CN206216709U - Robot of traffic police - Google Patents
Robot of traffic police Download PDFInfo
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- CN206216709U CN206216709U CN201621294820.7U CN201621294820U CN206216709U CN 206216709 U CN206216709 U CN 206216709U CN 201621294820 U CN201621294820 U CN 201621294820U CN 206216709 U CN206216709 U CN 206216709U
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Abstract
A kind of robot of traffic police includes head, neck, left shoulder, left large arm, left forearm, left hand, right shoulder, right large arm, right forearm, the right hand, leg foot, head motor, left shoulder joint motor, left elbow joint motor, left wrist joint motor, right shoulder joint motor, right elbow joint motor, right wrist joint motor, leg foot motor, motor driver, communication control section and power supply unit, each motor is fitted in the joint of robot accordingly, motor driver is equipped with communication control section, power supply unit is used to be powered to the whole machine of robot.The robot of traffic police that the utility model is provided can imitate true man traffic-police and realize some holding functions; the heavy labor of traffic-police can be replaced; managed with the automatic safe for realizing traffic system, can be worked under the street environment full of vehicle exhaust, to protect personal safety.
Description
Technical field：
The utility model design robot technical field, more particularly to a kind of friendship for replacing traffic police to complete point duty
Logical police's machine.
Background technology：
With the fast development that China's urban and rural economies are built, urban transportation facility is also greatly improved, but fast
The contradiction not matched between the urban road that the motor vehicles and development that speed increases relatively lag behind.In this process
It has been found that artificial violation event, including make a dash across the red light, drive in the wrong direction, getting over line, hypervelocity etc., the main hidden danger as traffic accident.
Traffic-police is essential a kind of role in people's lives, in each crossing, each scene of a traffic accident all
They or they figure is needed to occur.But with gradually stepping up for people's lives, vehicles number is also growing day by day therewith.Machine
The raising of motor-car quantity brings bigger vehicle flowrate, the road of more congestion, more exhaust emissions, more traffic accidents
Deng.What increasingly increased vehicle flowrate brought is inevitable various problems, for example：Traffic-police is short of hands, respective road segment
The problems such as lacking supervision, the unmanned commander in indivedual crossings and substantial amounts of automotive emission to the image of environment.
Robot (Robot) is the installations for performing work automatically, and it can both receive mankind commander, and can run again
The program of advance layout, it is also possible to according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, for example, produce industry, construction industry, or danger work.It is continuous during mankind's development in science and technology
The new branch of science for growing up.Robot is a kind of machine for leaning on self power and control ability to realize various functions.
It is senior integral traffic control opinion, mechano-electronic, computer, material and bionic product.In industry, medical science, agricultural, construction industry very
There is important use into the fields such as military affairs, it can bring many conveniences for the mankind.
According to international alliance of robot investigate, in the near future, robot will penetrate into human being's production and life each
Aspect.And the variety of problems that traffic police exposes now, the development of research and development robot of traffic police necessarily future transportation system becomes
Gesture.The final goal of robot of traffic police development is necessarily：Substituting mankind police carries out floor manager traffic, makes traffic intersection
It is current to realize intellectuality.
Humanoid robot is the main direction of studying of modern anthropomorphic robot, and not only outward appearance as people, go back by the apperance of someone
Can be as proper manners activity.Some humanoid robots, can not only move, or even oneself go " thinking ", can think deeply, and have wisdom, belong to intelligence
The class of robot one.Robot of traffic police is also one kind of humanoid robot, but now both at home and abroad specifically designed for traffic safety
Robot research be in the starting stage, quantity is few, achievement is few.
Utility model content：
In view of this, it is necessary to which a kind of robot of traffic police is provided.
A kind of robot of traffic police, including head, neck, left shoulder, left large arm, left forearm, left hand, right shoulder, the right side
Large arm, right forearm, the right hand, leg foot, head motor, left shoulder joint motor, left elbow joint motor, Zuo Wanguan
Section motor, right shoulder joint motor, right elbow joint motor, right wrist joint motor, leg foot motor,
Motor driver, communication control section and power supply unit, head and the equipped head motor in the junction of neck, for connecting
Left shoulder joint driver is equipped with left shoulder and the left shoulder joint of left large arm, the left elbow joint for connecting left large arm and left forearm
Place is equipped with left elbow joint motor, and left wrist joint motor is equipped with the left wrist joint of left hand for connecting left forearm, is used for
Right shoulder joint driver is equipped with connection right shoulder and the right shoulder joint of right large arm, the right elbow for connecting right large arm and right forearm
Joint is equipped with right elbow joint motor, and right wrist joint motor is equipped with the right wrist joint of the right hand for connecting right forearm,
Leg foot motor is used for the overall rotation of driven machine people, head motor, left shoulder joint motor, left elbow joint
Motor, left wrist joint motor, right shoulder joint motor, right elbow joint motor, right wrist joint motor
Equipped with motor driver respectively with leg foot motor, motor driver is equipped with communication control section, communication control unit
Dividing is used for captured in real-time traffic lights image, and traffic lights image is changed into control signal, for controlled motor driver, power supply
Equipment is used for head motor, left shoulder joint motor, left elbow joint motor, left wrist joint motor, the right side
Shoulder joint motor, right elbow joint motor, right wrist joint motor, leg foot motor, motor driver and
Communication control section is powered.
Preferably, head motor be steering wheel, left shoulder joint motor include left first shoulder joint stepper motor and
Left second shoulder joint stepper motor, left first shoulder joint stepper motor is fixed on left shoulder, and its main shaft passes through axle sleeve, connector
Bracket with left second shoulder joint stepper motor is connected, and right shoulder joint motor includes right first shoulder joint stepper motor and the right side
First shoulder joint stepper motor, right first shoulder joint stepper motor is fixed on right shoulder, and its main shaft by axle sleeve, connector with
The bracket connection of right second shoulder joint stepper motor, left elbow joint motor is steering wheel with right elbow joint motor, left
Wrist joint motor includes left first wrist joint steering wheel and left second wrist joint steering wheel, and the main shaft of left first wrist joint steering wheel leads to
Cross axle sleeve and connector to be connected with left second wrist joint steering wheel, left second wrist joint steering wheel is connected with left hand, right wrist joint drives
Motor includes right first wrist joint steering wheel and right second wrist joint steering wheel, and the main shaft of right first wrist joint steering wheel passes through axle sleeve and company
Fitting is connected with right second wrist joint steering wheel, and right second wrist joint steering wheel is connected with the right hand, and leg foot motor is stepping electricity
Machine, motor driver includes steering engine driver and stepper motor driver, steering engine driver and stepper motor driver respectively with
Communication control section is connected.
It is preferred that, communication control section includes that installation image procossing is soft in video camera, video recorder, PC and master control borad, PC
Part, video camera is implemented to shoot stop-light image, and stop-light image is sent into video recorder, and video recorder refers to traffic
Show that lamp shadow picture is preserved and is sent to PC in real time, the image processing software of PC is cut to image and is processed into commander
Action executing command signal, PC will command action executing command signal to transmit to master control borad, and master control borad converts command signal
It is pulse signal, and pulse signal is sent to motor driver.
Preferably, master control borad is made up of input/output port and singlechip chip, and input/output port receives PC transmission
Commander's action executing command signal, the signal changes into pulse signal by singlechip chip, and input/output port believes pulse
Number it is conveyed to motor driver.
Preferably, power supply unit includes Switching Power Supply, storage battery power supply power supply, regulator board and linear voltage stabilization chip, pressure regulation
Plate and linear voltage stabilization chip are equipped with Switching Power Supply and storage battery power supply power supply respectively, and regulator board is powered to steering wheel, linear voltage stabilization
Chip by the voltage needed for the voltage step-down to master control borad of Switching Power Supply or storage battery power supply power supply, for being supplied to master control borad
Electricity.
The robot of traffic police that the utility model is provided can imitate true man traffic-police and realize some holding functions, or press
Fixed routine realizes being automatically brought into operation for set function, it can replace traffic-police heavy labor, with realize traffic system from
Dynamic safety management, can work, under the street environment full of vehicle exhaust to protect personal safety.
Brief description of the drawings：
Fig. 1 is the structural representation of robot of traffic police.
In figure：Head motor 1, left first shoulder joint stepper motor 2, left second shoulder joint stepper motor 3, right first
Shoulder joint stepper motor 4, right first shoulder joint stepper motor 5, left elbow joint motor 6, right elbow joint motor 7, a left side
First wrist joint steering wheel 8, left second wrist joint steering wheel 9, right first wrist joint steering wheel 10, right second wrist joint steering wheel 11, leg foot
Portion's motor 12, steering engine driver 13, stepper motor driver 14, video camera 15, video recorder 16, PC 17, master control borad 18,
Switching Power Supply 19, storage battery power supply power supply 20.
Specific embodiment：
Robot of traffic police include head, neck, left shoulder, left large arm, left forearm, left hand, right shoulder, right large arm,
Right forearm, the right hand, leg foot, head motor, left shoulder joint motor, left elbow joint motor, left wrist joint drive
Dynamic motor, right shoulder joint motor, right elbow joint motor, right wrist joint motor, leg foot motor, motor
Driver, communication control section and power supply unit, head and the equipped head motor in the junction of neck, for connecting left shoulder
Left shoulder joint driver is equipped with portion and the left shoulder joint of left large arm, is matched somebody with somebody with the left elbow joint of left forearm for connecting left large arm
Left elbow joint motor is filled, left wrist joint motor is equipped with the left wrist joint of left hand for connecting left forearm, for connecting
Right shoulder joint driver is equipped with right shoulder and the right shoulder joint of right large arm, the right elbow joint for connecting right large arm and right forearm
Place is equipped with right elbow joint motor, and right wrist joint motor, leg foot are equipped with the right wrist joint of the right hand for connecting right forearm
Portion's motor is used for the overall rotation of driven machine people, and head motor, left shoulder joint motor, left elbow joint drive
Motor, left wrist joint motor, right shoulder joint motor, right elbow joint motor, right wrist joint motor and leg
Foot motor is equipped with motor driver respectively, and motor driver is equipped with communication control section, and communication control section is used
In captured in real-time traffic lights image, and traffic lights image is changed into control signal, for controlled motor driver, power supply unit
For to head motor, left shoulder joint motor, left elbow joint motor, left wrist joint motor, right shoulder joint
Section motor, right elbow joint motor, right wrist joint motor, leg foot motor, motor driver and communication
Control section powers.
Fig. 1 is referred to, head motor 1 is steering wheel, and left shoulder joint motor includes left first shoulder joint stepping electricity
Machine 2 and left second shoulder joint stepper motor 3, left first shoulder joint stepper motor 2 are fixed on left shoulder, and its main shaft passes through axle
Set, connector are connected with the bracket of left second shoulder joint stepper motor 3, and right shoulder joint motor is walked including right first shoulder joint
Stepper motor 4 and right first shoulder joint stepper motor 5, right first shoulder joint stepper motor 4 is fixed on right shoulder, and its main shaft passes through
Axle sleeve, connector are connected with the bracket of right second shoulder joint stepper motor 5, and left elbow joint motor 6 drives with right elbow joint
Motor 7 is steering wheel, and left wrist joint motor includes left first wrist joint steering wheel 8 and left second wrist joint steering wheel 9, left first
The main shaft of wrist joint steering wheel 8 is connected by axle sleeve and connector with left second wrist joint steering wheel 9, left second wrist joint steering wheel 9 with
Left hand is connected, and right wrist joint motor includes right first wrist joint steering wheel 10 and right second wrist joint steering wheel 11, right first wrist
The main shaft of joint steering wheel 10 is connected by axle sleeve and connector with right second wrist joint steering wheel 11, right second wrist joint steering wheel 11 with
The right hand is connected, and leg foot motor 12 is stepper motor, and motor driver includes steering engine driver 13 and driving stepper motor
Device 14, steering engine driver 13 and stepper motor driver 14 are connected with communication control section respectively.
Communication control section includes video camera 15, video recorder 16, PC 17 and master control borad 18, in PC 17 at installation diagram picture
Reason software, uses MATLAB image processing softwares, video camera to use the picture of J2 types 12,000,000 of TTQ baked donut boards in present embodiment
Element, the camera of 720P resolution ratio, video camera are implemented to shoot stop-light image, and stop-light image is sent into record
Stop-light image is preserved and is sent to PC 17 in real time by camera 16, video recorder 16, and the MATLAB of PC 17 is used
Image Processing Toolbox --- image processing toolbox carries out picture interception frame by frame to the image that PC 17 is received,
The picture of interception finally entered into Mobile state cut out to leave behind traffic lights part and remove other images；Carrying out traffic lights
After IMAQ, after the picture to having cut out carries out gray processing, binaryzation again, with Image Processing
Toolbox-image processing toolbox confirms the specific coordinate of traffic lights, and position residing for the specific coordinate of traffic lights is finally passed through again
Put to confirm the specifying information of traffic lights.Finally, be divided into for specifying information by MATLAB programs：
(1) keep straight on：Output result 01；
(2) turn left：Output result 10；
(3) stop：Output result 11；
Output
I.e. output signal is respectively 01,10,11, wherein 0 represents red light, 1 represents green light.
PC 17 transmits to master control borad 18 output signal, and master control borad 18 is driven by exporting composite signal Driving Stepping Motor
Dynamic device 14, speed, direction, angle arrival specified location of the motor driving stage to set, by output pulse width modulation (PWM) ripple signal
Control steering wheel makes it reach specified corner.Calling multiple motor coordinations to move by entirety makes robot be achieved various moving
Make.
Communication in the utility model between the single-chip microcomputer of PC 17 and master control borad 18 uses serial communication, as whole
The communication modes of individual communication control section.The main control chip of master control borad 18 uses STM32 single-chip microcomputers, the chip to possess 168MHz's
Dominant frequency, one-cycle instruction, the ROM of the RAM and 512KB of 192KB.Chip is encapsulated as LQFP100, wherein 86 pin conducts
GPIO pin, the integrated more all kinds of peripheral hardwares of chip internal.In controller on used master control borad 18 of the present utility model,
Communicated with PC 17 using USART serial ports, the instruction from serial ports is parsed by the chip internal program of master control borad 18, by GPIO
The pulse of assembled pulse and pulsewidth modulation is generated to control each motor.
For stepper motor, there is multi-channel PWM impulse wave and export and be coupled to by optocoupler in circuit using central processing unit
Driving stage circuit, by enable EN, direction DIR, tri- signal input part level changes of stepping PUL for controlling driving stepper motor level
The parameters such as rotating forward, reversion, the anglec of rotation, the rotary speed for changing to reach Driving Stepping Motor, and the dial-up by pre-setting
Switch control driving stepper motor electric current so that each stepper motor can export different torques according to the difference of load, reduce
The waste of the energy.For steering wheel, the general driving agreement according to steering wheel configures the GPIO output pulse widths modulation of central processing unit
Pwm signal drives steering wheel to rotate to expected angle.
Power supply unit include Switching Power Supply 19, storage battery power supply power supply 20, regulator board and linear voltage stabilization chip, regulator board and
Linear voltage stabilization chip is equipped with Switching Power Supply 19 and storage battery power supply power supply 20 respectively, and regulator board is powered to steering wheel, linear voltage stabilization
Chip by the voltage needed for the voltage step-down of Switching Power Supply or storage battery power supply power supply to master control borad 18, for master control borad 18
Power supply.The storage battery power supply power supply 20 that the utility model is used saves 12V8AH (20HR) battery of photosynthetic boards as machine from three
The power supply of device people, the specific size of battery is：151mm × 66mm × 96mm (length × width × height), be per the weight of batteries
2.2Kg, the Switching Power Supply 19 that the utility model is used is powered for 24V Switching Power Supplies, and it is 220V to choose input, is output as 24V's
Switching Power Supply is powered, and have purchased the 24V 20A 500W switching power supplies of big vast nameplate, and its specific size is：215mm×
115mm × 50mm (length × width × height).The power supply of Switching Power Supply 19 output voltage, electric current stabilization are difficult fluctuation, but Switching Power Supply is supplied
Electricity has to external 220V AC powers.
The robot of traffic police that the utility model is provided can imitate true man traffic-police and realize some holding functions, or press
Fixed routine realizes being automatically brought into operation for set function, it can replace traffic-police heavy labor, with realize traffic system from
Dynamic safety management, can work, under the street environment full of vehicle exhaust to protect personal safety.
Claims (5)
1. a kind of robot of traffic police, it is characterised in that：Robot of traffic police includes head, neck, left shoulder, Zuo great
Arm, left forearm, left hand, right shoulder, right large arm, right forearm, the right hand, leg foot, head motor, left shoulder joint drive electricity
Machine, left elbow joint motor, left wrist joint motor, right shoulder joint motor, right elbow joint motor, right wrist are closed
Section motor, leg foot motor, motor driver, communication control section and power supply unit, the connection of head and neck
The equipped head motor in place, be equipped with left shoulder joint driver at left shoulder joint of the left shoulder with left large arm for connecting, and is used for
Connect left large arm and be equipped with left elbow joint motor with the left elbow joint of left forearm, the left wrist joint for connecting left forearm and left hand
Place is equipped with left wrist joint motor, be equipped with right shoulder joint driver at right shoulder joint of the right shoulder with right large arm for connecting,
Right elbow joint motor is equipped with the right elbow joint of right forearm for connecting right large arm, the right wrist for connecting right forearm and the right hand
Joint is equipped with right wrist joint motor, and leg foot motor is used for the overall rotation of driven machine people, and head drives electricity
Machine, left shoulder joint motor, left elbow joint motor, left wrist joint motor, right shoulder joint motor, right elbow are closed
Section motor, right wrist joint motor and leg foot motor are equipped with motor driver respectively, motor driver with
Communication control section is equipped with, and communication control section is used for captured in real-time traffic lights image, and traffic lights image is changed into control
Signal, for controlled motor driver, power supply unit is used for head motor, left shoulder joint motor, left elbow joint
Motor, left wrist joint motor, right shoulder joint motor, right elbow joint motor, right wrist joint motor,
Leg foot motor, motor driver and communication control section are powered.
2. robot of traffic police as claimed in claim 1, it is characterised in that：Head motor is steering wheel, left shoulder joint
Motor includes left first shoulder joint stepper motor and left second shoulder joint stepper motor, and left first shoulder joint stepper motor is consolidated
Left shoulder is scheduled on, and its main shaft is connected by axle sleeve, connector with the bracket of left second shoulder joint stepper motor, right shoulder joint is driven
Dynamic motor includes right first shoulder joint stepper motor and right first shoulder joint stepper motor, and right first shoulder joint stepper motor is fixed
In right shoulder, and its main shaft is connected by axle sleeve, connector with the bracket of right second shoulder joint stepper motor, and left elbow joint drives
Motor is steering wheel with right elbow joint motor, and left wrist joint motor includes left first wrist joint steering wheel and left second wrist
Joint steering wheel, the main shaft of left first wrist joint steering wheel is connected by axle sleeve and connector with left second wrist joint steering wheel, and left second
Wrist joint steering wheel is connected with left hand, and right wrist joint motor includes right first wrist joint steering wheel and right second wrist joint steering wheel,
The main shaft of right first wrist joint steering wheel is connected by axle sleeve and connector with right second wrist joint steering wheel, right second wrist joint steering wheel
It is connected with the right hand, leg foot motor is stepper motor, motor driver includes steering engine driver and stepper motor driver,
Steering engine driver and stepper motor driver are connected with communication control section respectively.
3. robot of traffic police as claimed in claim 1 or 2, it is characterised in that：Communication control section includes video camera, record
Image processing software is installed, video camera is implemented to shoot stop-light image, and will hand in camera, PC and master control borad, PC
Logical indicator lamp image is sent to video recorder, and stop-light image is preserved and is sent to PC, PC in real time by video recorder
Image processing software image is cut and be processed into commander action executing command signal, PC by command action executing refer to
Signal transmission to master control borad is made, command signal is converted into pulse signal by master control borad, and pulse signal is sent to motor and driven
Device.
4. robot of traffic police as claimed in claim 3, it is characterised in that：Master control borad is by input/output port and single-chip microcomputer
Chip is constituted, and input/output port receives commander's action executing command signal of PC transmission, and singlechip chip turns the signal
Pulse signal is conveyed to motor driver by chemical conversion pulse signal, input/output port.
5. robot of traffic police as claimed in claim 3, it is characterised in that：Power supply unit includes Switching Power Supply, battery
Power supply, regulator board and linear voltage stabilization chip, regulator board and linear voltage stabilization chip respectively with Switching Power Supply and storage battery power supply
Power supply is equipped with, and regulator board is powered to steering wheel, and linear voltage stabilization chip is by Switching Power Supply or the voltage step-down of storage battery power supply power supply
Voltage to needed for master control borad, for being powered to master control borad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621294820.7U CN206216709U (en) | 2016-11-29 | 2016-11-29 | Robot of traffic police |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621294820.7U CN206216709U (en) | 2016-11-29 | 2016-11-29 | Robot of traffic police |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206216709U true CN206216709U (en) | 2017-06-06 |
Family
ID=58786381
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621294820.7U Expired - Fee Related CN206216709U (en) | 2016-11-29 | 2016-11-29 | Robot of traffic police |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206216709U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106781566A (en) * | 2016-11-29 | 2017-05-31 | 银川捷迅达电子科技有限公司 | Traffic guidance system and robot of traffic police |
| CN107571241A (en) * | 2017-09-04 | 2018-01-12 | 深圳市超时空机器人有限公司 | A kind of tow-armed robot and its control method |
-
2016
- 2016-11-29 CN CN201621294820.7U patent/CN206216709U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106781566A (en) * | 2016-11-29 | 2017-05-31 | 银川捷迅达电子科技有限公司 | Traffic guidance system and robot of traffic police |
| CN107571241A (en) * | 2017-09-04 | 2018-01-12 | 深圳市超时空机器人有限公司 | A kind of tow-armed robot and its control method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170606 Termination date: 20201129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |