CN204585197U - Can automatic obstacle-avoiding Work robot - Google Patents
Can automatic obstacle-avoiding Work robot Download PDFInfo
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- CN204585197U CN204585197U CN201520155294.5U CN201520155294U CN204585197U CN 204585197 U CN204585197 U CN 204585197U CN 201520155294 U CN201520155294 U CN 201520155294U CN 204585197 U CN204585197 U CN 204585197U
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Abstract
The utility model discloses one can automatic obstacle-avoiding Work robot, comprise removable vehicle body, central processing unit and to be arranged in removable vehicle body and for the three-dimensional information harvester of Collecting operation surrounding three-dimensional information, three-dimensional information harvester is electrically connected with central processing unit and carries out three-dimensional map structure; Removable vehicle body comprises floor box, foresteerage gear, rear wheel drive mechanism and the some ultrasonic transmission/reception sensors along the side setting of floor box week and for detecting obstacle distance, and central processing unit also carries out keeping away barrier for receiving ultrasonic transmission/reception sensor signal and exporting course changing control instruction to foresteerage gear after integrated treatment; Information Monitoring is input to central processing unit carries out three-dimensional map structure by the information of three-dimensional information harvester many operating environments, in addition, robot of the present utility model also can realize automatic obstacle-avoiding and automatic tracking function, meets the performance requirement of robot utonomous working in complex environment.
Description
Technical field
The utility model relates to automated machine apparatus field, and particularly one can automatic obstacle-avoiding Work robot.
Background technology
In China, Robotics research itself is started late, and the research of intelligent mobile robot and advanced international standard have very large gap.In recent years, national " 863 " planning and Eleventh Five-Year Plan guidance under, China's specialized robot research and apply makes substantial progress.Operation type underwater robot, micro-manipulating robot, independent behaviour are obtained for promotion and application with biological operations robot, electrolytic aluminium clean robot, non-ferrous metal automated production machine people under service robot, explosive-removal robot, complex environment in corresponding field to mobile-robot system, lunar rover moving system, medical robot, pipeline operations robot, agricultural robot (fruit picking robot).Along with artificial intelligence technology research extensively and profoundly, China to the theoretical research of specialized robot just progressively deeply, also more and more higher to the requirement of extreme environment Work robot, but existing Work robot, especially the Work robot under extreme environment, when performing the higher task of independence, reliability requirement under the natural environment of complexity, to environment sensing ability more weak and to track route to keep away barrier effect bad, integrated level is not high.
Therefore, need to improve existing Work robot, increase robot and operating environment acquisition of information is understood, and realize can automatic obstacle avoiding, automatic tracking, meet the performance requirement of robot utonomous working in complex environment.
Utility model content
In view of this, the utility model provides one can automatic obstacle-avoiding Work robot, and it can increase robot and understand the acquisition of operating environment information, and realizes automatic obstacle avoiding, automatic tracking, meets the performance requirement of robot utonomous working in complex environment.
Of the present utility model can automatic obstacle-avoiding Work robot, comprise removable vehicle body, central processing unit and to be arranged in removable vehicle body and for the three-dimensional information harvester of Collecting operation surrounding three-dimensional information, described three-dimensional information harvester is electrically connected with described central processing unit and carries out three-dimensional map structure; Described removable vehicle body comprises floor box, foresteerage gear, rear wheel drive mechanism and arranges and some ultrasonic transmission/reception sensors for detecting obstacle distance along floor box week side, and described central processing unit is also for receiving ultrasonic transmission/reception sensor signal and the backward described foresteerage gear of integrated treatment exports course changing control instruction carries out keeping away barrier.
Further, foresteerage gear comprises front-wheel, front fixed axis and steering driving mechanism, described steering driving mechanism comprises drive motors, worm gear, worm shaft and also realizes driving the bogie turned to for connecting worm axle and front fixed axis end, described drive motors is by described central processing unit control work, the power output shaft circumference of described worm gear and described drive motors is fixed, described worm screw is by described worm-gear driven, described bogie arranges two groups, and described front-wheel is can be arranged at corresponding bogie around the mode of own axis.
Further, bogie comprises expansion link, lower expansion link, bar case and bearing pin, described bar case is fixedly installed on two expansion links, described bar case is provided with front axle, described bearing pin longitudinally respectively arranges one in the end of front fixed axis and worm shaft and bearing pin two ends are stretched out, described upper expansion link and described lower expansion link two ends are rotatably assorted with corresponding bearing pin respectively, and described upper expansion link and described lower expansion link are also provided with spring.
Further, rear wheel drive mechanism comprises trailing wheel, hind axle and rear wheel drive assembly, hind axle is fixedly installed on described floor box, described trailing wheel is fixedly installed on described hind axle, described rear wheel drive assembly comprises rear wheel drive motor and bevel gear pair, the drive bevel gear of described bevel gear pair is fixed in the motor shaft of described rear wheel drive motor, and the driven wheel of differential circumference of described bevel gear pair is fixed on described hind axle.
Further, floor box is also provided with the manipulator captured for object, described manipulator is dual-arm robot, each manipulator includes mechanical arm, wrist assembly and paw assembly, described paw assembly comprises paw seat and at least two paws that are affixed with paw seat and that become clamp position to arrange, each paw forms by least three dactylus are hinged successively, first knuckle is fixed in described paw seat, two adjacent dactylus are provided with for driving the dactylus driving mechanism rotated around hinge axes at rear dactylus, described dactylus driving mechanism comprises dactylus drive motors, bevel gear dactylus drives secondary and the driving of spur gear dactylus is secondary, described bevel gear dactylus drives secondary drive bevel gear to be fixed in the motor shaft of dactylus drive motors, bevel gear dactylus drives secondary driven wheel of differential and spur gear to drive the secondary equal circumference of driving gear to be fixed on adjacent interphalangeal jointed shaft, spur gear dactylus drives secondary driven gear shaft to be fixedly connected with at rear dactylus.
Further, the mechanical arm of each manipulator includes the underarm that mode that is hinged successively and that all can rotate in perpendicular is arranged, middle arm and upper arm, arm drive unit is provided with between two alternate arm bodies, described arm drive unit comprises arm and drives servomotor and arm driving gear wheel set, described arm drives servomotor to be fixed in last arm body, the driving gear shaft of described arm driving gear wheel set drives servo motor transmission be connected and be provided with brake with arm, the driven gear circumference of arm driving gear wheel set is fixed in the hinge joints spindle between two alternate arm bodies, described hinge joints spindle and last arm body are rotatably assorted, be fixedly connected with a rear arm body.
Further, paw seat is equilateral triangle structure, and described paw is three that apportion is arranged at paw seat three limit.
Further, also comprise for the manual automatic control system done of adaptive control mechanical, described automatic control system at least comprises:
Angular displacement sensor, is arranged at underarm and upper arm is inner, for detecting underarm and upper arm luffing angle;
Vision sensor, is arranged at the top of wrist assembly, for locus, the attitude of object in testing environment, and monitors the duty of manipulator;
Touch sensor, is arranged at mechanical paw inner surface, for the information that active obtaining object is more complete;
Force sensor, the clamping face being arranged at manipulator paw dactylus is inner, for detecting the clamp pressure of each dactylus;
Described central processing unit is also for the feedback signal of acceptance angle displacement transducer, vision sensor, touch sensor and force sensor, and integrated treatment stores information.
The beneficial effects of the utility model: of the present utility model can automatic obstacle-avoiding Work robot, Information Monitoring is input to central processing unit carries out three-dimensional map structure by the information of three-dimensional information harvester many operating environments, in addition, robot of the present utility model is also by vision sensor identification object, online overall trajectory planning is realized in conjunction with control system, detect the barrier on path by ultrasonic sensor simultaneously, in conjunction with control system, local directed complete set is carried out to overall planning path, meet the performance requirement of robot utonomous working in complex environment.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is further described.
Fig. 1 be of the present utility model can the overall front view of automatic obstacle-avoiding Work robot;
Fig. 2 be of the present utility model can the wheel movement mechanism structure schematic diagram of automatic obstacle-avoiding Work robot;
Fig. 3 be of the present utility model can the overall schematic side view of automatic obstacle-avoiding Work robot;
Fig. 4 is Fig. 3 C place enlarged drawing;
Fig. 5 be of the present utility model can the paw assembly structure schematic diagram of automatic obstacle-avoiding Work robot;
Fig. 6 be of the present utility model can the arm driving device structure schematic diagram of automatic obstacle-avoiding Work robot;
Fig. 7 be of the present utility model can the bogie structure schematic diagram of automatic obstacle-avoiding Work robot;
Fig. 8 be of the present utility model can the bogie structure side view of automatic obstacle-avoiding Work robot.
Detailed description of the invention
Fig. 1 be of the present utility model can the overall front view of automatic obstacle-avoiding Work robot, Fig. 2 be of the present utility model can the wheel movement mechanism structure schematic diagram of automatic obstacle-avoiding Work robot, Fig. 3 be of the present utility model can the overall schematic side view of automatic obstacle-avoiding Work robot, Fig. 4 is Fig. 3 C place enlarged drawing, Fig. 5 be of the present utility model can the paw assembly structure schematic diagram of automatic obstacle-avoiding Work robot, Fig. 6 be of the present utility model can the arm driving device structure schematic diagram of automatic obstacle-avoiding Work robot, Fig. 7 be of the present utility model can the bogie structure schematic diagram of automatic obstacle-avoiding Work robot, Fig. 8 be of the present utility model can the bogie structure side view of automatic obstacle-avoiding Work robot, as shown in the figure: the present embodiment can automatic obstacle-avoiding Work robot, comprise removable vehicle body, central processing unit and to be arranged in removable vehicle body and for the three-dimensional information harvester 5 of Collecting operation surrounding three-dimensional information, three-dimensional information harvester 5 is electrically connected with described central processing unit and carries out three-dimensional map structure, removable vehicle body comprises floor box 1, foresteerage gear 2, rear wheel drive mechanism 3 and the some ultrasonic transmission/reception sensors 4 along floor box side setting in 1 week and for detecting obstacle distance, central processing unit also carries out local directed complete set for receiving ultrasonic transmission/reception sensor 4 signal and exporting course changing control instruction to foresteerage gear 2 to initial planning path, realize barrier avoiding function, after passing through obstacle, processor sends again counter steer signal to foresteerage gear 2, makes robot get back on initial planning path locus, wherein three information collecting devices are three-dimensional imaging binocular camera (CCD camera), central processing unit is embedded board computer, embeddedly refer to that embedding is arranged in removable vehicle body, floor box is interior hollow type structure, three-dimensional information harvester also can be other image capture modules existing, also image capture module is provided with in central processing unit, information storage module, wherein image capture module is for gathering the view data of three-dimensional information harvester this moment, by its unloading in memory module, can carry out building three-dimensional environmental map in central processing unit, also by wireless communication module, the odometer data gathered in memory module and view data are passed to Remote data processing main frame, the range information between image and robot is obtained by quick belief propagation algorithm, three-dimensional environmental map is built in Remote data processing main frame, in addition, the principle realizing keeping away barrier by ultrasonic wave is being sent the ultrasonic wave of certain frequency by ultrasonic sensor, reflecting when running into barrier, by receiving this back wave, then according to the time difference acquired disturbance object location signal determination Obstacle Position transmitted and received, certainly, also the function of ultrasonic sensor in the utility model is realized by infrared sensor, or infrared sensor and ultrasonic sensor together use, in robot kinematics, first adjustable range knob makes its detection range reach the blind area maximum of ultrasonic sensor used, transmitted by programme-control infrared sensor, then paving catches reflected signal, if areflexia signal instruction is accessible, if any reflected signal, obstacle is described, by infrared sensor or ultrasonic transmission/reception sensor detecting obstacles thing distance, central processing unit carries out signal transacting and draws actual range, arrange distance minimum threshold in central processing unit to judge, course changing control is carried out when range finding is greater than threshold value, wherein the construction method of three maps and the principle of implementation and ultrasonic transmission/reception sensor instrument distance and Distance Judgment all belong to prior art, do not repeat them here.
In the present embodiment, foresteerage gear and rear wheel drive mechanism form the wheel movement mechanism of removable vehicle body jointly, wherein, foresteerage gear 2 comprises front-wheel 2-1, front fixed axis 2-2 and steering driving mechanism, steering driving mechanism comprises drive motors 2-3, worm gear 2-4, worm shaft 2-5 and realize driving the bogie 2-6 turned to for connecting worm axle 2-5 and front fixed axis 2-2 end, drive motors is by described central processing unit control work, the power output shaft circumference of worm gear 2-4 and described drive motors is fixed, worm shaft is driven by described worm gear 2-4, bogie 2-6 arranges two groups, front-wheel is can be arranged at corresponding bogie 2-6 around the mode of own axis, in the present embodiment, indication worm and gear is not self-locking worm gear worm mechanism, carries out rectilinear motion by worm-gear driven worm shaft, thus drives bogie to make front-wheel going direction changing.
In the present embodiment, bogie 2-6 comprises expansion link 2-6-1, lower expansion link 2-6-2, bar case 2-6-3 and bearing pin 2-6-4, bar case 2-6-3 is fixedly installed on two expansion links, bar case 2-6-3 is provided with front axle 2-6-5, bearing pin 2-6-4 longitudinally respectively arranges one in the end of front fixed axis 2-2 and worm shaft 2-5 and bearing pin 2-6-4 two ends are stretched out, upper expansion link 2-6-1 and described lower expansion link 2-6-2 two ends are rotatably assorted with corresponding bearing pin 2-6-4 respectively, upper expansion link 2-6-1 and lower expansion link 2-6-2 is also provided with spring 2-6-6, spring can make front vehicle wheel self-aligning after worm gear stops operating, wherein, upper expansion link and lower expansion link are stretching structure, are respectively provided with bearing pin in the end of front fixed axis and worm shaft, bearing pin two ends stretch out front fixed axis and worm shaft respectively and respectively with upper expansion link and lower expansion link hinged, when worm-gear driven worm shaft linearly moves, bogie becomes incline structure, and because front-wheel is arranged on front axle, front axle changes direction with bar case, front-wheel changes direct of travel thereupon, thus avoiding obstacles, type of drive is simple and reliable, and flexibly and fast, in addition, also be provided with drive motors positive and negative rotation circuit, when the information of ultrasonic transmission/reception sensor collection inputs to after in central processing unit, central processing unit carries out rapid integrated judgement to Information Monitoring, disturbance in judgement thing be positioned at the direction of car body and distance how many, thus make drive motors rotating as the case may be by drive motors positive and negative rotation circuit, and then worm shaft is linearly moved forward and backward.
In the present embodiment, rear wheel drive mechanism 3 comprises trailing wheel 3-1, hind axle 3-2 and rear wheel drive assembly, hind axle 3-2 is fixedly installed on described floor box 1, trailing wheel 3-1 is fixedly installed on described hind axle 3-2, rear wheel drive assembly comprises rear wheel drive motor 3-3 and bevel gear pair, the drive bevel gear 3-4 of bevel gear pair is fixed in the motor shaft 3-7 of trailing wheel 3-1 drive motors, and the driven wheel of differential 3-5 circumference of bevel gear pair is fixed on hind axle 3-2; Trailing wheel 3-1 arranges two, and each trailing wheel 3-1 is all connected with hind axle 3-2 by a trailing wheel connecting rod 3-6.
In the present embodiment, floor box 1 is also provided with the manipulator 6 captured for object, manipulator is dual-arm robot, each manipulator includes mechanical arm 6-1, wrist assembly 6-2 and paw assembly 6-3, paw assembly 6-3 comprises paw seat 6-3-1 and and at least two paw 6-3-2s becoming clamp position arrange affixed with paw seat 6-3-1, each paw 6-3-2 forms by least three dactylus are hinged successively, first knuckle 6-3-3 is fixed in described paw seat 6-3-1, two adjacent dactylus are provided with for driving the dactylus driving mechanism rotated around hinge axes at rear dactylus, described dactylus driving mechanism comprises dactylus drive motors 6-3-4, bevel gear dactylus drives secondary and the driving of spur gear dactylus is secondary, described bevel gear dactylus drives secondary drive bevel gear 6-3-5 to be fixed in the motor shaft 6-3-9 of dactylus drive motors, bevel gear dactylus drives secondary driven wheel of differential 6-3-6 and spur gear to drive the secondary equal circumference of driving gear 6-3-7 to be fixed on adjacent interphalangeal jointed shaft 6-3-12, spur gear dactylus drives secondary driven gear shaft 6-3-8 to be fixedly connected with at rear dactylus 6-3-11, spur gear dactylus drive secondary driven gear 6-3-10 circumference to be fixed on driven gear shaft and with driving gear external toothing,
Wrist assembly 6-2 comprises wrist seat 6-2-1, wrist gear drive pair and wrist drive motors 6-2-2, described paw seat is fixedly installed on described wrist seat, described wrist gear drive pair comprises wrist and drives driving gear 6-2-3 and wrist to drive driven gear 6-2-4, the body of described wrist drive motors is fixedly installed on the robotic arm, the power output shaft of wrist drive motors is connected with the driving gear shaft 6-2-5 coaxial transmission of wrist gear drive pair, wherein, the driving gear shaft of wrist gear drive pair and driven gear shaft 6-2-6 are can be arranged at mechanical arm around the mode of own axis, driving gear and the driving gear shaft circumference of described wrist gear drive pair are fixed, the driven gear of wrist gear drive pair and driving gear external toothing, wrist seat is fixedly connected with the driven gear shaft of wrist gear drive pair.
In the present embodiment, the mechanical arm 6-1 of each manipulator includes the underarm 6-1-1 that mode that is hinged successively and that all can rotate in perpendicular is arranged, middle arm 6-1-2 and upper arm 6-1-3, arm drive unit 6-6 is provided with between two alternate arm bodies, described arm drive unit 6-6 comprises arm and drives servomotor 6-6-1 and arm driving gear wheel set, described arm drives servomotor to be fixed in last arm body, the driving gear shaft 6-6-6 of described arm driving gear wheel set drives servo motor transmission to be connected with arm and is provided with brake 6-6-5, the driven gear 6-6-2 circumference of arm driving gear wheel set is fixed in the hinge joints spindle between two alternate arm bodies, driving gear 6-6-3 circumference is fixed on driving gear shaft, described hinge joints spindle 6-6-4 and last arm body are rotatably assorted, be fixedly connected with a rear arm body,
In addition, each mechanical arm also can rotate at transverse plane inner periphery, the underarm of mechanical arm is arranged on mechanical arm installation chassis 6-4, mechanical arm installation chassis is driven by chassis driven unit 6-5, described chassis driven unit comprises chassis drive motors 6-5-1 and chassis driving gear wheel set, driving gear 6-5-2 and the driving gear shaft 6-5-3 circumference of described chassis driving gear wheel set are fixed, driving gear shaft is coaxially connected with the power output shaft of chassis drive motors, driven gear 6-5-4 and driven gear shaft 6-5-5 circumference are fixed, and driven gear shaft upper end edge longitudinally stretches out floor box is fixedly connected with chassis.
In the present embodiment, paw seat 6-3-1 is equilateral triangle structure, and described paw 6-3-2 is three that apportion is arranged at paw seat 6-3-1 tri-limit.
In the present embodiment, also comprise for the manual automatic control system done of adaptive control mechanical, described automatic control system at least comprises:
Angular displacement sensor, is arranged at underarm and upper arm is inner, for detecting underarm and upper arm luffing angle;
Vision sensor 7, is arranged at the top of wrist assembly 6-2, for locus, the attitude of object in testing environment, and monitors the duty of manipulator; Vision sensor forms primarily of one or two image sensor, also can be equipped with light projector and other auxiliary equipment, and imageing sensor can use laser scanner, linear array and Array CCD Camera or TV video camera, certainly may also be digital camera;
Touch sensor, is arranged at mechanical paw 6-3-2 inner surface, for the information that active obtaining object is more complete; Wherein, touch sensor can be contacting feeling sensor, force-moment sense sensor, killing fluid additive and sliding feeling sensor;
Force sensor, the clamping face being arranged at manipulator paw 6-3-2 dactylus is inner, for detecting the clamp pressure of each dactylus;
Described central processing unit is also for the feedback signal of acceptance angle displacement transducer, vision sensor, touch sensor and force sensor, and integrated treatment stores information.
What finally illustrate is, above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of technical solutions of the utility model, it all should be encompassed in the middle of right of the present utility model.
Claims (8)
1. one kind can automatic obstacle-avoiding Work robot, it is characterized in that: comprise removable vehicle body, central processing unit and to be arranged in removable vehicle body and for the three-dimensional information harvester of Collecting operation surrounding three-dimensional information, described three-dimensional information harvester is electrically connected with described central processing unit and carries out three-dimensional map structure; Described removable vehicle body comprises floor box, foresteerage gear, rear wheel drive mechanism and arranges and some ultrasonic transmission/reception sensors for detecting obstacle distance along floor box week side, and described central processing unit is also for receiving ultrasonic transmission/reception sensor signal and the backward described foresteerage gear of integrated treatment exports course changing control instruction carries out keeping away barrier.
2. according to claim 1 can automatic obstacle-avoiding Work robot, it is characterized in that: described foresteerage gear comprises front-wheel, front fixed axis and steering driving mechanism, described steering driving mechanism comprises drive motors, worm gear, worm shaft and realize driving the bogie turned to for connecting worm axle and front fixed axis end, described drive motors is by described central processing unit control work, the power output shaft circumference of described worm gear and described drive motors is fixed, described worm screw is by described worm-gear driven, described bogie arranges two groups, described front-wheel is can be arranged at corresponding bogie around the mode of own axis.
3. according to claim 2 can automatic obstacle-avoiding Work robot, it is characterized in that: described bogie comprises expansion link, lower expansion link, bar case and bearing pin, described bar case is fixedly installed on two expansion links, described bar case is provided with front axle, described bearing pin longitudinally respectively arranges one in the end of front fixed axis and worm shaft and bearing pin two ends are stretched out, described upper expansion link and described lower expansion link two ends are rotatably assorted with corresponding bearing pin respectively, and described upper expansion link and described lower expansion link are also provided with spring.
4. according to claim 3 can automatic obstacle-avoiding Work robot, it is characterized in that: described rear wheel drive mechanism comprises trailing wheel, hind axle and rear wheel drive assembly, hind axle is fixedly installed on described floor box, described trailing wheel is fixedly installed on described hind axle, described rear wheel drive assembly comprises rear wheel drive motor and bevel gear pair, the drive bevel gear of described bevel gear pair is fixed in the motor shaft of described rear wheel drive motor, and the driven wheel of differential circumference of described bevel gear pair is fixed on described hind axle.
5. according to claim 4 can automatic obstacle-avoiding Work robot, it is characterized in that: described floor box is also provided with the manipulator captured for object, described manipulator is dual-arm robot, each manipulator includes mechanical arm, wrist assembly and paw assembly, described paw assembly comprises paw seat and at least two paws that are affixed with paw seat and that become clamp position to arrange, each paw forms by least three dactylus are hinged successively, first knuckle is fixed in described paw seat, two adjacent dactylus are provided with for driving the dactylus driving mechanism rotated around hinge axes at rear dactylus, described dactylus driving mechanism comprises dactylus drive motors, bevel gear dactylus drives secondary and the driving of spur gear dactylus is secondary, described bevel gear dactylus drives secondary drive bevel gear to be fixed in the motor shaft of dactylus drive motors, bevel gear dactylus drives secondary driven wheel of differential and spur gear to drive the secondary equal circumference of driving gear to be fixed on adjacent interphalangeal jointed shaft, spur gear dactylus drives secondary driven gear shaft to be fixedly connected with at rear dactylus.
6. according to claim 5 can automatic obstacle-avoiding Work robot, it is characterized in that: the mechanical arm of each manipulator includes the underarm that mode that is hinged successively and that all can rotate in perpendicular is arranged, middle arm and upper arm, arm drive unit is provided with between two alternate arm bodies, described arm drive unit comprises arm and drives servomotor and arm driving gear wheel set, described arm drives servomotor to be fixed in last arm body, the driving gear shaft of described arm driving gear wheel set drives servo motor transmission be connected and be provided with brake with arm, the driven gear circumference of arm driving gear wheel set is fixed in the hinge joints spindle between two alternate arm bodies, described hinge joints spindle and last arm body are rotatably assorted, be fixedly connected with a rear arm body.
7. according to claim 6 can automatic obstacle-avoiding Work robot, it is characterized in that: described paw seat is equilateral triangle structure, described paw is three that apportion is arranged at paw seat three limit.
8. according to claim 7 can automatic obstacle-avoiding Work robot, it is characterized in that: also comprise for the manual automatic control system done of adaptive control mechanical, described automatic control system at least comprises:
Angular displacement sensor, is arranged at underarm and upper arm is inner, for detecting underarm and upper arm luffing angle;
Vision sensor, is arranged at the top of wrist assembly, for locus, the attitude of object in testing environment, and monitors the duty of manipulator;
Touch sensor, is arranged at mechanical paw inner surface, for the information that active obtaining object is more complete;
Force sensor, the clamping face being arranged at manipulator paw dactylus is inner, for detecting the clamp pressure of each dactylus;
Described central processing unit is also for the feedback signal of acceptance angle displacement transducer, vision sensor, touch sensor and force sensor, and integrated treatment stores information.
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| CN201520155294.5U CN204585197U (en) | 2015-03-18 | 2015-03-18 | Can automatic obstacle-avoiding Work robot |
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| CN104647344A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Operating robot for three-dimensional map building |
| CN105437232A (en) * | 2016-01-11 | 2016-03-30 | 湖南拓视觉信息技术有限公司 | Method and device for controlling multi-joint moving robot to avoid obstacle |
| CN106041910A (en) * | 2016-07-29 | 2016-10-26 | 苏州高通机械科技有限公司 | Intelligent toy storage device |
| CN106646486A (en) * | 2016-12-26 | 2017-05-10 | 智能佳（北京）机器人有限公司 | Humanoid robot with ultrasonic wave eyes |
| CN107346111A (en) * | 2017-05-25 | 2017-11-14 | 苏州大学 | A kind of intelligent robot system based on Multi-sensor Fusion |
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| CN104647344A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Operating robot for three-dimensional map building |
| CN105437232A (en) * | 2016-01-11 | 2016-03-30 | 湖南拓视觉信息技术有限公司 | Method and device for controlling multi-joint moving robot to avoid obstacle |
| WO2017193483A1 (en) * | 2016-05-07 | 2017-11-16 | 深圳市华科安测信息技术有限公司 | Mobile medical service robot |
| CN106041910A (en) * | 2016-07-29 | 2016-10-26 | 苏州高通机械科技有限公司 | Intelligent toy storage device |
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| CN107346111A (en) * | 2017-05-25 | 2017-11-14 | 苏州大学 | A kind of intelligent robot system based on Multi-sensor Fusion |
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