CN205343149U - Manipulator wireless control system based on discernment is felt to body - Google Patents
Manipulator wireless control system based on discernment is felt to body Download PDFInfo
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- CN205343149U CN205343149U CN201521106094.7U CN201521106094U CN205343149U CN 205343149 U CN205343149 U CN 205343149U CN 201521106094 U CN201521106094 U CN 201521106094U CN 205343149 U CN205343149 U CN 205343149U
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Abstract
The utility model discloses a manipulator wireless control system based on discernment is felt to body, feel to gather camera, PC, wireless transmission module, singlechip no. 1, singlechip no. 2, steering wheel group, power module no. 1 and power module no. 2 including the body, wireless transmission module includes wireless sending module and wireless receiving module, the utility model provides a manipulator wireless control system based on discernment is felt to body adopts wireless transmission module to carry out control signal's transmission to utilize the high -speed low -power consumption singlechip as main control chip, the processing speed is fast, can realize the conveying of remote signal, has avoided the adhesion of signal line, can use in real time, occasion that accuracy nature was had relatively high expectations.
Description
Technical field
This utility model relates to a kind of mechanical hand wireless control system based on somatosensory recognition, belongs to Mechanical course field.
Background technology
Increasingly mature along with mechanical hand technology, its application also becomes very extensive, mechanical hand be applied in industry, chemistry, the field such as service trade plays immeasurable effect.Therefore, can be applicable to the mechanical hand of complex scene as requisite visual plants in field such as Science Explorations, commercial production, be especially inconvenient to people that the extreme environment worked has irreplaceable critical role.
For the control of robot movement, there is a variety of method.Sun Yi, Dong Gaitian of Shenzhen Huacheng Industrial Control Co., Ltd. proposes a kind of manipulator control system (CN201325059Y).This system includes: driver element, is used for controlling to drive mechanical hand to move；Feedback unit, is connected with driver element, the displacement data of driver element output described in Real-time Feedback.Control unit, is used for controlling to coordinate described robot work, according to the displacement data of feedback unit feedback, driver element is controlled.The method structure is complicated, and transmission range is limited, not easily realizes the transmission under complex scene and controls.Gao Shengwei, Xiao Chengdong, Zhai Wencong, Zhang Li, Chen Chaoyang it is also proposed a kind of manipulator control system (CN102699923A), this measurement apparatus includes host computer, controller, controller can be used for receiving the signal of host computer, and according to signal, stepper motor driver unit is controlled；Stepper motor driver unit, for receiving the control signal that controller sends, and drives stepping motor unit to carry out action according to controlling requirement.This system adopts the method for visual recognition obtain useful control information from the video image that photographic head obtains and be sent to controller, by stepper motor driver, stepping motor, drive the action of mechanical hand, for further the research of manipulator control system and utilization being provided useful exploration and equipment Foundations.The method power consumption is high, manufactures complexity.
Utility model content
Technical problem to be solved in the utility model be to provide a kind of tracing and positioning accurately, high-speed low-power-consumption, holding wire adhesion can be avoided, facilitate the mechanical hand wireless control system of application under complex scene.
For solving above technical problem, the technical solution adopted in the utility model is: a kind of mechanical hand wireless control system based on somatosensory recognition, including body-sensing acquisition camera, PC, wireless transport module, single-chip microcomputer one, single-chip microcomputer two, steering wheel group, power module one and power module two, described wireless transport module includes wireless sending module and wireless receiving module；Described body-sensing acquisition camera is connected with the input of described PC, described PC is connected with single-chip microcomputer one by serial ports, described single-chip microcomputer one is connected with described wireless sending module, described body-sensing acquisition camera, PC, wireless sending module are all connected with described power module one with single-chip microcomputer one, collectively form front end system；Described wireless receiving module is connected with described single-chip microcomputer two, and described single-chip microcomputer two is connected with described steering wheel group, and described wireless receiving module, single-chip microcomputer two are all connected with described power module two with steering wheel group, collectively form back-end system.
Described wireless transport module adopts NRF24L01 module.
Described body-sensing acquisition camera includes the RGB color photographic head of centre and the 3D structured light degree of depth induction apparatus of both sides, and described 3D structured light degree of depth induction apparatus includes RF transmitter and infrared C MOS receptor.
Described single-chip microcomputer one and single-chip microcomputer two all adopt STM32F103ZET6 single-chip microcomputer.
Described steering wheel group includes 8 MG995 steering wheels, and described steering wheel running voltage is 3V-7.2V, and operating current is 100mA, and rotating maximum angle is 180 degree.
Described serial ports is that USB turns TTL serial ports.
Operation principle of the present utility model is as follows:
Effector stands in before body-sensing acquisition camera, first caught skeleton dot information by body-sensing acquisition camera, the signal captured is sent in PC, through the process of PC, skeleton point information is converted into the rotational angle information in joint, and it is encoded to servos control signal, then through wireless module, the control signal after conversion is sent, single-chip microcomputer two receives Data Post by wireless module, corresponding PWM ripple is produced, thus realizing the control to the motion of mechanical hand each joint steering wheel by single-chip microcomputer two.When the action of effector changes, the action of mechanical hand also can synchronous change therewith, and then the control of robot movement can be carried out in real time.
The beneficial effects of the utility model are in that:
1. body-sensing acquisition camera can tracing object movement locus in three dimensions accurately, the relative position of location user；
2.NRF24L01 is wireless, and mould transport module adopts the ISM band being operated in 2.4GHZ-2.5GHZ, transmission speed is fast, capacity of resisting disturbance is strong, low price, it it is a kind of low-power consumption radio frequency wireless transmission module, the transmission of remote signal can be realized, it is to avoid the adhesion of holding wire, facilitate the application under complex scene；
3.STM32F103ZET6 single-chip microcomputer is as main control chip, high-speed low-power-consumption, and processing speed is fast.
Therefore, a kind of mechanical hand wireless control system based on somatosensory recognition provided by the utility model, wireless transport module is adopted to be controlled the transmission of signal, and utilize high-speed low-power-consumption single-chip microcomputer as main control chip, processing speed is fast, it is possible to achieve the at a distance transmission of signal, it is to avoid the adhesion of holding wire, can be applied in real time, the occasion that accuracy requirement is higher.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structural representation of this utility model front end system；
Fig. 3 is the structural representation of this utility model back-end system.
Detailed description of the invention
Below in conjunction with accompanying drawing, this utility model is further described.Following example are only for clearly illustrating the technical solution of the utility model, and can not limit protection domain of the present utility model with this.
A kind of mechanical hand wireless control system based on somatosensory recognition as shown in Figure 1, including body-sensing acquisition camera, PC, wireless transport module, single-chip microcomputer one, single-chip microcomputer two, steering wheel group, power module one and power module two, described wireless transport module includes wireless sending module and wireless receiving module；Described body-sensing acquisition camera is connected with the input of described PC, described PC is connected with single-chip microcomputer one by serial ports, described single-chip microcomputer one is connected with described wireless sending module, described body-sensing acquisition camera, PC, wireless sending module are all connected with described power module one with single-chip microcomputer one, collectively form front end system；Described wireless receiving module is connected with described single-chip microcomputer two, and described single-chip microcomputer two is connected with described steering wheel group, and described wireless receiving module, single-chip microcomputer two are all connected with described power module two with steering wheel group, collectively form back-end system.
Described wireless transport module adopts NRF24L01 module.
Described body-sensing acquisition camera includes the RGB color photographic head of centre and the 3D structured light degree of depth induction apparatus of both sides, and described 3D structured light degree of depth induction apparatus includes RF transmitter and infrared C MOS receptor.
Described single-chip microcomputer one and single-chip microcomputer two all adopt STM32F103ZET6 single-chip microcomputer.
Described steering wheel group includes 8 MG995 steering wheels, and described steering wheel running voltage is 3V-7.2V, and operating current is 100mA, and rotating maximum angle is 180 degree.
Described serial ports is that USB turns TTL serial ports.
As shown in Figure 2, a kind of it is connected by USB connecting line with PC based on the body-sensing acquisition camera in the mechanical hand wireless control system front end system of somatosensory recognition, body-sensing acquisition camera adopts the Kinect module of the release of Microsoft, the skeleton dot information collected is passed to PC by USB cable by body-sensing acquisition camera, PC adopts traditional notebook computer, control signal after having processed is sent single-chip microcomputer one further through serial ports by PC, serial ports is that USB turns TTL module, single-chip microcomputer one is the STM32F103ZET6 single-chip microcomputer of ST company, it is sent to receiving terminal through wireless module sending module, wireless sending module adopts the NRF24L01 wireless module of Nordic company.PA.9 and the PA.10 pin of single-chip microcomputer front end system being respectively configured as transmission TX pattern and accepts RX pattern, in serial ports, TX pin is serial ports transmitting terminal, and RX is serial ports receiving terminal.At this based in the mechanical hand wireless control system of somatosensory recognition, the TX pin of serial ports is connected with the PA.10 of single-chip microcomputer front end system, RX pin is connected with PA.9, pin 3.3V is connected with the 3.3V pin of single-chip microcomputer front end system, pin GND is connected with the GND pin of single-chip microcomputer front end system, and USB interface end is connected with the interface of the USB of PC.Wireless sending module, it is possible to realize receiving and sending by pin level configuration.Pin CSN, the PG.7 of the single-chip microcomputer one that CE is connected in single-chip microcomputer front end system as numeral input respectively successively, on two GPIO mouths of PG.6, wherein CSN represents that the chip select of SPI enables, during low level, chip operation CE is the Schema control line of chip, when CSN be place flat the collaborative wireless sending module of CE CONFIG depositor together decide on the duty of wireless sending module.IRQ is connected on the PG.8 of single-chip microcomputer front end system respectively successively as numeral output；IRQ is interrupt signal end, is low level under normal condition, level can be set to height after having received data, so can pass through whether this pin level status change notification single-chip data finishes receiving；MISO, MOSI end is respectively as the output of SPI interface and input；SCK end is used for SPI clock, and respectively with on three GPIO mouths of PB.14, PB.15 and PB.13 of single-chip microcomputer front end system, wherein PB.14, PB.15 and PB.13 these three GPIO mouth is respectively configured as the SPI mode of single-chip microcomputer front end system；Power module provides 3.3V direct current supply.In the front end system measuring angle of inclination, wireless sending module is operated in TX pattern, it is allowed to the transmitting of chip.
As it is shown on figure 3, a kind of identical with the connection of the connection of single-chip microcomputer two back-end system Yu front end system based on the wireless receiving module in the mechanical hand wireless control system back-end system of somatosensory recognition, the model of employing is also identical with front end system.Pin CSN, the PG.7 of the single-chip microcomputer two that CE is connected in back-end system as numeral input respectively successively, on two GPIO mouths of PG.6, wherein CSN represents that the chip select of SPI enables, during low level, chip operation CE is the Schema control line of chip, when CSN be place flat the collaborative wireless receiving module of CE CONFIG depositor together decide on the duty of wireless receiving module.IRQ is connected on the PG.8 of single-chip microcomputer back-end system respectively successively as numeral output；IRQ is interrupt signal end, is low level under normal condition, level can be set to height after having received data, so can pass through whether this pin level status change notification single-chip data finishes receiving；MISO, MOSI end is respectively as the output of SPI interface and input；SCK end is used for SPI clock, and respectively with on three GPIO mouths of PB.14, PB.15 and PB.13 of single-chip microcomputer back-end system, wherein PB.14, PB.15 and PB.13 these three GPIO mouth is respectively configured as the SPI mode of single-chip microcomputer back-end system；Power module provides 3.3V direct current supply.In the rear end display system measuring angle of inclination, wireless receiving module is operated in RX pattern, it is allowed to the reception of chip.
A kind of 8 MG995 steering wheels are adopted to be connected with single-chip microcomputer back-end system based on 8 steering wheels in the mechanical hand wireless control system back-end system of somatosensory recognition, wherein the signal end Signal1-Signal8 of 8 steering wheels is connected with 8 the GPIO mouths of PA.6, PA.7, PB.0, PB.1, PB.6, PB.7, PB.8, PB.8 of single-chip microcomputer in single-chip microcomputer back-end system successively totally, the offer cycle is 20ms, the pwm control signal that dutycycle is different.Pin is connected with single-chip microcomputer P6.3.8 steering wheel modules are supplied+5V DC voltage by power module.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the premise without departing from this utility model know-why; can also making some improvement and deformation, these improve and deformation also should be regarded as protection domain of the present utility model.
Claims (6)
1. the mechanical hand wireless control system based on somatosensory recognition, it is characterized in that: including body-sensing acquisition camera, PC, wireless transport module, single-chip microcomputer one, single-chip microcomputer two, steering wheel group, power module one and power module two, described wireless transport module includes wireless sending module and wireless receiving module；Described body-sensing acquisition camera is connected with the input of described PC, described PC is connected with single-chip microcomputer one by serial ports, described single-chip microcomputer one is connected with described wireless sending module, described body-sensing acquisition camera, PC, wireless sending module are all connected with described power module one with single-chip microcomputer one, collectively form front end system；Described wireless receiving module is connected with described single-chip microcomputer two, and described single-chip microcomputer two is connected with described steering wheel group, and described wireless receiving module, single-chip microcomputer two are all connected with described power module two with steering wheel group, collectively form back-end system.
2. a kind of mechanical hand wireless control system based on somatosensory recognition as claimed in claim 1, it is characterised in that: described wireless transport module adopts NRF24L01 module.
3. a kind of mechanical hand wireless control system based on somatosensory recognition as claimed in claim 1, it is characterized in that: described body-sensing acquisition camera includes the RGB color photographic head of centre and the 3D structured light degree of depth induction apparatus of both sides, and described 3D structured light degree of depth induction apparatus includes RF transmitter and infrared C MOS receptor.
4. a kind of mechanical hand wireless control system based on somatosensory recognition as claimed in claim 1, it is characterised in that: described single-chip microcomputer one and single-chip microcomputer two all adopt STM32F103ZET6 single-chip microcomputer.
5. a kind of mechanical hand wireless control system based on somatosensory recognition as claimed in claim 1, it is characterised in that: described steering wheel group includes 8 MG995 steering wheels, and described steering wheel running voltage is 3V-7.2V, and operating current is 100mA, and rotating maximum angle is 180 degree.
6. a kind of mechanical hand wireless control system based on somatosensory recognition as claimed in claim 1, it is characterised in that: described serial ports is that USB turns TTL serial ports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521106094.7U CN205343149U (en) | 2015-12-25 | 2015-12-25 | Manipulator wireless control system based on discernment is felt to body |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521106094.7U CN205343149U (en) | 2015-12-25 | 2015-12-25 | Manipulator wireless control system based on discernment is felt to body |
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| CN205343149U true CN205343149U (en) | 2016-06-29 |
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| CN201521106094.7U Expired - Fee Related CN205343149U (en) | 2015-12-25 | 2015-12-25 | Manipulator wireless control system based on discernment is felt to body |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272446A (en) * | 2016-08-01 | 2017-01-04 | 纳恩博（北京）科技有限公司 | The method and apparatus of robot motion simulation |
| CN111347420A (en) * | 2018-12-20 | 2020-06-30 | 佳能株式会社 | Communication device, communication method, robot device, production device, method for manufacturing article, transmission device, and recording medium |
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2015
- 2015-12-25 CN CN201521106094.7U patent/CN205343149U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272446A (en) * | 2016-08-01 | 2017-01-04 | 纳恩博（北京）科技有限公司 | The method and apparatus of robot motion simulation |
| CN106272446B (en) * | 2016-08-01 | 2019-02-12 | 纳恩博（北京）科技有限公司 | The method and apparatus of robot motion simulation |
| CN111347420A (en) * | 2018-12-20 | 2020-06-30 | 佳能株式会社 | Communication device, communication method, robot device, production device, method for manufacturing article, transmission device, and recording medium |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20171225 |