CN206633010U - A kind of snake robot with computer vision function - Google Patents
A kind of snake robot with computer vision function Download PDFInfo
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- CN206633010U CN206633010U CN201621087139.5U CN201621087139U CN206633010U CN 206633010 U CN206633010 U CN 206633010U CN 201621087139 U CN201621087139 U CN 201621087139U CN 206633010 U CN206633010 U CN 206633010U
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- snake
- steering wheel
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- elevating movement
- computer vision
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Abstract
The utility model relates generally to a kind of snake robot with computer vision function, and it includes snakehead, snake body and the ophiruid interconnected；The snakehead is provided with the supporting plate of irregular shape, and supporting plate bottom is provided with driven pulley, and described supporting plate is provided with multiple distance measuring sensors and a wireless camera for being capable of 360 degree of rotating band computer vision functions；The snake body is made up of three horizontal hunting joints, two elevating movement joints and snake robot drive wheel mechanism；The ophiruid includes snake body connecting plate, snake body connecting plate is fastenedly connected with ophiruid bottom plate screw, portable power source is glued with base, it is glued for servos control plate of the output pulse signal to each steering wheel with portable power source, wireless data transmission is arranged on servos control plate, reducing transformer is glued with base, and the bottom of bottom plate is provided with universal wheel as driven pulley.Serpentine locomotion pattern is realized with more succinct structure, there is Computer Vision Recognition function, and be easy to industrialized production.
Description
Technical field
A kind of snake robot with automatic identification visual ability is the utility model is related to, particularly one kind regards with computer
Feel the snake robot of function.
Background technology
At home, the research to snake robot is started late, and just, Cui Xianshi was developed and opened face state of Shanghai Communications University in 1999
The bionical snake model machine of Fa Liao China First microminiature.In recent years, with the subject convergence of robot technology and bionics techniques so that
Bio-robot has very big breakthrough and progress from structure design to motion control pattern.In bionic machine, imitate
Biological snake and the bionic machine snake being born, are a kind of complex machines people of motion mode High redundancy, in locus and motion
Have in posture than more frees degree needed for Conventional robotic so that it can be wriggled with mimic biology snake level land, get into the cave, climbs
The multi-motion mode such as obstacle detouring.Meanwhile computer vision function is introduced into bio-robot field, realize to image scene from
Many fields such as dynamic identification and arbitration functions, civilian in military affairs, science and technology, laboratory research have broad application prospects.
But existing more volumes of bionic machine snake are big, complicated, controllability is weak, and function is single, such as Chinese patent
CN205415622U discloses a kind of multi-joint snake robot, and there is provided 12 groups of reducing motors and battery pack, structure is more complicated, weight
Measure heavier, function is single.Snake body easily topples.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of snake robot, is realized with more succinct structure snakelike
Motor pattern, there is Computer Vision Recognition function, and be easy to industrialized production.
In order to solve the above-mentioned technical problem, the utility model proposes following technical scheme：A kind of band computer vision function
Snake robot, it include interconnect snakehead, snake body and ophiruid；
The snakehead is provided with the supporting plate of irregular shape, and supporting plate bottom is provided with driven pulley, set in described supporting plate
There are multiple distance measuring sensors and a wireless camera for being capable of 360 degree of rotating band computer vision functions；
The snake body is made up of three horizontal hunting joints, two elevating movement joints and snake robot drive wheel mechanism；
The ophiruid includes snake body connecting plate, and snake body connecting plate is fastenedly connected with ophiruid bottom plate screw, portable power source and bottom
Seat is glued, and is glued for servos control plate of the output pulse signal to each steering wheel with portable power source, wireless data transmission installation
On servos control plate, reducing transformer is glued with base, and the bottom of bottom plate is provided with universal wheel as driven pulley.
Described distance measuring sensor includes infrared distance sensor and ultrasonic distance-measuring sensor.
The horizontal hunting joint includes horizontal hunting support, and the elevating movement joint includes elevating movement support, institute
State horizontal hunting support to be fastenedly connected with the back-to-back screw of elevating movement support, the rotary shaft and level of horizontal hunting driving steering wheel
Swinging mounting screw is fastenedly connected, and the rotary shaft of elevating movement driving steering wheel is fastenedly connected with pitching bracket screw, pitching
Motion steering wheel is fastenedly connected with snake robot driving wheel screw.
The snake robot driving wheel includes steering wheel installation seat plate, and steering wheel installation seat plate passes through spiral shell with elevating movement driving steering wheel
Clench and be solidly connected, be installed with two rotate steering wheels on steering wheel installation seat plate back-to-back, the rotary shaft of each rotate steering wheel connects
Connect a snake robot driving wheel.
The utility model has the advantages that：
1st, a kind of snake robot with computer vision function provided by the utility model, fastened by using back-to-back screw
The horizontal hunting support and elevating movement support of connection, coordinate horizontal hunting driving steering wheel and elevating movement driving steering wheel, with more
Bionic machine snake horizontal hunting and elevating movement compound action are realized for succinct structure, the snake robot driving wheel being equipped with
Mechanism, and each driving steering wheel is controlled by pulse signal, can be automatic with wireless camera of the unification with computer vision function
Color and gesture are identified, and can be monitored in real time, has widened the scope of application significantly.
2nd, the utility model has taken into full account the characteristics of class wriggling movement, from the bionic angle of animal, with reference to
Robot kinematics and tribology etc., the class motion model of Behavior-based control control theory is established, by the complexity of class biology
Wriggling movement form is reduced to simple, local, modular motor pattern.
3rd, the utility model is formed by connecting by the formation joint of multiple High redundancies so that imitating class motor coordination can
Lean on；It is real in order to reduce frictional resistance of the snake robot in motion process, snakehead and ophiruid bottom plate using universal wheel as driven pulley
Wriggling for existing snake body is travelling, enhances flexibility and the mobility of snake robot；Using aluminium sheet as bottom plate and connecting plate, both met
To the intensity requirement of bottom plate, the overall weight of snake robot is again alleviated, while also reduce cost.
4th, the wireless camera and distance measuring sensor that the utility model is set at snakehead position can be accurately fixed to supervision object
Position and the identification and processing of color and gesture, are easy to realize information exchange under complex environment, to adapt to the working environment of complexity,
Accurate position and image information are collected, and image information is carried out from main process task and judgement.
Brief description of the drawings
The utility model is described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is the front view in the utility model snake body joint.
Fig. 3 is the attached view in the utility model snake body joint.
In figure：Snakehead 1, supporting plate 11, distance measuring sensor 12, wireless camera 13, universal wheel 14, snake body 2, horizontal hunting
Mechanism 21, horizontal hunting driving steering wheel 211, horizontal hunting rotary shaft 212, horizontal hunting support 213, elevating movement mechanism 22,
Elevating movement steering wheel 221, elevating movement rotary shaft 222, elevating movement support 223, snake robot drive wheel mechanism 23, driving wheel
231st, steering wheel 232, steering wheel installation seat plate 233, ophiruid 3, connecting plate 31, ophiruid bottom plate 32, portable power source 33, wireless data are driven
Transmission 34, servos control plate 35, reducing transformer 36.
Embodiment
Embodiment of the present utility model is described further below in conjunction with the accompanying drawings.
Such as Fig. 1-3, a kind of snake robot with computer vision function, it includes snakehead 1, snake body 2 and the snake interconnected
Tail 3；
Further, the snakehead 1 is provided with the supporting plate 11 of irregular shape, and the bottom of supporting plate 11 is provided with driven pulley 14,
Described supporting plate 11 is provided with multiple distance measuring sensors 12 and one and is capable of the wireless of 360 degree of rotating band computer vision functions
Camera 13；The terminal of wireless camera 13 is provided with OpenCV and increased income image processing equipment, realizes wireless camera 13 and terminal
The information realtime interactive of image processing equipment, realize the functions such as automatic identification color and the gesture of image.
Further, the snake body 2 is driven by three 21, two, horizontal hunting joint elevating movement joints 22 and snake robot
Wheel mechanism 23 forms；
Further, the ophiruid 3 includes snake body connecting plate 31, and snake body connecting plate 31 connects with the fastening of the screw of ophiruid bottom plate 32
Connect, portable power source 33 is glued with base 32, and the servos control plate 35 and portable power source of each steering wheel are given for output pulse signal
33 are glued, and wireless data transmission 34 is arranged on servos control plate 35, and reducing transformer 36 is glued with base 32, and the bottom of bottom plate 32 is set
There is universal wheel as driven pulley.Ophiruid part, for providing power supply to whole snake body 2 driving steering wheel, and by servos control plate 35
Generation control signal is transferred to each driving steering wheel.
Further, described distance measuring sensor 12 includes infrared distance sensor and ultrasonic distance-measuring sensor.
Further, the horizontal hunting joint 21 includes horizontal hunting support 213, and the elevating movement joint 22 includes
Elevating movement support 223, the horizontal hunting support 213 are fastenedly connected with 223 back-to-back screw of elevating movement support, horizontal pendulum
The rotary shaft 212 of dynamic driving steering wheel 211 is fastenedly connected with the screw of horizontal hunting support 213, and elevating movement drives the rotation of steering wheel 221
Rotating shaft 222 is fastenedly connected with the screw of pitching support 223, and elevating movement steering wheel 221 fastens with the screw of snake robot driving wheel 23
Connection.Thus structure, more succinct realizes the complicated sinuous action of snake robot.Horizontal hunting drives the level of steering wheel 211
The action that swings drives the part being connected with horizontal hunting steering wheel 211, so as to realize the horizontal direction go to action of snake robot.
The vertical direction of elevating movement driving steering wheel 221 swings up and down action and driven and horizontal hunting support 213 and elevating movement support
223 parts being connected, so as to realize that the elevating movement of snake robot vertical direction acts, such as horizontal hunting steering wheel 211 is also with bowing
Face upward motion.Driving steering wheel in this example is market products, can directly bought on the market, the drive used in this example
The amplitude of dynamic steering wheel rotation is 360 degree.
Further, the snake robot driving wheel 23 includes steering wheel installation seat plate 233, steering wheel installation seat plate 233 and pitching
Motion driving steering wheel 221 is fastenedly connected by screw, is installed with two rotate steering wheels on steering wheel installation seat plate 233 back-to-back
232, one snake robot driving wheel 231 of rotation axis connection of each rotate steering wheel 232.Described snake robot drive wheel mechanism 23,
It is the actuating unit that whole snake robot advances or retreated.By controlling the different corners or rotating speed of each rotate steering wheel 232 with reality
Advance, retrogressing, flat bank and the vertical pitching motion of existing snake robot.
By above-mentioned description, those skilled in the art completely can be without departing from this item utility model technological thought
In the range of, various changes and amendments are carried out all within the scope of protection of the utility model.It is of the present utility model not most
Matters, belong to the common knowledge of those skilled in the art.
Claims (2)
- A kind of 1. snake robot with computer vision function, it is characterised in that：It includes the snakehead interconnected（1）, snake body（2） And ophiruid（3）；The snakehead（1）Supporting plate provided with irregular shape（11）, supporting plate（11）Bottom is provided with driven pulley（14）, it is described Supporting plate（11）It is provided with multiple distance measuring sensors（12）It is capable of the wireless of 360 degree of rotating band computer vision functions with one to take the photograph As head（13）；The snake body（2）By three horizontal hunting joints（21）, two elevating movement joints（22）With snake robot drive wheel mechanism （23）Composition；The ophiruid（3）Including snake body connecting plate（31）, snake body connecting plate（31）With ophiruid bottom plate（32）Screw is fastenedly connected, and is moved Dynamic power supply（33）With base（32）It is glued, the servos control plate of each steering wheel is given for output pulse signal（35）With portable power source （33）It is glued, wireless data transmission（34）Installed in servos control plate（35）On, reducing transformer（36）With base（32）It is glued, bottom plate （32）Bottom be provided with universal wheel as driven pulley；The horizontal hunting joint（21）Including horizontal hunting support（213）, the elevating movement joint（22）Transported including pitching Dynamic support（223）, the horizontal hunting support（213）With elevating movement support（223）Back-to-back screw is fastenedly connected, horizontal pendulum Dynamic driving steering wheel（211）Rotary shaft（212）With horizontal hunting support（213）Screw is fastenedly connected, elevating movement driving steering wheel （221）Rotary shaft（222）With pitching support（223）Screw is fastenedly connected, elevating movement steering wheel（221）Driven with snake robot Driving wheel（23）Screw is fastenedly connected；The snake robot driving wheel（23）Including steering wheel installation seat plate（233）, steering wheel installation seat plate（233）Driven with elevating movement Steering wheel（221）It is fastenedly connected by screw, steering wheel installation seat plate（233）On be installed with two rotate steering wheels back-to-back （232）, each rotate steering wheel（232）One snake robot driving wheel of rotation axis connection（231）；The wireless camera（13）Terminal is provided with OpenCV and increased income image processing equipment.
- A kind of 2. snake robot with computer vision function according to claim 1, it is characterised in that：Described ranging passes Sensor（12）Including infrared distance sensor and ultrasonic distance-measuring sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621087139.5U CN206633010U (en) | 2016-09-28 | 2016-09-28 | A kind of snake robot with computer vision function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621087139.5U CN206633010U (en) | 2016-09-28 | 2016-09-28 | A kind of snake robot with computer vision function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206633010U true CN206633010U (en) | 2017-11-14 |
Family
ID=60261371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621087139.5U Expired - Fee Related CN206633010U (en) | 2016-09-28 | 2016-09-28 | A kind of snake robot with computer vision function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206633010U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984465A (en) * | 2017-11-28 | 2018-05-04 | 常州大学 | A kind of bio-robot based on wriggling movement pattern with doubly-linked bar joint |
| CN108597627A (en) * | 2018-04-19 | 2018-09-28 | 清华大学 | A kind of high temperature gas cooled reactor core internals visual detection robot |
| CN109079799A (en) * | 2018-10-23 | 2018-12-25 | 哈尔滨工业大学（深圳） | It is a kind of based on bionical robot perception control system and control method |
| CN109531557A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of magnetic drives the snake robot of fine motion amplification |
| CN109849018A (en) * | 2019-04-04 | 2019-06-07 | 华夏天信（北京）智能低碳技术研究院有限公司 | A kind of mine disaster relief snake-shaped robot |
| CN109938003A (en) * | 2019-02-23 | 2019-06-28 | 佛山市神风航空科技有限公司 | A kind of bionical snake for preventing birds from nesting on shaft tower and its bird repellent method |
| CN110842900A (en) * | 2019-11-19 | 2020-02-28 | 国家电网有限公司 | Pipeline robot inspection system and method |
| CN111452028A (en) * | 2020-05-25 | 2020-07-28 | 苏州大学应用技术学院 | Multi-joint bionic robot and control method and application thereof |
| CN111844122A (en) * | 2019-04-30 | 2020-10-30 | 长春工业大学 | Snake-shaped robot snake body joint with three-way steering engine orthogonal connection structure |
| CN111983631A (en) * | 2020-08-17 | 2020-11-24 | 云南电网有限责任公司电力科学研究院 | Snakelike electric power inspection robot positioning system for long and narrow closed space |
-
2016
- 2016-09-28 CN CN201621087139.5U patent/CN206633010U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984465A (en) * | 2017-11-28 | 2018-05-04 | 常州大学 | A kind of bio-robot based on wriggling movement pattern with doubly-linked bar joint |
| CN107984465B (en) * | 2017-11-28 | 2020-10-27 | 常州大学 | Bionic robot with double-link joint based on winding motion mode |
| CN108597627A (en) * | 2018-04-19 | 2018-09-28 | 清华大学 | A kind of high temperature gas cooled reactor core internals visual detection robot |
| CN109079799A (en) * | 2018-10-23 | 2018-12-25 | 哈尔滨工业大学（深圳） | It is a kind of based on bionical robot perception control system and control method |
| CN109079799B (en) * | 2018-10-23 | 2021-11-12 | 哈尔滨工业大学（深圳） | Robot perception control system and control method based on bionics |
| CN109531557A (en) * | 2018-11-27 | 2019-03-29 | 长安大学 | A kind of magnetic drives the snake robot of fine motion amplification |
| CN109531557B (en) * | 2018-11-27 | 2024-02-13 | 长安大学 | Magnetic drive micro-motion amplification machine snake |
| CN109938003A (en) * | 2019-02-23 | 2019-06-28 | 佛山市神风航空科技有限公司 | A kind of bionical snake for preventing birds from nesting on shaft tower and its bird repellent method |
| CN109849018A (en) * | 2019-04-04 | 2019-06-07 | 华夏天信（北京）智能低碳技术研究院有限公司 | A kind of mine disaster relief snake-shaped robot |
| CN111844122A (en) * | 2019-04-30 | 2020-10-30 | 长春工业大学 | Snake-shaped robot snake body joint with three-way steering engine orthogonal connection structure |
| CN110842900A (en) * | 2019-11-19 | 2020-02-28 | 国家电网有限公司 | Pipeline robot inspection system and method |
| CN111452028A (en) * | 2020-05-25 | 2020-07-28 | 苏州大学应用技术学院 | Multi-joint bionic robot and control method and application thereof |
| CN111452028B (en) * | 2020-05-25 | 2024-06-04 | 苏州大学应用技术学院 | Multi-joint bionic robot and control method and application thereof |
| CN111983631A (en) * | 2020-08-17 | 2020-11-24 | 云南电网有限责任公司电力科学研究院 | Snakelike electric power inspection robot positioning system for long and narrow closed space |
| CN111983631B (en) * | 2020-08-17 | 2023-11-21 | 云南电网有限责任公司电力科学研究院 | Snakelike electric power inspection robot positioning system for long and narrow airtight space |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 Termination date: 20180928 |
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| CF01 | Termination of patent right due to non-payment of annual fee |