CN205466152U - Intelligence both arms mobile robot - Google Patents
Intelligence both arms mobile robot Download PDFInfo
- Publication number
- CN205466152U CN205466152U CN201620075833.9U CN201620075833U CN205466152U CN 205466152 U CN205466152 U CN 205466152U CN 201620075833 U CN201620075833 U CN 201620075833U CN 205466152 U CN205466152 U CN 205466152U
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- Prior art keywords
- motor
- processor
- industrial computer
- binocular vision
- mobile robot
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Abstract
The utility model provides an intelligence both arms mobile robot has visual function and can decide for oneself the operation. The robot includes: cloud platform, mechanical both arms, wheeled chassis, display screen and control system, control system includes: treater, binocular vision camera and industrial computer, wherein, the treater, be used for through the control of cloud platform the level of binocular vision camera, every single move action, by the video of different zone is gathered to the binocular vision camera to the video transmission that will gather extremely the processo. Still be used for with reach the industrial computer in the output result of treater, the output result with the treater exports to simultaneously show on the display screen, the industrial computer for according to receiving control command control is sent to the output result of treater the action of wheeled chassis and mechanical both arms. The utility model is suitable for a robotechnology field.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of intelligence Dual-Arm Mobile Robot.
Background technology
In recent years, the spirit constantly explored along with development and the people of science and technology, robot is in every field all
The biggest universal and application, such as industry, household etc. are obtained.But general robot function singleness, valency
Lattice are the most of a relatively high, it is difficult to popularized on a large scale.Especially it is currently used for the streamline in the environment of plant
Robot, function is the most single, and some does not has the function such as vision and display, limits robot and plays
Bigger effect.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of intelligence Dual-Arm Mobile Robot, existing to solve
There is the problem that the function singleness existing for technology, price are high.
For solving above-mentioned technical problem, this utility model embodiment provides a kind of intelligence Dual-Arm Mobile Robot,
Including: The Cloud Terrace, machinery both arms, wheel undercarriage, display screen and control system, described control system includes:
Processor, binocular vision photographic head and industrial computer；
Wherein, described The Cloud Terrace, machinery both arms are arranged on described wheel undercarriage；
Described The Cloud Terrace, display screen, binocular vision photographic head and industrial computer are connected with described processor respectively；
Described processor, for moving by the level of binocular vision photographic head, pitching described in described cradle head control
Make, by the video of described binocular vision camera collection zones of different, and by the transmission of video that collects to institute
State processor；It is additionally operable to the output result of described processor is uploaded to industrial computer, simultaneously defeated by processor
Go out result output to described display screen display；
Described industrial computer, for the output result according to the described processor received, sends control command control
Make described wheel undercarriage and the action of machinery both arms.
Further, described control system also includes: the first power supply；
Described first power supply is connected with described processor and binocular vision photographic head.
Further, described control system also includes: cradle head controllor；
Described The Cloud Terrace is attached with described processor by cradle head controllor；
Described processor, completes level specifically for controlling described The Cloud Terrace by described cradle head controllor, bows
Face upward action.
Further, described control system also includes: video capture circuit；
Described binocular vision photographic head is attached with described processor by described video capture circuit；
Described video capture circuit, for by binocular vision camera collection to analog video signal be converted to
Digital video signal accesses described processor.
Further, described control system also includes: video display circuit；
Described display screen is attached with described processor by described video display circuit；
Described display screen, specifically for showing the output video of described video display circuit.
Further, described control system also includes: protocol converter, motor-drive circuit, the first motor
And second motor；
Described motor-drive circuit, industrial computer, machinery both arms are attached with described protocol converter respectively；
Described first motor, the second motor are attached with described motor-drive circuit respectively.
Further, described control system also includes: second source；
Described industrial computer, the first motor, the second motor are all connected to described second source.
Further, described protocol converter, carry out protocol conversion for the control instruction that industrial computer is sent,
And by the action of the control instruction control machinery both arms after conversion, and drive described motor-drive circuit control
Make described first motor, the action of the second motor.
Having the beneficial effect that of technique scheme of the present utility model:
In such scheme, by level, the pitching motion of cradle head control binocular vision photographic head, so that
Binocular vision photographic head can gather the video information of zones of different so that intelligence Dual-Arm Mobile Robot has
Visual performance；According to the video information gathered, industrial computer send control command and control the action of machinery both arms
Intelligence Dual-Arm Mobile Robot is made to have the function of AUTONOMOUS TASK, it is also possible to be sent control command by industrial computer
Control wheel undercarriage to move.So, the collection autonomous that obtains, cradle head control, visual display, from
Main operation is in the intelligent Dual-Arm Mobile Robot of one, it is possible to be applied to multiple occasion, expands intelligence both arms
The range of mobile robot.
Accompanying drawing explanation
The structural representation of the intelligent Dual-Arm Mobile Robot that Fig. 1 provides for this utility model embodiment；
The structural representation of the binocular vision system that Fig. 2 provides for this utility model embodiment；
The structure of the STM32 serial port protocol converter control system that Fig. 3 provides for this utility model embodiment
Schematic diagram.
Detailed description of the invention
For making the technical problems to be solved in the utility model, technical scheme and advantage clearer, below will knot
Conjunction drawings and the specific embodiments are described in detail.
This utility model is for existing function singleness, problem that price is high, it is provided that a kind of intelligence both arms move
Robot.
It is illustrated in figure 1 a kind of intelligence Dual-Arm Mobile Robot that this utility model embodiment provides, including:
The Cloud Terrace, machinery both arms, wheel undercarriage, display screen and control system, described control system includes: processor,
Binocular vision photographic head and industrial computer；
Wherein, described The Cloud Terrace, machinery both arms are arranged on described wheel undercarriage；
Described The Cloud Terrace, display screen, binocular vision photographic head and industrial computer are connected with described processor respectively；
Described processor, for moving by the level of binocular vision photographic head, pitching described in described cradle head control
Make, by the video of described binocular vision camera collection zones of different, and by the transmission of video that collects to institute
State processor；It is additionally operable to the output result of described processor is uploaded to industrial computer, simultaneously defeated by processor
Go out result output to described display screen display；
Described industrial computer, for the output result according to the described processor received, sends control command control
Make described wheel undercarriage and the action of machinery both arms.
Intelligent Dual-Arm Mobile Robot described in this utility model embodiment, is taken the photograph by cradle head control binocular vision
As the level of head, pitching motion, so that binocular vision photographic head can gather the video letter of zones of different
Breath so that intelligence Dual-Arm Mobile Robot has visual performance；According to the video information gathered, by industrial computer
The action sending control command control machinery both arms makes intelligence Dual-Arm Mobile Robot have AUTONOMOUS TASK
Function, it is also possible to sent control command control wheel undercarriage by industrial computer and move.So, the collection obtained
Autonomous, cradle head control, visual display, AUTONOMOUS TASK are in the intelligent Dual-Arm Mobile Robot of one, energy
Enough it is applied to multiple occasion, expands the range of intelligence Dual-Arm Mobile Robot.
In this utility model embodiment, described processor can be processor DM6446 dual core processor, as
Shown in Fig. 2, Fig. 2 is also referred to as binocular vision system；Described The Cloud Terrace, binocular vision photographic head, display screen and
Industrial computer is all connected to described DM6446 dual core processor.
In this utility model embodiment, described The Cloud Terrace, machinery both arms are arranged on described wheel undercarriage, pass through
Described wheel undercarriage, it is possible to the autonomous/control realizing this intelligence Dual-Arm Mobile Robot is mobile.
In this utility model embodiment, by the control to described The Cloud Terrace, it is possible to achieve binocular vision photographic head
Level, pitching motion, and then by the video of described binocular vision camera collection zones of different, and will adopt
The transmission of video that arrives of collection is to DM6446 dual core processor, then by the output result of DM6446 dual core processor
Pass to industrial computer, industrial computer send control instruction control machinery both arms and wheel undercarriage is made corresponding dynamic
Make, and at the video pictures of described display screen display DM6446 dual core processor output.
In this utility model embodiment, described control system also includes: the first power supply；Described first power supply with
Described processor and binocular vision photographic head are connected.
In this utility model embodiment, as in figure 2 it is shown, described control system also includes: cradle head controllor,
Video capture circuit, video display circuit；Wherein, described binocular vision photographic head passes through described video acquisition
Circuit and described processor are attached (module 1)；Described The Cloud Terrace is by cradle head controllor and described process
Device is attached (module 2)；Described display screen is carried out with described processor by described video display circuit
Connect (module 3).
In this utility model embodiment, module 1 mainly binocular vision photographic head carries out video acquisition, described
Binocular vision photographic head is placed on The Cloud Terrace, and described binocular vision photographic head can be CCD or CMOS takes the photograph
As head, through video capture circuit, analog video signal is converted to digital video signal incoming DM6446 double-core
Processor, and the output result of DM6446 dual core processor is passed to industrial computer by netting twine.
In this utility model embodiment, module 2 is used for controlling the relevant action of The Cloud Terrace, and described The Cloud Terrace is through The Cloud Terrace
Controller connects DM6446 dual core processor, described DM6446 dual core processor by RS485 interface and
Cradle head controllor controls The Cloud Terrace and completes level, pitching motion so that binocular vision photographic head can gather not
Video with region.
In this utility model embodiment, module 3 be DM6446 dual core processor through video display circuit by institute
State the video that binocular vision camera collection arrives to show on a display screen.
In this utility model embodiment, as it is shown on figure 3, described control system also includes: protocol converter,
Motor-drive circuit, the first motor, the second motor；Such as, described protocol converter is STM32 serial ports association
View transducer；Wherein, described motor-drive circuit, industrial computer, machinery both arms are all connected to described STM32
Serial port protocol transducer, concrete, described machinery both arms are by described STM32 serial port protocol transducer and institute
State industrial computer to be attached；Described first motor, the second motor are all connected to described motor-drive circuit.Figure
3 with STM32 serial port protocol transducer as core, and therefore, Fig. 3 is also referred to as STM32 serial port protocol transducer
Control system.
In this utility model embodiment, described control system also includes: second source；Described industrial computer,
One motor, the second motor are all connected to described second source.
In this utility model embodiment, described industrial computer, motor-drive circuit, machinery both arms are all connected to
STM32 serial port protocol transducer, is sent corresponding control instruction by industrial computer, turns through STM32 serial port protocol
Parallel operation carries out protocol conversion, and by the action of the control instruction control machinery both arms after conversion, and drive
Motor-drive circuit controls described first motor, the concrete action of the second motor, say, that by industrial computer
Coordinate various piece work.Concrete, described STM32 serial port protocol transducer includes: a road RS232
With two-way RS485 interface, Master control chip is STM32 single-chip microcomputer, uses uCOS-II multithreading,
Realize the communication function of a road input multiple-channel output.One road RS232 interface is connected to described industrial computer and receives work
Control machine sends the control instruction of coming；First via RS485 interface is connected to described machinery both arms, controls machinery double
The action of arm；Second road RS485 interface is connected to motor-drive circuit, motor-drive circuit connect first
Motor, the second motor, control rotating and the rotating speed of two motors.
The above is preferred implementation of the present utility model, it is noted that general for the art
For logical technical staff, on the premise of without departing from principle described in the utility model, it is also possible to make some changing
Entering and retouch, these improvements and modifications also should be regarded as protection domain of the present utility model.
Claims (8)
1. an intelligent Dual-Arm Mobile Robot, it is characterised in that including: The Cloud Terrace, machinery both arms, wheel
Formula chassis, display screen and control system, described control system includes: processor, binocular vision photographic head and
Industrial computer；
Wherein, described The Cloud Terrace, machinery both arms are arranged on described wheel undercarriage；
Described The Cloud Terrace, display screen, binocular vision photographic head and industrial computer are connected with described processor respectively；
Described processor, for moving by the level of binocular vision photographic head, pitching described in described cradle head control
Make, by the video of described binocular vision camera collection zones of different, and by the transmission of video that collects to institute
State processor；It is additionally operable to the output result of described processor is uploaded to industrial computer, simultaneously defeated by processor
Go out result output to described display screen display；
Described industrial computer, for the output result according to the described processor received, sends control command control
Make described wheel undercarriage and the action of machinery both arms.
Intelligence Dual-Arm Mobile Robot the most according to claim 1, it is characterised in that described control
System also includes: the first power supply；
Described first power supply is connected with described processor and binocular vision photographic head.
Intelligence Dual-Arm Mobile Robot the most according to claim 1, it is characterised in that described control
System also includes: cradle head controllor；
Described The Cloud Terrace is attached with described processor by cradle head controllor；
Described processor, completes level specifically for controlling described The Cloud Terrace by described cradle head controllor, bows
Face upward action.
Intelligence Dual-Arm Mobile Robot the most according to claim 1, it is characterised in that described control
System also includes: video capture circuit；
Described binocular vision photographic head is attached with described processor by described video capture circuit；
Described video capture circuit, for by binocular vision camera collection to analog video signal be converted to
Digital video signal accesses described processor.
Intelligence Dual-Arm Mobile Robot the most according to claim 1, it is characterised in that described control
System also includes: video display circuit；
Described display screen is attached with described processor by described video display circuit；
Described display screen, specifically for showing the output video of described video display circuit.
Intelligence Dual-Arm Mobile Robot the most according to claim 1, it is characterised in that described control
System also includes: protocol converter, motor-drive circuit, the first motor and the second motor；
Described motor-drive circuit, industrial computer, machinery both arms are attached with described protocol converter respectively；
Described first motor, the second motor are attached with described motor-drive circuit respectively.
Intelligence Dual-Arm Mobile Robot the most according to claim 1, it is characterised in that described control
System also includes: second source；
Described industrial computer, the first motor, the second motor are all connected to described second source.
Intelligence Dual-Arm Mobile Robot the most according to claim 6, it is characterised in that described agreement
Transducer, the control instruction for sending industrial computer is carried out protocol conversion, and is referred to by the control after conversion
Order control machinery both arms action, and drive described motor-drive circuit control described first motor, second
The action of motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620075833.9U CN205466152U (en) | 2016-01-26 | 2016-01-26 | Intelligence both arms mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620075833.9U CN205466152U (en) | 2016-01-26 | 2016-01-26 | Intelligence both arms mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205466152U true CN205466152U (en) | 2016-08-17 |
Family
ID=56618607
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620075833.9U Expired - Fee Related CN205466152U (en) | 2016-01-26 | 2016-01-26 | Intelligence both arms mobile robot |
Country Status (1)
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| CN (1) | CN205466152U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881730A (en) * | 2017-03-22 | 2017-06-23 | 海南职业技术学院 | A kind of vision system of industrial robot |
| CN106985141A (en) * | 2017-05-22 | 2017-07-28 | 中科新松有限公司 | A kind of both arms cooperation robot |
| CN109508013A (en) * | 2018-12-20 | 2019-03-22 | 南京理工大学 | A kind of autonomous Control of Wheeled Mobile Robots device |
| CN109910007A (en) * | 2019-03-13 | 2019-06-21 | 哈工大机器人集团北京军立方科技有限公司 | Joint of robot communication switching device and method |
-
2016
- 2016-01-26 CN CN201620075833.9U patent/CN205466152U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106881730A (en) * | 2017-03-22 | 2017-06-23 | 海南职业技术学院 | A kind of vision system of industrial robot |
| CN106985141A (en) * | 2017-05-22 | 2017-07-28 | 中科新松有限公司 | A kind of both arms cooperation robot |
| CN106985141B (en) * | 2017-05-22 | 2020-07-03 | 中科新松有限公司 | Double-arm cooperative robot |
| CN109508013A (en) * | 2018-12-20 | 2019-03-22 | 南京理工大学 | A kind of autonomous Control of Wheeled Mobile Robots device |
| CN109910007A (en) * | 2019-03-13 | 2019-06-21 | 哈工大机器人集团北京军立方科技有限公司 | Joint of robot communication switching device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170126 |
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| CF01 | Termination of patent right due to non-payment of annual fee |