CN205058045U - Robot with vision servo - Google Patents
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- CN205058045U CN205058045U CN201520833592.5U CN201520833592U CN205058045U CN 205058045 U CN205058045 U CN 205058045U CN 201520833592 U CN201520833592 U CN 201520833592U CN 205058045 U CN205058045 U CN 205058045U
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Abstract
The utility model relates to a robot field, concretely relates to robot with vision servo, vision servo include servo moving system, vision sensing system and servo drive system, vision sensing system is including two cameras being connected with the industrial computer respectively, a place ahead of installing at the head cavity for gather the required environmental information on a large scale of the location navigation task of accomplishing: another is installed on the wrist joint for gather the completion article and snatch the required environmental information of task, servo drive system is the closed loop control system that comprises driver, servo motor and encoder, the driver accept to come from the instruction of industrial computer with control servo motor's motion, read encoder information, revise the parameter setting, servo motor turns into voltage signal that torque and rotational speed moves with the drive telecontrol equipment or the arm picks article. This robot can obtain the exact position of waiting to grab article, and the accurate article that pick have reduced the pick fault rate of the arm of robot to article.
Description
Technical field
The utility model relates to robot field, is specifically related to a kind of robot with vision servo system.
Background technology
Along with the development of technology, domestic robot has entered into increasing family, becomes the requisite equipment of a lot of family.Certainly, the kind of domestic robot is a lot, comprise family to accompany and attend to robot, amusement robot etc., wherein robot of accompanying and attending to of family is mainly used in home services, main service object is old man in family or disabled person, by the result of video monitoring, control machine people provides some home services for service object, such as pick and place thing crystalline substance, the sending of article, remote speech mutual, assist service object etc. in, this not only alleviates tutorial burden, and further increases the nursing quality to old man or disabled person etc.
But existing robotic vision sensor-based system great majority comprise a camera, and this camera is arranged on the front of robot head cavity, for having gathered the large-scale environmental information of location navigation required by task.The industrial computer of robot according to the large-scale environmental information position judging article place roughly, and controls mobile device and moves to article place to be got, and capture article by arm, then robot moves to service object place and the article of crawl are given user.In the above process, owing to only having a video camera, the asset position information obtained is large-scale environmental information, the exact position residing for article can not be detected, and therefore, arm can not capture article accurately, easily occurs the problem capturing error.
Based on above description, need a kind of robot with vision servo system badly, the robot existed to solve prior art can not detect the exact position residing for article, and therefore, arm can not capture article accurately, easily occurs the problem capturing error.
Utility model content
For the defect that prior art exists, one of the utility model object is to provide a kind of robot with vision servo system, this robot can obtain the exact position of article to be grabbed, and captures article accurately, reduces the crawl fault rate of arm to article of robot.
The technical solution adopted in the utility model is as follows:
With a robot for vision servo system, described vision servo system comprises:
Servo motion system, this system comprises robot body and mechanical arm, and the upper end of described robot body is provided with robot head cavity, and described mechanical arm is arranged on described robot body, and the lower end of described robot body is provided with telecontrol equipment;
Visual sensing system, this system comprises two cameras, two described cameras are connected with industrial computer respectively, one of them camera is arranged on the front of described robot head cavity, for having gathered the large-scale environmental information of location navigation required by task: another camera is arranged on the wrist joint of described mechanical arm, capture the environmental information of required by task for having gathered article;
Servo drive system, this system is the closed-loop control system be made up of driver, servomotor and encoder, described driver accept from described industrial computer instruction with control described servomotor motion, read described encoder information, amendment optimum configurations, voltage signal is converted into torque and rotational speed to drive described telecontrol equipment to carry out to move or described mechanical arm captures article by described servomotor.
As preferably, the number of described mechanical arm is 2, and 2 described mechanical arms are separately positioned on the left and right sides of described robot body, and are symmetric state.
As preferably, described telecontrol equipment comprises two driving wheels and a universal wheel;
Described universal wheel is placed in the dead ahead of robot body lower end, has two frees degree, all can rotate freely at vertical direction and a horizontal direction;
The center line that two described driving wheels are symmetrical in described robot body lower end is arranged on the both sides at universal wheel rear, and described universal wheel coordinates two driving wheels to form three-point support structure;
Two described driving wheels are controlled by wherein two described servomotors respectively by two axles, rotation shaft coupling and retarding device, described industrial computer passes through the rotating speed of control and proportioning two driving wheels and turns to, change the position that robot motion is instantaneous, and make robot around the instantaneous point of difference to realize the rotary motion of the different radius of gyration.
As preferably, described mechanical arm comprises the first arm, the second arm and end clamper, one end of described first arm is flexibly connected with described robot body by shoulder joint, the other end is flexibly connected by one end of elbow joint and the second arm, and the other end of described second arm is flexibly connected by wrist joint and described end clamper;
Described mechanical arm has four-degree-of-freedom, comprises the rotation around mechanical arm axis of the moving in parallel of shoulder joint, the rotation of shoulder joint, the rotation of elbow joint and wrist joint.
As preferably, described end clamper comprises two can the retaining paw of folding, realizes clamping to crawled object, placement and release between two described retaining paws by folding.
The end effector of robot is one and is arranged on mobile device or robot arm, can pick up an object, and there is process, transmission, clamping, place and releasing object to the mechanism of a function such as discrete location accurately.
As preferably, described shoulder joint, elbow joint and wrist joint place are respectively arranged with corresponding DC servo motor, and are furnished with corresponding encoder; Adopt the folding of servos control two described retaining paws.
As preferably, described industrial computer and human-computer interaction module and DataBase combining, given images of items is stored in described database, user sends the Item Information of wish crawl to described industrial computer by described human-computer interaction module, described industrial computer finds out corresponding images of items according to what receive for the Item Information captured from database, simultaneously, environmental information is passed to described industrial computer by described visual sensing system, environmental information matches with corresponding images of items by described industrial computer, if the match is successful, then controlling described servo drive system drives described telecontrol equipment to carry out moving and described mechanical arm captures article and gets.
As preferably, described robot also comprises:
Eight ultrasonic sensors, wherein robot front is provided with three, each side two, one, rear, described ultrasonic sensor is connected with described industrial computer respectively by serial ports, in order to whether to have barrier and this barrier around robot measurement to the distance of ultrasonic sensor, measurement category is 100em;
Infrared sensor, is arranged in robot head cavity, is connected by CAN with industrial computer, whether has barrier for robot measurement head cavity front;
Odometer, the radian turned within each cycle by the servomotor detecting two driving wheels and then the relative pose calculating current time robot body according to approximate circle model;
Seven photoelectric sensors, wherein robot front has three, each side one, two, rear, and seven photoelectric sensors are connected with industrial computer respectively by CAN, in order to whether there is barrier in robot measurement predeterminable range;
Temperature Humidity Sensor, is arranged in robot head cavity, is connected by CAN with industrial computer, for the temperature and humidity of measurement environment;
Battery charge sensor, is arranged in robot head cavity, is connected by CAN with industrial computer, for the battery electric quantity of robot measurement.
As preferably, described human-computer interaction module comprises voice interaction device and/or touches interactive device;
User is assigned a task to robot by the touch-screen of point touching interactive device, passes through the information feed back of touch-screen display device people and current environment simultaneously, by touch-screen to target typing target information, carries out Operation system setting; And/or
User to industrial computer sending controling instruction, realizes remote dialogue function by voice interaction device.
As preferably, each camera is given respectively different IP addresses.
What the utility model provided has the following advantages:
The vision servo system provided due to the application comprises servo motion system, visual sensing system and servo drive system, wherein, visual sensing system comprises two cameras, two described cameras are connected with industrial computer respectively, one of them camera is arranged on the front of described robot head cavity, for having gathered the large-scale environmental information of location navigation required by task: another camera is arranged on the wrist joint of described mechanical arm, capture the environmental information of required by task for having gathered article; Servo drive system is the closed-loop control system be made up of driver, servomotor and encoder, described driver accept from described industrial computer instruction with control described servomotor motion, read described encoder information, amendment optimum configurations, voltage signal is converted into torque and rotational speed to drive described telecontrol equipment to carry out to move or described mechanical arm captures article by described servomotor.So this robot can obtain the exact position of article to be grabbed, capture article accurately, reduce the crawl fault rate of arm to article of robot.
Accompanying drawing explanation
The structural representation of the robot with vision servo system that Fig. 1 provides for the utility model;
The structural representation of the mechanical arm that Fig. 2 provides for the utility model.
Wherein,
1-robot body; 2-robot head cavity; 3-mechanical arm; 4-telecontrol equipment; 5-camera;
31-shoulder joint; 32-first arm; 33-elbow joint; 34-second arm; 35-wrist joint; 36-end clamper.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in detail:
A kind of robot with vision servo system that the application provides, described vision servo system comprises servo motion system, visual sensing system and servo drive system.
Wherein, as shown in Figure 1, servo motion system comprises robot body 1 and mechanical arm, and the upper end of described robot body 1 is provided with robot head cavity 2, described mechanical arm 3 is arranged on described robot body 1, and the lower end of described robot body 1 is provided with telecontrol equipment 4.
For realizing the functions such as article crawl, location navigation, path planning and environmental monitoring, the sensor that robot is installed has camera 5, ultrasonic sensor, infrared sensor, odometer, photoelectric sensor, Temperature Humidity Sensor and battery charge sensor.
Wherein, camera 5 belongs to visual sensing system, visual sensing system comprises two cameras 5, two described cameras 5 are connected with industrial computer respectively, one of them camera 5 is arranged on the front of described robot head cavity 2, for having gathered the large-scale environmental information of location navigation required by task: another camera 5 is arranged on the wrist joint 35 of described mechanical arm 3, capture the environmental information of required by task for having gathered article.In the present embodiment, preferably, two described cameras 5 are connected with an industrial computer respectively by USB interface.
Servo drive system is the closed-loop control system be made up of driver, servomotor and encoder, described driver accept from described industrial computer instruction with control described servomotor motion, read described encoder information, amendment optimum configurations, voltage signal is converted into torque and rotational speed to drive described telecontrol equipment 4 to carry out to move or described mechanical arm 3 captures article by described servomotor.
For old man or disabled person, action may be there is not too convenient, cannot independently complete the operation of getting thing.Terminal Server Client is by being stored in the given subject image inside database, and control captures it, and is delivered in service object's hand.And by the exact position that this robot can obtain article to be grabbed, capture article accurately, reduce the crawl fault rate of mechanical arm to article of robot.
In the present embodiment, industrial computer has that the speed of service is fast, memory space is large, the advantage of applying flexible, mainly completes the control tasks such as man-machine interface, system management, visual servo, path planning, navigator fix and mechanical arm locus interpolation.
In the present embodiment, described servo drive system is DC servo drive system, and described servomotor is DC servo motor.The closed-loop control system that described servo drive system is made up of driver, DC servo motor and photoelectric encoder.Driver by CAN accept from industrial computer instruction with complete control DC servo motor motion, read encoder information, task such as amendment optimum configurations etc.Voltage signal is converted into torque and rotational speed with drived control object by DC servo motor, can obtain high-precision speed, position control.Robot has seven DC servo motors, is respectively used to driving machine mechanical arm 3, is positioned at the telecontrol equipment 4 of robot body 1 lower end, the motion of robot head cavity 2.
In the present embodiment, preferably, robot body 1 is provided with two cameras 5 be connected by USB interface with industrial computer, a dead ahead being arranged on robot head cavity 2, for observing large-scale environmental information, complete the tasks such as location navigation: another is arranged on the wrist joint 35 of mechanical arm 3, for identifying the less target of size, completing article and capturing task.
In the present embodiment, preferably, the number of described mechanical arm 3 is 2, and 2 described mechanical arms 3 are separately positioned on the left and right sides of described robot body 1, and are symmetric state.
In the present embodiment, preferably, described telecontrol equipment 4 comprises two driving wheels and a universal wheel.
Described universal wheel is placed in the dead ahead of robot body 1 lower end, has two frees degree, all can rotate freely at vertical direction and a horizontal direction.
The center line that two described driving wheels are symmetrical in described robot body 1 lower end is arranged on the both sides at universal wheel rear, and described universal wheel coordinates two driving wheels to form three-point support structure.
Two described driving wheels are controlled by wherein two described servomotors respectively by two axles, rotation shaft coupling and retarding device, described industrial computer passes through the rotating speed of control and proportioning two driving wheels and turns to, change the position that robot motion is instantaneous, and make robot around the instantaneous point of difference to realize the rotary motion of the different radius of gyration.
In the present embodiment, preferably, as shown in Figure 2, described mechanical arm 3 comprises the first arm 32, second arm 34 and end clamper 36, one end of described first arm 32 is flexibly connected with described robot body 1 by shoulder joint 31, the other end is flexibly connected by one end of elbow joint 33 and the second arm 34, and the other end of described second arm 34 is flexibly connected by wrist joint 35 and described end clamper 36.
Described mechanical arm 3 has four-degree-of-freedom, comprises the rotation around mechanical arm axis of the moving in parallel of shoulder joint 31, the rotation of shoulder joint 31, the rotation of elbow joint 33 and wrist joint 35.
End effector 36 is one and is arranged on the mechanical arm 3 of robot, can pick up an object, and there is process, transmission, clamping, place and releasing object to the mechanism of a function such as discrete location accurately.
In the present embodiment, preferably, described end clamper 36 comprises two can the retaining paw of folding, realizes clamping to crawled object, placement and release between two described retaining paws by folding.
In the present embodiment, preferably, described shoulder joint 31, elbow joint 33 and wrist joint 35 place are respectively arranged with corresponding DC servo motor, and are furnished with corresponding encoder.The folding of servos control two described retaining paws is adopted in the present embodiment.Steering wheel volume is relatively little, install and control convenient and cost is low.Can be met in Visual Servoing System for the mechanical requirements that target item captures by above equipment.
In the present embodiment, preferably, described industrial computer and human-computer interaction module and DataBase combining, given images of items is stored in described database, user sends the Item Information of wish crawl to described industrial computer by described human-computer interaction module, described industrial computer finds out corresponding images of items according to what receive for the Item Information captured from database, simultaneously, environmental information is passed to described industrial computer by described visual sensing system, environmental information matches with corresponding images of items by described industrial computer, if the match is successful, then controlling described servo drive system drives described telecontrol equipment to carry out moving and described mechanical arm captures article and gets.
In the present embodiment, preferably, described robot also comprises:
Eight ultrasonic sensors, wherein robot front is provided with three, each side two, one, rear, described ultrasonic sensor is connected with described industrial computer respectively by serial ports, in order to whether to have barrier and this barrier around robot measurement to the distance of ultrasonic sensor, measurement category is 100em.
Infrared sensor, is arranged in robot head cavity 2, is connected by CAN with industrial computer, whether has barrier for robot measurement head cavity 2 front.
Odometer, the radian turned within each cycle by the servomotor detecting two driving wheels and then the relative pose calculating current time robot body according to approximate circle model.
Seven photoelectric sensors, wherein robot front has three, each side one, two, rear, and seven photoelectric sensors are connected with industrial computer respectively by CAN, in order to whether there is barrier in robot measurement predeterminable range.Wherein, predeterminable range is preferably 25cm, but is not limited to 25cm.
Temperature Humidity Sensor, is arranged in robot head cavity 2, is connected by CAN with industrial computer, for the temperature and humidity of measurement environment.
Battery charge sensor, is arranged in robot head cavity 2, is connected by CAN with industrial computer, for the battery electric quantity of robot measurement.
In the present embodiment, preferably, described human-computer interaction module comprises voice interaction device or touches interactive device, or described human-computer interaction module comprises voice interaction device simultaneously and touches interactive device.
User assigns a task to robot by the touch-screen of point touching interactive device, passes through the information feed back of touch-screen display device people and current environment simultaneously, by touch-screen to target typing target information, carries out Operation system setting.
The information of user except being transmitted by touch-screen, judge outside the demand of service object, but also can utilize voice interaction device with microphone to industrial computer sending controling instruction, remote control robot is close to service object, realize remote dialogue function, further understand other requirements of service object.
In the present embodiment, by two cameras 5, the situation of service object is understood by robot in the very first time according to monitoring feedack, thus control makes corresponding behavior, this not only facilitates service object, and further improves care quality.
Mobile robot is different from fixing mechanical arm, its position do not fixed, the sensor utilizing self is needed to position, due to the error of sensor and the complexity of environment, large to the robot localization difficulty of movement, in addition the data-handling capacity of robot itself is limited, the image information that especially data volume is large, can not process self too much heat transfer agent.
While control object and research contents change, corresponding network structure also there occurs change.Under real network environment, the information transmission between effector from robot is divided into different packets, arrives the other side by different network nodes.Robotic end IP address is with fixed, and when there is multiple packet control command in network, robotic end can produce bottleneck problem.Consequent unpredictable time-delay and packet loss phenomenon, just determine with the feature of network itself.
In order to overcome the shortcoming of network structure, robot network structure adopts distributed system, namely to whole camera and robot given different IP address respectively, so both alleviate the operation burden of robot industrial computer data process, the network latency of control command can be reduced again.
The above is only preferred embodiment of the present utility model; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the utility model principle; can also make some improvements and modifications, these improvements and modifications also should look protection domain of the present utility model.
Claims (10)
1. with a robot for vision servo system, it is characterized in that, described vision servo system comprises:
Servo motion system, this system comprises robot body and mechanical arm, and the upper end of described robot body is provided with robot head cavity, and described mechanical arm is arranged on described robot body, and the lower end of described robot body is provided with telecontrol equipment;
Visual sensing system, this system comprises two cameras, two described cameras are connected with industrial computer respectively, one of them camera is arranged on the front of described robot head cavity, for having gathered the large-scale environmental information of location navigation required by task: another camera is arranged on the wrist joint of described mechanical arm, capture the environmental information of required by task for having gathered article;
Servo drive system, this system is the closed-loop control system be made up of driver, servomotor and encoder, described driver accept from described industrial computer instruction with control described servomotor motion, read described encoder information, amendment optimum configurations, voltage signal is converted into torque and rotational speed to drive described telecontrol equipment to carry out to move or described mechanical arm captures article by described servomotor.
2. the robot with vision servo system according to claim 1, is characterized in that, the number of described mechanical arm is 2, and 2 described mechanical arms are separately positioned on the left and right sides of described robot body, and are symmetric state.
3. the robot with vision servo system according to claim 1, is characterized in that, described telecontrol equipment comprises two driving wheels and a universal wheel;
Described universal wheel is placed in the dead ahead of robot body lower end, has two frees degree, all can rotate freely at vertical direction and a horizontal direction;
The center line that two described driving wheels are symmetrical in described robot body lower end is arranged on the both sides at universal wheel rear, and described universal wheel coordinates two driving wheels to form three-point support structure;
Two described driving wheels are controlled by wherein two described servomotors respectively by two axles, rotation shaft coupling and retarding device, described industrial computer passes through the rotating speed of control and proportioning two driving wheels and turns to, change the position that robot motion is instantaneous, and make robot around the instantaneous point of difference to realize the rotary motion of the different radius of gyration.
4. the robot with vision servo system according to claim 1, is characterized in that,
Described mechanical arm comprises the first arm, the second arm and end clamper, one end of described first arm is flexibly connected with described robot body by shoulder joint, the other end is flexibly connected by one end of elbow joint and the second arm, and the other end of described second arm is flexibly connected by wrist joint and described end clamper;
Described mechanical arm has four-degree-of-freedom, comprises the rotation around mechanical arm axis of the moving in parallel of shoulder joint, the rotation of shoulder joint, the rotation of elbow joint and wrist joint.
5. the robot with vision servo system according to claim 4, it is characterized in that, described end clamper comprises two can the retaining paw of folding, realizes clamping to crawled object, placement and release between two described retaining paws by folding;
The end effector of robot is one and is arranged on mobile device or robot arm, can pick up an object, and there is process, transmission, clamping, place and releasing object to the mechanism of a function such as discrete location accurately.
6. the robot with vision servo system according to claim 4, is characterized in that, described shoulder joint, elbow joint and wrist joint place are respectively arranged with corresponding DC servo motor, and is furnished with corresponding encoder; Adopt the folding of servos control two described retaining paws.
7. the robot with vision servo system according to claim 1, it is characterized in that, described industrial computer and human-computer interaction module and DataBase combining, given images of items is stored in described database, user sends the Item Information of wish crawl to described industrial computer by described human-computer interaction module, described industrial computer finds out corresponding images of items according to what receive for the Item Information captured from database, simultaneously, environmental information is passed to described industrial computer by described visual sensing system, environmental information matches with corresponding images of items by described industrial computer, if the match is successful, then controlling described servo drive system drives described telecontrol equipment to carry out moving and described mechanical arm captures article and gets.
8. the robot with vision servo system according to claim 3, is characterized in that, described robot also comprises:
Eight ultrasonic sensors, wherein robot front is provided with three, each side two, one, rear, described ultrasonic sensor is connected with described industrial computer respectively by serial ports, in order to whether to have barrier and this barrier around robot measurement to the distance of ultrasonic sensor, measurement category is 100em;
Infrared sensor, is arranged in robot head cavity, is connected by CAN with industrial computer, whether has barrier for robot measurement head cavity front;
Odometer, the radian turned within each cycle by the servomotor detecting two driving wheels and then the relative pose calculating current time robot body according to approximate circle model;
Seven photoelectric sensors, wherein robot front has three, each side one, two, rear, and seven photoelectric sensors are connected with industrial computer respectively by CAN, in order to whether there is barrier in robot measurement predeterminable range;
Temperature Humidity Sensor, is arranged in robot head cavity, is connected by CAN with industrial computer, for the temperature and humidity of measurement environment;
Battery charge sensor, is arranged in robot head cavity, is connected by CAN with industrial computer, for the battery electric quantity of robot measurement.
9. the robot with vision servo system according to claim 7, is characterized in that, described human-computer interaction module comprises voice interaction device and/or touches interactive device;
User is assigned a task to robot by the touch-screen of point touching interactive device, passes through the information feed back of touch-screen display device people and current environment simultaneously, by touch-screen to target typing target information, carries out Operation system setting; And/or
User to industrial computer sending controling instruction, realizes remote dialogue function by voice interaction device.
10. the robot with vision servo system according to claim 1, is characterized in that, each camera is given respectively different IP addresses.
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