CN204725497U - A kind of passive robot system - Google Patents

A kind of passive robot system Download PDF

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Publication number
CN204725497U
CN204725497U CN201520471133.7U CN201520471133U CN204725497U CN 204725497 U CN204725497 U CN 204725497U CN 201520471133 U CN201520471133 U CN 201520471133U CN 204725497 U CN204725497 U CN 204725497U
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China
Prior art keywords
passive robot
action
master
robot
passive
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Expired - Fee Related
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CN201520471133.7U
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Chinese (zh)
Inventor
苗海委
张成亮
张立
张晓东
曹洪爽
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Binzhou University
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Binzhou University
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Abstract

The utility model relates to a kind of passive robot system, comprise body emotion and make acquisition system, the master system made acquisition system and wirelessly communicate is moved, the passive robot wirelessly communicated with described master system with described body, described body is moved comprises multiple action collector as acquisition system, and an action gathers master controller, each action collector all wirelessly gathers master controller with described action and communicates, described master system comprises control unit, three-dimensional animation human body attitude display unit and video display unit, described passive robot comprises mechanical arm, body and mobile system, steering wheel is adopted to be connected with steering wheel frame between the joint of mechanical arm, described mobile system is braked by direct current generator, described passive robot is also provided with camera and acquisition sensor.

Description

A kind of passive robot system
Technical field
The utility model belongs to robotics, is specifically related to a kind of passive robot system; This passive robot system by gathering the body sense information of human body, and by master system by body sense information transmission to robot, thus to realize the accurate servo antrol of robot.
Background technology
The development of Robotics, be the common comprehensive result of scientific technological advance, be also the science and technology that socio-economic development produces significant impact, its development is given the credit in World War II simultaneously, various countries strengthen economic input, strengthen the expanding economy of this country.It is also the inevitable outcome of the demand of productivity dynamics on the other hand, is also the inevitable outcome that mankind itself is developed.
Along with machine man-based development, anthropomorphic robot is broken technically gradually, but bionical anthropomorphic robot has very high requirement owing to closing joint number multipair manipulation personnel, need to give the manipulation such as the equipment that can use keyboard training, and need repeatedly to change due to control planning, during manipulation, robot is difficult to remarkable fluency as human action.
Robot of the prior art usually adopts the mode of external handle, rocking bar and keyboard to carry out operation and controls, because the dimension of robot is different from the dimension of the equipment such as action bars, cause the flexibility of this traditional operation mode, convenience and timeliness followability poor.
In addition, human action acquisition system outside Present Domestic and the implementation method of bionical passive robot adopt image recognition mode, this mode relies on camera collection human action video, analyzed by recognizer, can identify more accurately, but for people, complicated behavior of animal identification exist discrimination low, angle of rotation cannot be detected, easily produce the shortcoming such as maloperation and shake and restriction.This is the deficiencies in the prior art part.
Therefore, provide design a kind of passive robot system, to improve flexibility to robot controlling, convenience and timeliness followability, be necessary.
Utility model content
The purpose of this utility model is, for the defect existed in above-mentioned prior art, provides design a kind of passive robot system, to solve the problems of the technologies described above.
For achieving the above object, the utility model provides following technical scheme:
A kind of passive robot system, comprises body emotion and makes acquisition system, move the master system made acquisition system and wirelessly communicate, the passive robot wirelessly communicated with described master system with described body; It is characterized in that:
Described body is moved comprises multiple action collector as acquisition system, and an action gathers master controller, and each action collector all wirelessly gathers master controller with described action and communicates,
Described master system comprises control unit, three-dimensional animation human body attitude display unit and video display unit,
Described passive robot comprises mechanical arm, body and mobile system, and adopt steering wheel to be connected with steering wheel frame between the joint of mechanical arm, described mobile system is braked by direct current generator, and described passive robot is also provided with camera and acquisition sensor.
Preferably, described body moves to be done to be communicated by ZigBee wireless transmission method between acquisition system with master system; Adopt ZigBee wireless transmission method to communicate, the safety and reliability of data can be guaranteed.
Preferably, described master system is communicated by wifi wireless transmission method with between passive robot; Adopt the communication of wifi wireless transmission method can guarantee the data integrity of telecommunication.
Preferably, described action collector and action are gathered master controller and are communicated by NRF905 wireless module; Adopt NRF905 wireless module to communicate, the fast transport of data can be guaranteed.
Preferably, described action collector comprises the gyro sensor, the acceleration transducer that are positioned over each joint of human body, described gyro sensor and acceleration transducer are all connected to MPU6050 microprocessor, and described MPU6050 microprocessor is connected to NRF905 wireless module; Gather the action message in each joint of human body.
Preferably, described action collection master controller is the controller based on STM32 single-chip microcomputer; Control stable being convenient to develop.
Preferably, described direct current generator is driven by L298N motor drive module; Realize effectively driving the stable of direct current generator.
Preferably, described passive robot is provided with solar powered unit, described solar powered unit comprises solar panel, the solar charging electric control circuit be connected with solar panel, the battery be connected with solar charging electric control circuit.
Preferably, described passive robot is also provided with searchlight.
The beneficial effects of the utility model are, moved by body and make acquisition system, the action message of human body is gathered, and wirelessly action message is transferred to master system, then master system by wireless transmission method by the human action information transmission that collects to passive robot, to realize the accurate control to passive robot;
Gathered by the joint action of multiple action collectors to human body, and transfer to action collection master controller, to realize the complete collection to action;
The accurate control to mechanical arm can be realized by steering wheel and steering wheel frame, passive robot can be made to move by mobile system;
By arranging camera and acquisition sensor on passive robot, video information and environmental information can be gathered, and the information collected is sent to master system;
The three-dimensional animation human body attitude display unit of master system is simulated the human action information collected and shows, and the video display unit of master system shows the video information that passive robot collects.In addition, the utility model design principle is reliable, and structure is simple, has application prospect widely.
As can be seen here, the utility model compared with prior art, has substantive distinguishing features and progress, and its beneficial effect implemented also is apparent.
Accompanying drawing explanation
Fig. 1 is the theory diagram of a kind of passive robot system that the utility model provides.
Fig. 2 is the structural representation of passive robot in a kind of passive robot system of providing of the utility model.
Wherein, 1-body is moved makes acquisition system, 2-master system, 3-passive robot, 11-action collector, 12-action gathers master controller, 111-gyro sensor, 112-acceleration transducer, 113-MPU6050 microprocessor, 114-NRF905 wireless module, 21-control unit, 22-three-dimensional animation human body attitude display unit, 23-video display unit, 31-mechanical arm, 32-body, 33-mobile system, 34-camera, 35-acquisition sensor, 36-searchlight.
Detailed description of the invention
Below in conjunction with accompanying drawing, also by specific embodiment, the utility model is elaborated, and following examples are to explanation of the present utility model, and the utility model is not limited to following embodiment.
As illustrated in fig. 1 and 2, a kind of passive robot system that the utility model provides, comprise body emotion and make acquisition system 1, the master system 2 made acquisition system 1 and wirelessly communicate is moved, the passive robot 3 wirelessly communicated with described master system 2 with described body;
Described body emotion is made acquisition system 1 and is comprised multiple action collector 11, and an action gathers master controller 12, and each action collector 11 all wirelessly gathers master controller 12 with described action and communicates,
Described master system 2 comprises control unit 21, three-dimensional animation human body attitude display unit 22 and video display unit 23,
Described passive robot 3 comprises mechanical arm 31, body 32 and mobile system 33, steering wheel is adopted to be connected with steering wheel frame between the joint of mechanical arm 31, described mobile system 33 is braked by direct current generator, described passive robot 3 is also provided with camera 34 and acquisition sensor 35.
Moved by body and make acquisition system 1, the action message of human body is gathered, and wirelessly action message is transferred to master system 2, then master system 2 by wireless transmission method by the human action information transmission that collects to passive robot 3, to realize the accurate control to passive robot 3;
Gathered by the joint action of multiple action collectors 11 pairs of human bodies, and transfer to action collection master controller 12, to realize the complete collection to action;
The accurate control to mechanical arm 31 can be realized by steering wheel and steering wheel frame, passive robot can be made to move by mobile system 33;
By arranging camera 34 and acquisition sensor 35 on passive robot 3, video information and environmental information can be gathered, and the information collected is sent to master system 2;
The three-dimensional animation human body attitude display unit 22 of master system 2 is simulated the human action information collected and shows, and the video information that video display unit 23 pairs of passive robots 3 of master system 2 collect shows.
In the present embodiment, described body moves to be done to be communicated by ZigBee wireless transmission method between acquisition system 1 with master system 2; Adopt ZigBee wireless transmission method to communicate, the safety and reliability of data can be guaranteed.
In the present embodiment, described master system 2 is communicated by wifi wireless transmission method with between passive robot 3; Adopt the communication of wifi wireless transmission method can guarantee the data integrity of telecommunication.
In the present embodiment, described action collector 11 and action are gathered master controller 12 and are communicated by NRF905 wireless module 114; Adopt NRF905 wireless module to communicate, the fast transport of data can be guaranteed.
In the present embodiment, described action collector 11 comprises the gyro sensor 111, the acceleration transducer 112 that are positioned over each joint of human body, described gyro sensor 111 and acceleration transducer 112 are all connected to MPU6050 microprocessor 113, and described MPU6050 microprocessor 113 is connected to NRF905 wireless module 114;
In the present embodiment, described action collection master controller 12 is the controller based on STM32 single-chip microcomputer; Control stable being convenient to develop.
In the present embodiment, described direct current generator is driven by L298N motor drive module; Realize effectively driving the stable of direct current generator.
In the present embodiment, described passive robot 3 is provided with solar powered unit, described solar powered unit comprises solar panel, the solar charging electric control circuit be connected with solar panel, the battery be connected with solar charging electric control circuit.
In the present embodiment, described passive robot is also provided with searchlight 36.
Preferred embodiment of the present utility model is only above; but the utility model is not limited thereto; any those skilled in the art can think there is no creationary change; and do not departing from the multiple improvements and modifications done under the utility model principle prerequisite, all should drop in protection domain of the present utility model.

Claims (9)

1. a passive robot system, comprises body emotion and makes acquisition system, move the master system made acquisition system and wirelessly communicate, the passive robot wirelessly communicated with described master system with described body; It is characterized in that:
Described body is moved comprises multiple action collector as acquisition system, and an action gathers master controller, and each action collector all wirelessly gathers master controller with described action and communicates,
Described master system comprises control unit, three-dimensional animation human body attitude display unit and video display unit,
Described passive robot comprises mechanical arm, body and mobile system, and adopt steering wheel to be connected with steering wheel frame between the joint of mechanical arm, described mobile system is braked by direct current generator, and described passive robot is also provided with camera and acquisition sensor.
2. a kind of passive robot system according to claim 1, is characterized in that: described body moves to be done to be communicated by ZigBee wireless transmission method between acquisition system with master system.
3. a kind of passive robot system according to claim 1 and 2, is characterized in that: described master system is communicated by wifi wireless transmission method with between passive robot.
4. a kind of passive robot system according to claim 3, is characterized in that: described action collector and action are gathered master controller and communicated by NRF905 wireless module.
5. a kind of passive robot system according to claim 4, it is characterized in that: described action collector comprises the gyro sensor, the acceleration transducer that are positioned over each joint of human body, described gyro sensor and acceleration transducer are all connected to MPU6050 microprocessor, and described MPU6050 microprocessor is connected to NRF905 wireless module.
6. a kind of passive robot system according to claim 5, is characterized in that: described action collection master controller is the controller based on STM32 single-chip microcomputer.
7. a kind of passive robot system according to claim 6, is characterized in that: described direct current generator is driven by L298N motor drive module.
8. a kind of passive robot system according to claim 7, it is characterized in that: described passive robot is provided with solar powered unit, described solar powered unit comprises solar panel, the solar charging electric control circuit be connected with solar panel, the battery be connected with solar charging electric control circuit.
9. a kind of passive robot system according to claim 8, is characterized in that: described passive robot is also provided with searchlight.
CN201520471133.7U 2015-07-03 2015-07-03 A kind of passive robot system Expired - Fee Related CN204725497U (en)

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Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105904460A (en) * 2016-07-11 2016-08-31 吉林大学 Control system for real-time human-simulated dance robot
CN106003053A (en) * 2016-07-29 2016-10-12 北京工业大学 Teleoperation passive robot control system and control method thereof
CN106393145A (en) * 2016-12-20 2017-02-15 自兴人工智能(深圳)有限公司 Virtual reality experience method and device based on mechanical arm control
CN107703950A (en) * 2017-10-30 2018-02-16 燕山大学 A kind of underwater robot and control method using motion sensing control
CN109814432A (en) * 2018-12-18 2019-05-28 航天时代电子技术股份有限公司 A kind of the communication frame generating method and communication means of human body servo antrol

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105904460A (en) * 2016-07-11 2016-08-31 吉林大学 Control system for real-time human-simulated dance robot
CN106003053A (en) * 2016-07-29 2016-10-12 北京工业大学 Teleoperation passive robot control system and control method thereof
CN106393145A (en) * 2016-12-20 2017-02-15 自兴人工智能(深圳)有限公司 Virtual reality experience method and device based on mechanical arm control
CN107703950A (en) * 2017-10-30 2018-02-16 燕山大学 A kind of underwater robot and control method using motion sensing control
CN109814432A (en) * 2018-12-18 2019-05-28 航天时代电子技术股份有限公司 A kind of the communication frame generating method and communication means of human body servo antrol
CN109814432B (en) * 2018-12-18 2020-08-21 航天时代电子技术股份有限公司 Human body follow-up control communication frame generation method and communication method

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