕观察关节机器人运动前方的场景作出相应动作,三维体感摄影机采集人体的动作信息,并把动作信息传输给关节机器人,关节机器人做出相同的动作。 [0005] In the present invention the technical solution is that: the present invention based on three-dimensional volume sensing camera many degrees of freedom robot, comprises a camera, articulated robot, the central control unit, a three-dimensional somatosensory camera, wherein the camera is mounted in a multi-degree of freedom the articulated robot, the camera with the articulated robot is moved, the camera shooting front of the robot joints scene, and camera to pass information to the central imaging control unit, people through the center of the screen unit is seen in front of the articulated robot movement scene to the respective operation control , three-dimensional motion capture camera somatosensory information of the human body, and the movement information to the joints of the robot, the robot joints to make the same action.

[0006] 本实用新型的基于三维体感摄影机的多自由度仿人机器人,通过关节机器人携带的摄像头拍摄场景信息,机器人操作者做出各种响应,并由三维体感摄影机捕获操作者的动作及姿态,控制关节机器人的运动。 [0006] The present invention is based on the three-dimensional camera somatosensory many degrees of freedom robot, articulated robot shooting scene information carried by the camera operator of the robot respond by sensing camera to capture three-dimensional body by operation of the operator and the posture , joint control of robot movement. 本实用新型与现有技术相比,具有如下优点: Present invention compared with the prior art, has the following advantages:

[0007] I)本实用新型的多自由度的机器人能精确地模仿人的动作; [0007] I) of the present invention a multi-degree of freedom robot can accurately mimic human movements;

[0008] 2)本实用新型使用三维体感摄影机根据人体的动作信息,指挥关节机器人模仿人做相应的动作,简单方便。 [0008] 2) The utility model using three-dimensional motion information based on somatosensory camera body, the joint command of the robot to imitate people to do the appropriate action, simple and convenient.

[0009] 3)本实用新型在应对高未知性的复杂任务时有良好的优势,可用于代替人类在一些尚危场所完成尚危工作。 [0009] 3) have a good advantage when dealing with highly complex task of the unknown nature of the utility model can be used to replace human crisis is still to complete some work still dangerous places.

[0010] 本实用新型的 [0010] the present invention

附图说明 BRIEF DESCRIPTION

[0011] 图1为本实用新型的原理图。 [0011] Figure 1 is a schematic invention.

具体实施方式 detailed description

[0012] 本实用新型的原理图如图1所示,本实用新型的基于三维体感摄影机的多自由度仿人机器人,包括有摄像头、关节机器人、中央控制单元、三维体感摄影机,其中摄像头安装在多自由度的关节机器人上,摄像头随关节机器人运动而运动,摄像头拍摄关节机器人前方的情景,且摄像头把拍摄的信息传至中央控制单元,人通过中央控制单元的屏幕观察关节机器人运动前方的场景作出相应动作,三维体感摄影机采集人体的动作信息,并把动作信息传输给关节机器人,关节机器人做出相同的动作。 [0012] The present invention diagram shown in Figure 1, the present invention is based on the three-dimensional volume sensing camera many degrees of freedom robot, it comprises a camera, articulated robot, the central control unit, a three-dimensional somatosensory camera, wherein the camera is mounted multiple degrees of freedom articulated robot, the camera with the articulated robot is moved, the camera shooting front of the robot joints scene, and camera to pass information to the central imaging control unit observes the front articulated robot motion scenes through center of the screen of the control unit make the appropriate action, three-dimensional motion capture camera somatosensory information of the human body, and the movement information to the joints of the robot, the robot joints to make the same action. 本实用新型为了让机器人仿照人的动作进行作业,使用了三维体感摄影机实现人机互动,让机器人实时模仿人的动作。 The present invention in order to allow operation of a robot modeled on human operations, the use of three-dimensional sense of the camera body to achieve human-computer interaction, allow the robot to imitate human movements in real time. 人作出的动作可以是避开障碍物的动作,也可以是抓起物件的动作,或是其他的操作动作,如喷漆、装配机器、书写黑板、擦黑板等等,或是在一些高危场所完成高危工作,例如核辐射环境下的注水灭火;拆弹;高空作业等等。 Action people can be made to avoid obstacles actions, it can be grabbed object of action, action, or other operations, such as painting, assembly machines, writing blackboard, clean the blackboard, etc., or completed in some high-risk places high-risk work, for example extinguishing water in a nuclear radiation environment; bomb; aerial like. 本实用新型的机器人可以将操作工人从简单重复的体力劳动中解放出来。 The present invention can operate the robot frees workers from simple, repetitive manual labor.

[0013] 本实施例中,上述中央控制单元是电脑。 [0013] In the present embodiment, the central control unit is a computer.

[0014] 本实施例中,上述摄像头拍摄的信息通过无线方式传输给中央控制单元。 [0014] In the present embodiment, information of the camera captured through the wireless transmission to the central control unit. 上述维体感摄影机采集人体的动作信息通过无线方式传到传输给关节机器人。 With the dimensions somatosensory camera body pass to collect the operation information transmitted wirelessly to the articulated robot.

[0015] 此外,上述关节机器人的手部有多自由度。 [0015] In addition, the hand portion of the multiple degrees of freedom articulated robot. 本实施例中,上述关节机器人的手部是金属机械手爪。 In this embodiment, the joint portion of the robot hand is a metal Manipulator.

[0016] 本实施例中,上述三维体感摄影机获取人体的动作信息,通过舵机控制板指挥关节机器人动作。 [0016] In this embodiment, the three-dimensional information acquisition operation somatosensory camera body, the articulated robot operation command through the servo control board.

[0017] 另外,为了方便关节机器人行走,上述关节机器人装设有履带,用履带实现自动行走。 [0017] Further, for convenience of the articulated robot to walk the crawler mounted articulated robot, with automatic running track. 本实施例中,上述履带用双电机控制。 In this embodiment, the above-described crawler belt with double motor control.

[0018] 本实施例中,摄像头装在关节机器人的头部位置,拍摄关节机器人前方视野的场景。 [0018] In this embodiment, the camera mounted on the head position of the joint of the robot, articulated robot imaging field of view in front of the scene.

Claims (10)

  1. 1.一种基于三维体感摄影机的多自由度仿人机器人,其特征在于包括有摄像头、关节机器人、中央控制单元、三维体感摄影机,其中摄像头安装在多自由度的关节机器人上,摄像头随关节机器人运动而运动,摄像头拍摄关节机器人前方的情景,且摄像头把拍摄的信息传至中央控制单元,人通过中央控制单元的屏幕观察关节机器人运动前方的场景作出相应动作,三维体感摄影机采集人体的动作信息,并把动作信息传输给关节机器人,关节机器人做出相同的动作。 1. Based on the three-dimensional somatosensory camera multi-DOF robot, comprising a camera, articulated robot, the central control unit, a three-dimensional somatosensory camera, wherein the camera is mounted on the multi-degrees of freedom articulated robot, a camera with an articulated robot movement motion, camera shooting front of the robot joints scene, and camera to pass information to the central imaging control unit observes the front articulated robot motion scenes make the appropriate action by the center of the screen of the control unit, three-dimensional volume sensing camera capture operation information on the body and the operation information to the articulated robot, articulated robot do the same operation.
  2. 2.根据权利要求1所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述中央控制单元是电脑。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 1, wherein said central control unit is a computer.
  3. 3.根据权利要求1所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述摄像头拍摄的信息通过无线方式传输给中央控制单元。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 1, characterized in that the central control unit to the camera information of the captured transmitted wirelessly.
  4. 4.根据权利要求1所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述维体感摄影机采集人体的动作信息通过无线方式传到传输给关节机器人。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 1, wherein said motion capture camera somatosensory dimensional information on the body transmitted by wireless transmission to the articulated robot.
  5. 5.根据权利要求1所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述关节机器人的手部有多自由度。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 1, characterized in that the articulated robot hand portion of the multiple degrees of freedom.
  6. 6.根据权利要求5所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述关节机器人的手部是金属机械手爪。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 5, characterized in that the joints of the robot hand portion of the metal Manipulator.
  7. 7.根据权利要求1所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述三维体感摄影机获取人体的动作信息,通过舵机控制板指挥关节机器人动作。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 1, wherein said three-dimensional body sensing camera motion information acquired in the body, operated by articulated robot servo command panel.
  8. 8.根据权利要求1所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于其摄像头装在关节机器人的头部位置,拍摄关节机器人前方视野的场景。 The camera-based 3D somatosensory many degrees of freedom of the humanoid robot as claimed in claim 1, characterized in that the camera mounted in the head position of the joint of the robot, articulated robot imaging field of view in front of the scene.
  9. 9.根据权利要求1至8任一项所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述关节机器人用履带行走。 According to any one of claims 1 to 8, based on the three-dimensional camera somatosensory many degrees of freedom robot, characterized in that said articulated robot to walk with the track.
  10. 10.根据权利要求9所述的基于三维体感摄影机的多自由度仿人机器人,其特征在于上述履带用双电机控制。 10. A camera-based 3D somatosensory many degrees of freedom of the humanoid robot according to claim 9, wherein said double-track motor control.
CN 201520000518 2015-01-04 2015-01-04 Multi-degree of freedom humanoid robot based on three-dimensional somatosensory video camera CN204366968U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105033997A (en) * 2015-09-15 2015-11-11 北京理工大学 Visual-sense-based rapid working whole-body planning and control method of humanoid robot
CN105700481A (en) * 2016-03-23 2016-06-22 北京光年无限科技有限公司 Intelligent robot motion generation method and system
CN105773633A (en) * 2016-04-14 2016-07-20 中南大学 Mobile robot man-machine control system based on face location and flexibility parameters
CN106256509A (en) * 2016-08-15 2016-12-28 李文松 Stand-in robot
CN106272446A (en) * 2016-08-01 2017-01-04 纳恩博(北京)科技有限公司 Robot action simulation method and device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105033997A (en) * 2015-09-15 2015-11-11 北京理工大学 Visual-sense-based rapid working whole-body planning and control method of humanoid robot
CN105033997B (en) * 2015-09-15 2017-06-13 北京理工大学 One kind of humanoid robots rapid systemic planning and operation control method
CN105700481A (en) * 2016-03-23 2016-06-22 北京光年无限科技有限公司 Intelligent robot motion generation method and system
CN105773633A (en) * 2016-04-14 2016-07-20 中南大学 Mobile robot man-machine control system based on face location and flexibility parameters
CN106272446A (en) * 2016-08-01 2017-01-04 纳恩博(北京)科技有限公司 Robot action simulation method and device
CN106256509A (en) * 2016-08-15 2016-12-28 李文松 Stand-in robot

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