CN206717879U - A kind of robot of view-based access control model identification - Google Patents

Abstract

The utility model discloses a kind of robot of view-based access control model identification, including the robot body being made up of head, body part and leg；The head is provided with visual identifying system；The visual identifying system includes image capture module；Described image acquisition module includes the omni-directional image unit for being arranged on apical head；The omni-directional image unit includes a top camera；The top camera is connected with image pick-up card；Described image capture card is connected to the input of imaging sensor；Described image sensor is connected with a signal transmission circuit；And the body part is provided with the first motor and PLC, the leg is provided with a pair of driving wheels, first motor is connected with the PLC and driving wheel respectively, and the PLC is provided with a signal control circuit, for receiving the control signal of host computer.The utility model establishes comprehensive image capturing system, fine simulation human visual system by the omni-directional image unit and head of setting.

Description

A kind of robot of view-based access control model identification

Technical field

The utility model belongs to robotic technology field, and in particular to a kind of robot of view-based access control model identification.

Background technology

Robot and automated arm have wide application market, and by taking robot as an example, robot technology is as advanced The Typical Representative of manufacturing technology, it is the multidisciplinary advanced technologies such as collection machinery, electronics, control, computer, sensor, artificial intelligence In the important modern manufacturing industry automated arm of one.

At present, in global manufacturing industry, industrial robot serves more and more important effect in production. In order that can be competent at the work to become increasingly complex with robot, will not only there be more preferable control system in robot, also need More changes for perceiving environment.Wherein robot vision is contained much information with it, information completely turns into most important robot sense Know function.

Utility model content

The purpose of this utility model is to provide a kind of robot of view-based access control model identification, to solve to identify with stereoscopic vision Function, make remote control robot running more accurately technical problem.

In order to solve the above-mentioned technical problem, the utility model provides a kind of robot of view-based access control model identification, including by The robot body that head, body part and leg are formed；Wherein described head is provided with visual identifying system；The visual identity System includes image capture module；Described image acquisition module includes the omni-directional image unit for being arranged on apical head；The omnidirectional Elementary area includes a top camera；The top camera is connected with image pick-up card；Described image capture card is connected to The input of imaging sensor；Described image sensor is connected with a signal transmission circuit；And the body part is provided with the One motor and PLC, the leg are provided with a pair of driving wheels, and first motor is controlled with the PLC respectively Device processed is connected with driving wheel, and the PLC is provided with a signal control circuit, for receiving the control signal of host computer；Institute State body part both sides and be respectively equipped with a robot arm, the robot arm is connected with the second motor, the machine Human arm is made up of some turning joints, and the PLC is connected with second motor.

Further, the robot body also includes the communication module for being arranged at body part, and the communication module realizes PLC The data of controller, visual identifying system and host computer are wirelessly transferred with instruction.

Further, the host computer transmits commands to the communication module using data packet format, and the communication module passes through Unpacking mechanism unties packet, is sent to single-chip microcomputer by serial ports and performs robot running by each drive module.

Further, the top camera is installed on a head of apical head setting；And the head includes two Individual digital rudder controller, top camera can on head can 0 °~180 ° of level, it is upper and lower 0 °~180 ° rotation.

Further, the PLC includes single-chip microcomputer and connected direct current motor drive circuit, steering wheel drive respectively Dynamic circuit, download serial ports and data communication interface.

Further, the visual identifying system also includes connected image processing module and image analysis module；Wherein institute State image processing module with image capture module to be connected, and the image to the collection to image capture module is handled；Institute State image analysis module and carry out analytical integration to the image after handling image processing module.

Further, the visual identifying system also includes one be arranged between image processing module and image capture module Signal conversion module, the signal conversion module are converted into described image processing mould to the image of the collection to image capture module The treatable data-signal of block.

Further, described image analysis module includes the first contrast circuit, filter circuit and signal amplification circuit, the letter Number amplifying circuit is connected with first contrast circuit and filter circuit respectively.

Further, the robot arm is provided with a clamp device.

The beneficial effects of the utility model are the robot of view-based access control model identification of the present utility model, to pass through the complete of setting To elementary area and head, comprehensive image capturing system is established, expands field range, fine simulation human vision system System, make the image of collection more three-dimensional comprehensively, so that robot running is more accurate.

Brief description of the drawings

The utility model is further illustrated with reference to the accompanying drawings and examples.

Fig. 1 is the dimensional structure diagram based on the robot of visual identity；

Fig. 2 is the fundamental diagram based on the robot of visual identity.

In figure：Top camera 1, driving wheel 2, turning joint 3, head 4, clamp device 5.

Embodiment

The utility model is described in further detail presently in connection with accompanying drawing.These accompanying drawings are simplified schematic diagram, Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.

As shown in Figure 1 to Figure 2, the robot of a kind of view-based access control model identification of the present utility model, including by head, body The robot body that position and leg are formed；Wherein described head is provided with visual identifying system；The visual identifying system includes figure As acquisition module；Described image acquisition module includes the omni-directional image unit for being arranged on apical head；The omni-directional image unit bag Include a top camera 1；The top camera 1 is connected with image pick-up card；Described image capture card is connected to image sensing The input of device；Described image sensor is connected with a signal transmission circuit；And the body part is provided with the first driving electricity Machine and PLC, the leg are provided with a pair of driving wheels 2, first motor respectively with the PLC and drive Driving wheel 2 is connected, and the PLC is provided with a signal control circuit, for receiving the control signal of host computer；The body Position both sides are respectively equipped with a robot arm, and the robot arm is connected with the second motor, the robot arm by Some turning joints 3 form, and the PLC is connected with second motor, realizes the control to robot arm, Some simple actions can be realized by robot arm.

Specifically, the top camera 1 uses RGB color camera.Preferably, the vision of the top camera 1 0.5~4.0 meter of depth bounds.The robot arm is provided with a clamp device 5, can be realized by clamp device 5 Simple action, such as the operation to dangerous material.

The top camera 1 is installed on a head 4 of apical head setting；And the head 4 includes two numbers Word steering wheel, top camera 1 can on head 4 can 0 °~180 ° of level, it is upper and lower 0 °~180 ° rotation.

The robot body also includes being arranged at the communication module of body part, the communication module realize PLC, The data of visual identifying system and host computer are wirelessly transferred with instruction.Optionally, the communication module is such as, but not limited to adopted With WIFI communication modules.

The host computer transmits commands to the communication module using data packet format, specifically, packet header OXFF, bag Tail OXFF, no parity check position.The communication module unties packet by unpacking mechanism, and single-chip microcomputer is sent to simultaneously by serial ports Robot is performed by each drive module to operate.

The PLC include single-chip microcomputer and respectively connected direct current motor drive circuit, servo driving circuit, Download serial ports and data communication interface.Specifically, the direct current motor drive circuit is used to drive the first motor and the The running of two motors；The servo driving circuit is used for the running for driving the digital rudder controller.

The visual identifying system also includes connected image processing module and image analysis module；Wherein at described image Reason module is connected with image capture module, and the image to the collection to image capture module is handled；Described image point Analysis module carries out analytical integration to the image after handling image processing module.

Preferably, the visual identifying system also includes one be arranged between image processing module and image capture module Signal conversion module, the signal conversion module are converted into described image processing mould to the image of the collection to image capture module The treatable data-signal of block.

Described image analysis module includes the first contrast circuit, filter circuit and signal amplification circuit, the signal amplification Circuit is connected with first contrast circuit and filter circuit respectively.Wherein the first contrast circuit is used to carry out the image of analysis Contrast, filter circuit are used for filtering to signal, and signal amplification circuit is used to be amplified the signal of reception, can improve pair The precision of graphical analysis.

Using it is above-mentioned according to desirable embodiment of the present utility model as enlightenment, pass through above-mentioned description, related work people Member can carry out various changes and amendments in the range of without departing from this item utility model technological thought completely.This item is real The content being not limited to new technical scope on specification, it is necessary to which its technology is determined according to right Property scope.

Claims (9)

1. a kind of robot of view-based access control model identification, it is characterised in that including the machine being made up of head, body part and leg Human body；Wherein described head is provided with visual identifying system；The visual identifying system includes image capture module；Described image Acquisition module includes the omni-directional image unit for being arranged on apical head；The omni-directional image unit includes a top camera（1）；Institute State top camera（1）It is connected with image pick-up card；Described image capture card is connected to the input of imaging sensor；The figure As sensor is connected with a signal transmission circuit；It is described and the body part is provided with the first motor and PLC Leg is provided with a pair of driving wheels（2）, first motor respectively with the PLC and driving wheel（2）It is connected, it is described PLC is provided with a signal control circuit, for receiving the control signal of host computer；The body part both sides are respectively equipped with One robot arm, the robot arm are connected with the second motor, and the robot arm is by some turning joints（3） Composition, the PLC are connected with second motor.

2. robot according to claim 1, it is characterised in that the robot body also includes being arranged at body part Communication module, the communication module realizes the data of PLC, visual identifying system and host computer and the wireless biography of instruction It is defeated.

3. robot according to claim 2, it is characterised in that the host computer is transmitted commands to using data packet format The communication module, the communication module untie packet by unpacking mechanism, and single-chip microcomputer is sent to and by each by serial ports Drive module performs robot running.

4. robot according to claim 3, it is characterised in that the top camera（1）Apical head is installed on to set The head put（4）On；And the head（4）Including two digital rudder controllers, top camera（1）Can be in head（4）On can 0 °~180 ° of level, upper and lower 0 °~180 ° rotations.

5. robot according to claim 4, it is characterised in that the PLC include single-chip microcomputer and respectively with its Direct current motor drive circuit, servo driving circuit, download serial ports and the data communication interface of connection.

6. robot according to claim 5, it is characterised in that the visual identifying system also includes at connected image Manage module and image analysis module；Wherein described image processing module is connected with image capture module, and to IMAQ The image of the collection of module is handled；Described image analysis module is divided to the image after handling image processing module Analysis is integrated.

7. robot according to claim 6, it is characterised in that the visual identifying system also includes being arranged at image Manage the signal conversion module between module and image capture module, the signal conversion module to image capture module adopting The image of collection is converted into the treatable data-signal of described image processing module.

8. robot according to claim 7, it is characterised in that described image analysis module include the first contrast circuit, Filter circuit and signal amplification circuit, the signal amplification circuit are connected with first contrast circuit and filter circuit respectively.

9. robot according to claim 1, it is characterised in that the robot arm is provided with a clamp device（5）.