CN207593803U - Multi-sensor fusion robot system based on low light environment light filling - Google Patents
Multi-sensor fusion robot system based on low light environment light filling Download PDFInfo
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- CN207593803U CN207593803U CN201721648040.2U CN201721648040U CN207593803U CN 207593803 U CN207593803 U CN 207593803U CN 201721648040 U CN201721648040 U CN 201721648040U CN 207593803 U CN207593803 U CN 207593803U
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Abstract
The utility model discloses a kind of multi-sensor fusion robot systems based on low light environment light filling.It includes image collecting device, transmitting device, light compensating apparatus, outer sensor interface arrangement, built-in sensors interface arrangement, at least two driving chips, at least two actuating motors, at least two photoelectric encoders and primary processor.The utility model can open light compensating apparatus under low light environment and carry out light filling to image collecting device, when detecting threshold value of the light intensity less than setting, it opens light compensating apparatus and light filling is carried out to light, it ensures that robotic vision system can work normally under low light environment, enhances data acquisition ability of the robot system under low light environment.
Description
Technical field
The utility model is related to robotic technology fields, more specifically, are related to a kind of based on the more of low light environment light filling
Sensing fusion robot system.
Background technology
Robot has become popular research instantly and popular development technique field, with hardware technology continuous development and
The rapid development of software technology, human use's device is to vision (such as white light, infrared and other images), the sense of hearing (sound
Sound), tactile (power) etc. be acquired, transmit, the ability of processing and control constantly enhances, and robot technology flourishes.
It is existing the problem of being related to the acquisition to a large amount of sensor signals, detection, transmission and handle in robot system
There is the problems such as solution generally existing technical difficulty in technology is higher, and cost is larger, limit the universal of robot system.
For example, the Chinese patent of Publication No. CN206242055U discloses a kind of robot with vision servo system, structure
Including servo drive system, vision control system, servo motion system, movable information sensor, the robot lower part of the body, robot head
Portion, servo drive system are installed in the inside of robot head, and servo drive system is equipped with encoder, servo motor and servo
Driver, encoder are connected by servo-driver with servo motor, and robot head lower end is equipped with the robot lower part of the body, machine
People's lower part of the body is made of driving both arms, execution both legs and center cavity, and driving both arms are connected by center cavity with performing both legs.This is specially
Profit can accurately be measured to the position of article that robot needs capture, and avoid the problem of being susceptible to crawl error, together
When it is good to the processing implementation effect of robot graphics' state, convenient for controlling robot.But the patent specification is public
There are insurmountable problems for the technical solution opened.For example, there is detection signal in the fusion driving that cannot solve robot system
Low precision, technology realize the problems such as difficulty is big, of high cost.Under low light environment, image collecting device cisco unity malfunction can not
The problems such as completing to acquire the data of ambient enviroment.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of more biographies based on low light environment light filling
Sense fusion robot system carries out light filling, it can be achieved that opening light compensating apparatus under low light environment to image collecting device, is detecting
It when being less than the threshold value of setting to light intensity, opens light compensating apparatus and light filling is carried out to light, ensure that robotic vision system exists
It can be worked normally under low light environment, enhance data acquisition ability of the robot system under low light environment.
The purpose of this utility model is achieved through the following technical solutions：A kind of more biographies based on low light environment light filling
Sense fusion robot system, including：
Image collecting device, transmitting device, light compensating apparatus, outer sensor interface arrangement, built-in sensors interface arrangement,
At least two driving chips, at least two actuating motors, at least two photoelectric encoders and primary processor；
The output terminal of the image collecting device and the input terminal of transmitting device connect, the output of the transmitting device
End is connect with the communication interface of primary processor；Light compensating apparatus, light filling dress are provided in the image collecting device
The switching signal interface put is connect with the control interface of the primary processor；
The outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output
Interface, the outer sensor interface are connected at least one light sensor, the multiplexing output interface and master
The first transducing signal input terminal connection of processor, the built-in sensors interface arrangement include at least one variable connector,
The output terminal of the variable connector and the second transducing signal input terminal of primary processor connect, the first control of the primary processor
Signal output end processed is connect with the input terminal of the first driving chip, and the output terminal of first driving chip and first performs electricity
The input terminal connection of machine, the second control signal output terminal of the primary processor are connect with the input terminal of the second driving chip,
The output terminal of second driving chip is connect with the input terminal of the second actuating motor；
First photoelectric encoder is mounted on first actuating motor, output terminal and first driving chip
Input terminal connection, the second photoelectric encoder is mounted on second actuating motor, and output terminal drives with described second
The input terminal connection of dynamic chip.
Further, the image collecting device include cmos sensor, the output terminal of the cmos sensor with
The input terminal connection of the transmitting device.
Further, the transmitting device includes radio transmitting device, the output terminal of the radio transmitting device and master
The communication interface connection of processor.
Further, the transmitting device includes wired transmission device, the output terminal of the wired transmission device and master
The communication interface connection of processor.
Further, the light compensating apparatus includes LED light source；The LED light source, is arranged on light compensating apparatus
Inside, power interface are connect with the switching signal interface, the switching signal interface and the primary processor
Control interface connects.
Further, the radio transmitting device includes ZigBee communication device, the ZigBee communication device
The communication interface of output terminal and primary processor connects.
Further, the outer sensor interface arrangement includes a multiplexer；
The multiple input end of the multiplexer is connect with the output terminal of multiple outer sensors, the multiplexer
Output terminal connect with the first transducing signal input terminal of the primary processor.
Further, the built-in sensors interface arrangement selects one multichannel to open for the variable connector of alternative or four
Close or eight select one variable connector or 16 select one variable connector.
Further, first driving chip be the first LM629 motion control driving chips, described first
The input terminal of LM629 motion control driving chips is connect with the first control signal output terminal of the primary processor, and described
The output terminal of one LM629 motion control driving chips is connect with the input terminal of the first actuating motor.
Further, second driving chip be the 2nd LM629 motion control driving chips, described second
The input terminal of LM629 motion control driving chips is connect with the second control signal output terminal of the primary processor, and described
The output terminal of two LM629 motion control driving chips is connect with the input terminal of the second actuating motor.
The beneficial effects of the utility model are：
(1) the utility model passes through image collecting device, transmitting device, light compensating apparatus, outer sensor interface arrangement, interior
Sensor interface apparatus, driving chip, actuating motor, photoelectric encoder and primary processor etc. are put, can be realized in low light environment
Lower opening light compensating apparatus carries out image collecting device light filling, and light intensity can be carried out by external photosensitive sensor etc.
Detection when detecting threshold value of the light intensity less than setting, opens light compensating apparatus and carries out light filling to light, ensure robot
Vision system can work normally under low light environment, enhance data acquisition ability of the robot system under low light environment.
(2) the utility model can detect the switch for being arranged on robots internal system by built-in sensors interface arrangement
Quantity sensor, analog sensor etc. can detect the external switching value of robot system by outer sensor interface arrangement
Sensor, analog sensor etc., so as to which the parameters such as the amount of exercise of robot system are carried out with synthesis, is detected in front, favorably
Control is driven using the signal of acquisition in primary processor, improves drive control precision, while utilize outer sensor interface
Device carries out multiplexing multiplexing to external sensor signal, improves data acquisition ability, reduces data transmission cost, realizes
Robot system multi-sensor fusion drives.
(3) the utility model reduces the realization difficulty of the drive control of robot system, passes through the built-in sensing of setting
Device interface arrangement and outer sensor interface arrangement increase data acquisition resource, due to being distinguished to categories of sensors
Acquisition and transmission, the structure not only reduce data transmission cost, and help to simplify the realization process driven, reduce complicated
Degree, reduces cost, contributes to the promotion and popularization of robot system.
The technique effect of the utility model is not limited to the described above.More than technique effect is merely exemplary to illustrate, this reality
It will be described in detail with other novel features and its effect etc. in subsequent specific embodiment part.People in the art
Member can directly or indirectly know remaining technique effect etc. according to the description of the present application, and details are not described herein again.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, before not making the creative labor property
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the structure chart of the utility model.
Specific embodiment
The technical solution of the utility model, but the scope of protection of the utility model are described in further detail below in conjunction with the accompanying drawings
It is not limited to as described below.Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), is removed
It non-specifically describes, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, often
A feature is an example in a series of equivalent or similar characteristics.
Specific embodiment of the utility model is described more fully below, it should be noted that the embodiments described herein is served only for
For example, it is not intended to limit the utility model.In the following description, in order to provide the thorough understanding to the utility model,
Elaborate a large amount of specific details.It will be apparent, however, to one skilled in the art that：These certain details need not be used
It saves to carry out the utility model.In other instances, in order to avoid obscuring the utility model, well known structure is not specifically described
Deng.
Such as Fig. 1, a kind of multi-sensor fusion robot system based on low light environment light filling, including：
Image collecting device, transmitting device, light compensating apparatus, outer sensor interface arrangement, built-in sensors interface arrangement,
At least two driving chips, at least two actuating motors, at least two photoelectric encoders and primary processor；
The output terminal of the image collecting device and the input terminal of transmitting device connect, the output of the transmitting device
End is connect with the communication interface of primary processor；Light compensating apparatus, light filling dress are provided in the image collecting device
The switching signal interface put is connect with the control interface of the primary processor；
The outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output
Interface, the outer sensor interface are connected at least one light sensor, the multiplexing output interface and master
The first transducing signal input terminal connection of processor, the built-in sensors interface arrangement include at least one variable connector,
The output terminal of the variable connector and the second transducing signal input terminal of primary processor connect, the first control of the primary processor
Signal output end processed is connect with the input terminal of the first driving chip, and the output terminal of first driving chip and first performs electricity
The input terminal connection of machine, the second control signal output terminal of the primary processor are connect with the input terminal of the second driving chip,
The output terminal of second driving chip is connect with the input terminal of the second actuating motor；
First photoelectric encoder is mounted on first actuating motor, output terminal and first driving chip
Input terminal connection, the second photoelectric encoder is mounted on second actuating motor, and output terminal drives with described second
The input terminal connection of dynamic chip.
Optionally, the image collecting device includes cmos sensor, the output terminal of the cmos sensor and institute
The input terminal connection for the transmitting device stated.
Optionally, the transmitting device includes radio transmitting device, the output terminal of the radio transmitting device and main place
Manage the communication interface connection of device.
Optionally, the transmitting device includes wired transmission device, the output terminal of the wired transmission device and main place
Manage the communication interface connection of device.
Optionally, the light compensating apparatus includes LED light source；The LED light source is arranged on the interior of light compensating apparatus
Portion, power interface are connect with the switching signal interface, the control of the switching signal interface and the primary processor
Interface connection processed.
Optionally, the radio transmitting device include ZigBee communication device, the ZigBee communication device it is defeated
Outlet and the communication interface of primary processor connect.
Optionally, the outer sensor interface arrangement includes a multiplexer；
The multiple input end of the multiplexer is connect with the output terminal of multiple outer sensors, the multiplexer
Output terminal connect with the first transducing signal input terminal of the primary processor.
Optionally, the built-in sensors interface arrangement for alternative variable connector or four select one variable connector,
Eight select one variable connector or 16 select one variable connector.
Optionally, first driving chip be the first LM629 motion control driving chips, the first LM629
The input terminal of motion control driving chip is connect with the first control signal output terminal of the primary processor, and described first
The output terminal of LM629 motion control driving chips is connect with the input terminal of the first actuating motor.
Optionally, second driving chip be the 2nd LM629 motion control driving chips, the 2nd LM629
The input terminal of motion control driving chip is connect with the second control signal output terminal of the primary processor, and described second
The output terminal of LM629 motion control driving chips is connect with the input terminal of the second actuating motor.
【Embodiment one】
Such as Fig. 1, those skilled in the art can melt the utility model as a kind of more sensings based on low light environment light filling
It closes robot system to be implemented, in this embodiment including image collecting device, transmitting device, light compensating apparatus, external sensing
Device interface arrangement, built-in sensors interface arrangement, at least two driving chips, at least two actuating motors, at least two photoelectricity
Encoder and primary processor.
The output terminal of image collecting device and the input terminal of transmitting device connect, the output terminal and primary processor of transmitting device
Communication interface connection；Light compensating apparatus, the switching signal interface and main process task of light compensating apparatus are provided in image collecting device
The control interface connection of device.
Outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output interface, outside
It puts sensor interface and is connected at least one light sensor, multiplex the first transducing signal of output interface and primary processor
Input terminal connects, and built-in sensors interface arrangement includes at least one variable connector, the output terminal and primary processor of variable connector
The connection of the second transducing signal input terminal, the input terminal company of the first control signal output terminal of primary processor and the first driving chip
It connects, the output terminal of the first driving chip is connect with the input terminal of the first actuating motor, the second control signal output of primary processor
End is connect with the input terminal of the second driving chip, and the output terminal of the second driving chip is connect with the input terminal of the second actuating motor.
First photoelectric encoder is mounted on the first actuating motor, and output terminal is connect with the input terminal of the first driving chip, the second light
Photoelectric coder is mounted on the second actuating motor, and output terminal is connect with the input terminal of the second driving chip.
Remaining technical characteristic in the present embodiment, those skilled in the art can flexibly be selected according to actual conditions
With with to meet different specific actual demands.It will be apparent, however, to one skilled in the art that：It need not use
These specific details carry out the utility model.In other instances, in order to avoid obscuring the utility model, public affairs are not specifically described
The composition known, structure or component limit technical protection in the claimed technical solution of claims of the utility model
Within the scope of, details are not described herein again.
【Embodiment two】
Such as Fig. 1, those skilled in the art can melt the utility model as a kind of more sensings based on low light environment light filling
It closes robot system to be implemented, in this embodiment including image collecting device, transmitting device, light compensating apparatus, external sensing
Device interface arrangement, built-in sensors interface arrangement, at least two driving chips, at least two actuating motors, at least two photoelectricity
Encoder and primary processor.
The output terminal of image collecting device and the input terminal of transmitting device connect, the output terminal and primary processor of transmitting device
Communication interface connection；Light compensating apparatus, the switching signal interface and main process task of light compensating apparatus are provided in image collecting device
The control interface connection of device.
Outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output interface, outside
It puts sensor interface and is connected at least one light sensor, multiplex the first transducing signal of output interface and primary processor
Input terminal connects, and built-in sensors interface arrangement includes at least one variable connector, the output terminal and primary processor of variable connector
The connection of the second transducing signal input terminal, the input terminal company of the first control signal output terminal of primary processor and the first driving chip
It connects, the output terminal of the first driving chip is connect with the input terminal of the first actuating motor, the second control signal output of primary processor
End is connect with the input terminal of the second driving chip, and the output terminal of the second driving chip is connect with the input terminal of the second actuating motor.
First photoelectric encoder is mounted on the first actuating motor, and output terminal is connect with the input terminal of the first driving chip, the second light
Photoelectric coder is mounted on the second actuating motor, and output terminal is connect with the input terminal of the second driving chip.
In this embodiment, those skilled in the art can carry out image collecting device selective implementation, for example, this field
Technical staff can use cmos sensor, and the input terminal of the output terminal of cmos sensor and transmitting device is connected.
Remaining technical characteristic in the present embodiment, those skilled in the art can flexibly be selected according to actual conditions
To meet different specific actual demands.It will be apparent, however, to one skilled in the art that：This need not be used
A little specific details carry out the utility model.In other instances, it in order to avoid obscuring the utility model, does not specifically describe known
Composition, structure or component limit technical protection model in the claimed technical solution of claims of the utility model
Within enclosing, details are not described herein again.
【Embodiment three】
Such as Fig. 1, those skilled in the art can melt the utility model as a kind of more sensings based on low light environment light filling
It closes robot system to be implemented, in this embodiment including image collecting device, transmitting device, light compensating apparatus, external sensing
Device interface arrangement, built-in sensors interface arrangement, at least two driving chips, at least two actuating motors, at least two photoelectricity
Encoder and primary processor.
The output terminal of image collecting device and the input terminal of transmitting device connect, the output terminal and primary processor of transmitting device
Communication interface connection；Light compensating apparatus, the switching signal interface and main process task of light compensating apparatus are provided in image collecting device
The control interface connection of device.
Outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output interface, outside
It puts sensor interface and is connected at least one light sensor, multiplex the first transducing signal of output interface and primary processor
Input terminal connects, and built-in sensors interface arrangement includes at least one variable connector, the output terminal and primary processor of variable connector
The connection of the second transducing signal input terminal, the input terminal company of the first control signal output terminal of primary processor and the first driving chip
It connects, the output terminal of the first driving chip is connect with the input terminal of the first actuating motor, the second control signal output of primary processor
End is connect with the input terminal of the second driving chip, and the output terminal of the second driving chip is connect with the input terminal of the second actuating motor.
First photoelectric encoder is mounted on the first actuating motor, and output terminal is connect with the input terminal of the first driving chip, the second light
Photoelectric coder is mounted on the second actuating motor, and output terminal is connect with the input terminal of the second driving chip.
In this embodiment, those skilled in the art can carry out transmitting device selective implementation, for example, art technology
Personnel can use radio transmitting device, and the communication interface of the output terminal of radio transmitting device and primary processor is connected.
Remaining technical characteristic in the present embodiment, those skilled in the art can flexibly be selected according to actual conditions
To meet different specific actual demands.It will be apparent, however, to one skilled in the art that：This need not be used
A little specific details carry out the utility model.In other instances, it in order to avoid obscuring the utility model, does not specifically describe known
Composition, structure or component limit technical protection model in the claimed technical solution of claims of the utility model
Within enclosing, details are not described herein again.
【Example IV】
Such as Fig. 1, those skilled in the art can melt the utility model as a kind of more sensings based on low light environment light filling
It closes robot system to be implemented, in this embodiment including image collecting device, transmitting device, light compensating apparatus, external sensing
Device interface arrangement, built-in sensors interface arrangement, at least two driving chips, at least two actuating motors, at least two photoelectricity
Encoder and primary processor.
The output terminal of image collecting device and the input terminal of transmitting device connect, the output terminal and primary processor of transmitting device
Communication interface connection；Light compensating apparatus, the switching signal interface and main process task of light compensating apparatus are provided in image collecting device
The control interface connection of device.
Outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output interface, outside
It puts sensor interface and is connected at least one light sensor, multiplex the first transducing signal of output interface and primary processor
Input terminal connects, and built-in sensors interface arrangement includes at least one variable connector, the output terminal and primary processor of variable connector
The connection of the second transducing signal input terminal, the input terminal company of the first control signal output terminal of primary processor and the first driving chip
It connects, the output terminal of the first driving chip is connect with the input terminal of the first actuating motor, the second control signal output of primary processor
End is connect with the input terminal of the second driving chip, and the output terminal of the second driving chip is connect with the input terminal of the second actuating motor.
First photoelectric encoder is mounted on the first actuating motor, and output terminal is connect with the input terminal of the first driving chip, the second light
Photoelectric coder is mounted on the second actuating motor, and output terminal is connect with the input terminal of the second driving chip.
In this embodiment, those skilled in the art can carry out external Sensor interface apparatus selective implementation, for example,
Those skilled in the art can use multiplexer, by the defeated of the multiple input end of multiplexer and multiple outer sensors
Outlet connects, and the output terminal of multiplexer and the first transducing signal input terminal of primary processor connect.
Remaining technical characteristic in the present embodiment, those skilled in the art can flexibly be selected according to actual conditions
To meet different specific actual demands.It will be apparent, however, to one skilled in the art that：This need not be used
A little specific details carry out the utility model.In other instances, it in order to avoid obscuring the utility model, does not specifically describe known
Composition, structure or component limit technical protection model in the claimed technical solution of claims of the utility model
Within enclosing, details are not described herein again.
The above is only the preferred embodiment of the utility model, it should be understood that the utility model is not limited to herein
Disclosed form is not to be taken as the exclusion to other embodiment, and available for other combinations, modifications, and environments, and
Can be in contemplated scope described herein, modifications can be made through the above teachings or related fields of technology or knowledge, every utilization
The equivalent structure that the utility model specification and accompanying drawing content are made, is directly or indirectly used in other related technical areas,
Similarly within the scope of patent protection of the utility model.
Special declaration, the topic of the specification of the utility model is to the technical solution of the claim of the utility model not structure
It is explained into any restrictions, is only the statement of one or more of embodiments of the utility model.
In the description of the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " company
Connect " it is broader sense, those skilled in the art should broadly understood.For example, it may be fixedly connected or activity even
It connects or is entirely connected or partly connect, can be mechanical connection, can be directly connected or by intermediate matchmaker
Jie is indirectly connected with, and for those skilled in the art, can understand that above-mentioned term is new in this practicality as the case may be
Concrete meaning in type, that is, the expression of word language can be flexibly corresponding with the implementation of actual techniques, the explanation of the utility model
The expression of the word language (including attached drawing) of book does not form any restrictions explanation to claim.
It is above-mentioned to be related to it is apparent to those skilled in the art that for convenience of description and succinctly
The specific work process of system, device and component can refer to the corresponding process in previous embodiment, and details are not described herein.I.e.
The utility model is not limited to aforementioned specific embodiment.The utility model, which expands to, any in the present specification to be disclosed
New feature or any new combination and the implicit any new combination disclosed.
Changes and modifications made by those skilled in the art do not depart from the spirit and scope of the utility model, then all should be in this reality
In protection domain with novel appended claims.In the above description, it in order to provide the thorough understanding to the utility model, explains
A large amount of specific details are stated.It will be apparent, however, to one skilled in the art that：These specific details need not be used
To carry out the utility model.In other instances, in order to avoid obscuring the utility model, well known technology, example are not specifically described
Such as specific construction details, operating condition and other technical conditions etc..
Claims (10)
1. a kind of multi-sensor fusion robot system based on low light environment light filling, it is characterized in that, including：
Image collecting device, transmitting device, light compensating apparatus, outer sensor interface arrangement, built-in sensors interface arrangement, at least
Two driving chips, at least two actuating motors, at least two photoelectric encoders and primary processor；
The input terminal of the output terminal of the image collecting device and transmitting device connects, the output terminal of the transmitting device with
The communication interface connection of primary processor, is provided with light compensating apparatus in the image collecting device, the light compensating apparatus
Switching signal interface is connect with the control interface of the primary processor；
The outer sensor interface arrangement includes multiple outer sensor interfaces and at least one multiplexing output interface,
The outer sensor interface is connected at least one light sensor, the multiplexing output interface and primary processor
The first transducing signal input terminal connection, the built-in sensors interface arrangement include at least one variable connector, it is described more
The output terminal of way switch and the second transducing signal input terminal of primary processor connect, the first control signal of the primary processor
Output terminal is connect with the input terminal of the first driving chip, and the output terminal of first driving chip is defeated with the first actuating motor
Enter end connection, the second control signal output terminal of the primary processor is connect with the input terminal of the second driving chip, described
The output terminal of second driving chip is connect with the input terminal of the second actuating motor；
First photoelectric encoder is mounted on first actuating motor, and output terminal is defeated with first driving chip
Enter end connection, the second photoelectric encoder is mounted on second actuating motor, output terminal and the second driving core
The input terminal connection of piece.
2. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, it is characterized in that,
Including：
The image collecting device includes cmos sensor, the output terminal of the cmos sensor and the transmitting device
Input terminal connection.
3. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1 or 2, feature
It is, including：
The transmitting device includes radio transmitting device, and the communication of the output terminal and primary processor of the radio transmitting device connects
Mouth connection.
4. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, it is characterized in that,
Including：
The transmitting device includes wired transmission device, and the communication of the output terminal and primary processor of the wired transmission device connects
Mouth connection.
5. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, it is characterized in that,
Including：
The light compensating apparatus includes LED light source；The LED light source, is arranged on the inside of light compensating apparatus, and power supply connects
Mouth is connect with the switching signal interface, and the switching signal interface is connect with the control interface of the primary processor.
6. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 3, it is characterized in that,
Including：
The radio transmitting device includes ZigBee communication device, the output terminal and main process task of the ZigBee communication device
The communication interface connection of device.
7. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, it is characterized in that,
Including：
The outer sensor interface arrangement includes a multiplexer；
The multiple input end of the multiplexer is connect with the output terminal of multiple outer sensors, the multiplexer it is defeated
Outlet is connect with the first transducing signal input terminal of the primary processor.
8. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, it is characterized in that,
Including：
The built-in sensors interface arrangement selects one variable connector or eight selects one for the variable connector of alternative or four
Variable connector or 16 select one variable connector.
9. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, it is characterized in that,
Including：
First driving chip is the first LM629 motion control driving chips, and the first LM629 motion controls drive
The input terminal of chip is connect with the first control signal output terminal of the primary processor, and the first LM629 motion controls are driven
The output terminal of dynamic chip is connect with the input terminal of the first actuating motor.
10. a kind of multi-sensor fusion robot system based on low light environment light filling according to claim 1, feature
It is, including：
Second driving chip is the 2nd LM629 motion control driving chips, and the 2nd LM629 motion controls drive
The input terminal of chip is connect with the second control signal output terminal of the primary processor, and the 2nd LM629 motion controls are driven
The output terminal of dynamic chip is connect with the input terminal of the second actuating motor.
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| CN201721648040.2U CN207593803U (en) | 2017-12-01 | 2017-12-01 | Multi-sensor fusion robot system based on low light environment light filling |
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| CN201721648040.2U CN207593803U (en) | 2017-12-01 | 2017-12-01 | Multi-sensor fusion robot system based on low light environment light filling |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
| CN112949452A (en) * | 2021-02-25 | 2021-06-11 | 山西大学 | Robot low-light environment grabbing detection method based on multitask shared network |
-
2017
- 2017-12-01 CN CN201721648040.2U patent/CN207593803U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048916A (en) * | 2018-09-12 | 2018-12-21 | 遂昌睿丰科技有限公司 | Portable industrial robot based on multidimensional sensor real time data feedback fusion |
| CN112949452A (en) * | 2021-02-25 | 2021-06-11 | 山西大学 | Robot low-light environment grabbing detection method based on multitask shared network |
| CN112949452B (en) * | 2021-02-25 | 2022-05-31 | 山西大学 | Robot low-light environment grabbing detection method based on multitask shared network |
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