CN208276889U - Two-wheeled vision robot with manipulator - Google Patents
Two-wheeled vision robot with manipulator Download PDFInfo
- Publication number
- CN208276889U CN208276889U CN201820101978.0U CN201820101978U CN208276889U CN 208276889 U CN208276889 U CN 208276889U CN 201820101978 U CN201820101978 U CN 201820101978U CN 208276889 U CN208276889 U CN 208276889U
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- China
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- mechanical arm
- module
- control mainboard
- manipulator
- wheeled
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Abstract
The utility model discloses a kind of two-wheeled vision robot with manipulator, is related to service robot technical field.Including self-balancing movement platform, control mainboard, laser ranging module, gyroscope, camera module and mechanical arm module, the laser ranging module is located on the self-balancing movement platform, it is bi-directionally connected with the control mainboard, the camera module is located on the platform, it is bi-directionally connected with the control mainboard, the gyroscope is located on the platform, it is bi-directionally connected with the control mainboard, the driving mechanism is controlled by the control mainboard, control mainboard is used for basis, laser ranging module, the information control of the gyroscope and camera module acquisition motion platform and mechanical arm module are acted.The robot can realize self-balancing, and have the advantages that automatic obstacle-avoiding and strong flexibility.
Description
Technical field
The utility model relates to service robot technical field more particularly to a kind of two-wheeled visual machines with manipulator
People.
Background technique
As the research field of an emphasis, existing service robot is common four-wheel drive in service robot field
Formula, small wheeled, the two bull wheels drive Universal wheel types of two bull wheels drive two, however the service robot of few double-wheel self-balancings.
Service robot needs the direction to more light and flexible to develop, and the service robot of four-wheel driving type does not have light well
Just flexibility.
Utility model content
Technical problem to be solved in the utility model is how to provide a kind of achievable self-balancing, automatic obstacle-avoiding and spirit
The active strong two-wheeled vision robot with manipulator.
In order to solve the above technical problems, technical solution adopted in the utility model is: a kind of two-wheeled view with manipulator
Feel robot, it is characterised in that: including self-balancing movement platform, control mainboard, laser ranging module, gyroscope, camera mould
Block and mechanical arm module, the laser ranging module is located on the self-balancing movement platform, with the two-way company of the control mainboard
It connects, for being positioned under the control of control mainboard to object；The camera module is located on the platform, with the control
Mainboard processed is bi-directionally connected, for carrying out Image Acquisition to object under the control of control mainboard；The gyroscope is located at described flat
It on platform, is bi-directionally connected with the control mainboard, for measuring inclination angle and the inclination angle speed of the motion platform；The motion platform
Be provided with driving mechanism in mechanical arm module, the driving mechanism is controlled by the control mainboard, control mainboard be used for according to,
The information of laser ranging module, gyroscope and camera module acquisition controls the motion platform and mechanical arm module carries out
Movement.
A further technical solution lies in: the self-balancing movement platform include two wheels, two wheel drive motors,
Bottom plate and support plate, the bottom plate are located at downside, and support plate is located at upside, is connected together between bottom plate and support plate by connecting column,
The wheel drive motors are fixed on the lower surface of the bottom plate, and two wheels are symmetrically set to the two sides of the motor, and
The power output end of the motor is connect with the axle center of the wheel, the control of the control terminal of the motor and the control mainboard
Output end connection, for being acted under the control of the control mainboard.
A further technical solution lies in: the upper surface of bottom plate is arranged in the control mainboard；The mechanical arm module is set
It sets in the upper surface of support plate；Lower middle position is arranged immediately ahead of the self-balancing movement platform in the laser ranging module,
And fixed by the lower surface of connecting plate and the bottom plate, the center of laser ranging module and the center of testee are in same water
In plane；The surface of laser ranging module is arranged in the camera module, and connects by the way that connecting plate and the bottom plate are fixed
It connects.
A further technical solution lies in: the mechanical arm module includes first mechanical arm, second mechanical arm, mechanical arm drive
Dynamic model block, steering engine and manipulator, the lower end of the first mechanical arm and the self-balancing movement platform, the first mechanical arm
Upper end be rotatably connected with drive shaft, one end of the second mechanical arm is fixedly connected with the drive shaft, mechanical arm drive
Dynamic model block is fixed in the first mechanical arm, and the power output end of the mechanical arm drive module and the drive shaft connect
It connects, for driving the drive shaft turns, drive shaft drives the second mechanical arm to act again, and the steering engine is fixed on described the
On two mechanical arms, the power output end of steering engine is connect with the manipulator, and the steering engine is for driving the manipulator to realize folder
The control terminal of tight or release, the mechanical arm drive module and steering engine is connect with the control output end of the control mainboard.
It include mechanical arm driving motor, synchronous belt and same a further technical solution lies in: the mechanical arm drive module
Belt wheel is walked, the mechanical arm driving motor is fixed in the first mechanical arm, the power output of the mechanical arm driving motor
Driving wheel is provided on end, the axle center of the synchronous pulley is fixedly connected with the drive shaft, the synchronous pulley and the master
It is attached and is driven by the synchronous belt between driving wheel.
It include lower interconnecting piece, middle interconnecting piece and upper interconnecting piece a further technical solution lies in: first mechanical arm, it is described
One end of lower interconnecting piece is fixedly connected with the motion platform, and the lower end of the upper end of the lower interconnecting piece and the middle interconnecting piece is solid
Fixed connection, the upper end of the middle interconnecting piece are connect with the lower end of the upper interconnecting piece, and the lower interconnecting piece and upper interconnecting piece are vertical
Setting, the middle interconnecting piece and vertical direction are in 45° angle.
Further include short range wireless transmission module a further technical solution lies in: the robot, the short distance without
Line transmission module is bi-directionally connected with the control mainboard, for carrying out data interaction with mobile terminal.
Preferred: the short range wireless transmission module includes bluetooth module or WIFI module.
Preferred: the control mainboard is using STM32 series monolithic as processing chip.
Preferred: the gyroscope uses MPU6050 type gyroscope, and the camera module uses Openmv camera.
The beneficial effects of adopting the technical scheme are that the robot uses two-wheeled mobile mechanism, in conjunction with
Self-balancing technology is based on a variety of filtering techniques, the self-balancing system of the robot is more so that the movement of robot is more flexible
Has stability；By manipulator in conjunction with double-wheel self-balancing system, the application range of manipulator is effectively expanded；Merge visual identity
Technology and automatic obstacle-avoiding technology, a whole set of robot system strict logic, intelligence degree with higher；Have both automatic work with
Manually control two kinds of operating modes.
Detailed description of the invention
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the structural schematic diagram of robot described in the utility model embodiment；
Fig. 2 is the structural schematic diagram at another visual angle of robot described in the utility model embodiment；
Fig. 3 is the circuit diagram of robot described in the utility model embodiment；
Wherein: 1, wheel 2, wheel drive motors 3, laser ranging module 4, camera module 5, bottom plate 6, support plate
7, first mechanical arm 71, lower interconnecting piece 72, middle interconnecting piece 73, upper interconnecting piece 8, second mechanical arm 9, manipulator 10, master
Driving wheel 11, mechanical arm driving motor 12, synchronous belt 13, steering engine 14, connecting column 15, drive shaft 16, synchronous pulley.
Specific embodiment
Below with reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that and described embodiment is only a part of the embodiment of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Many details are explained in the following description in order to fully understand the utility model, but this is practical new
Type can also be implemented using other than the one described here other way, and those skilled in the art can be without prejudice to this reality
With doing similar popularization in the case where novel intension, therefore the utility model is not limited by the specific embodiments disclosed below.
As shown in Figs. 1-2, the utility model embodiment discloses a kind of two-wheeled vision robot with manipulator, including certainly
Balance exercise platform, control mainboard, laser ranging module 3, gyroscope, camera module 4 and mechanical arm module.The Laser Measuring
It is located on the self-balancing movement platform away from module 3, is bi-directionally connected with the control mainboard, under the control of control mainboard
Object is positioned；The camera module 4 is located on the platform, is bi-directionally connected with the control mainboard, for controlling
Image Acquisition is carried out to object under the control of mainboard processed；The gyroscope is located on the platform, two-way with the control mainboard
Connection, for measuring inclination angle and the inclination angle speed of the motion platform；Drive is provided in the motion platform and mechanical arm module
Motivation structure, the driving mechanism are controlled by the control mainboard, control mainboard be used for according to laser ranging module 3, gyroscope with
And the information of the acquisition of camera module 4 controls the motion platform and mechanical arm module is acted.
Further, as depicted in figs. 1 and 2, the self-balancing movement platform includes two wheels, 1, two wheel driving
Motor 2, bottom plate 5 and support plate 6.The bottom plate 5 is located at downside, and support plate 6 is located at upside, passes through connecting column between bottom plate 5 and support plate 6
14 connect together, and the wheel drive motors 2 are fixed on the lower surface of the bottom plate 5, and two wheels 1 are symmetrically set to institute
The two sides of motor are stated, and the power output end of the motor is connect with the axle center of the wheel 1.The control terminal of the motor and institute
The control output end connection for stating control mainboard, for being acted under the control of the control mainboard.
Further, as depicted in figs. 1 and 2, the upper surface of bottom plate 5 is arranged in the control mainboard；The mechanical arm mould
The upper surface of support plate 6 is arranged in block；Lower middle is arranged immediately ahead of the self-balancing movement platform in the laser ranging module 3
Position, and fixed by the lower surface of connecting plate and the bottom plate 5, the center of laser ranging module 3 and the center of testee
In same level；The camera module 4 is arranged in the surface of laser ranging module 3, and by connecting plate with it is described
Bottom plate 5 is fixedly connected.
Further, as depicted in figs. 1 and 2, the mechanical arm module includes first mechanical arm 7, second mechanical arm 8, machine
Tool arm drive module, steering engine 13 and manipulator 9.The lower end of the first mechanical arm 7 and the self-balancing movement platform, it is described
The upper end of first mechanical arm 7 is rotatably connected with drive shaft 15, and one end of the second mechanical arm 8 and the drive shaft 15 are solid
Fixed connection.Mechanical arm drive module is fixed in the first mechanical arm 7, and the power output end of the mechanical arm drive module
It is connect with the drive shaft 15, for driving the drive shaft 15 to rotate, drive shaft 15 drives the second mechanical arm 8 dynamic again
Make.The steering engine 13 is fixed in the second mechanical arm 8, and the power output end of steering engine 13 is connect with the manipulator 9, described
Steering engine 13 is for driving the manipulator 9 to realize clamp or release, the control terminal of the mechanical arm drive module and steering engine 13
It is connect with the control output end of the control mainboard.
Further, as depicted in figs. 1 and 2, the mechanical arm drive module includes mechanical arm driving motor 11, synchronizes
Band 12 and synchronous pulley 16.The mechanical arm driving motor 11 is fixed in the first mechanical arm 7, the mechanical arm driving
Driving wheel 10, the axle center of the synchronous pulley 16 and the fixed company of the drive shaft 15 are provided on the power output end of motor 11
It connects, is attached and is driven by the synchronous belt 12 between the synchronous pulley 16 and the driving wheel 10.
Further, as depicted in figs. 1 and 2, first mechanical arm 7 includes lower interconnecting piece 71, middle interconnecting piece 72 and upper company
One end of socket part 73, the lower interconnecting piece 71 is fixedly connected with the motion platform, the upper end of the lower interconnecting piece 71 with it is described
The lower end of middle interconnecting piece 72 is fixedly connected, and the upper end of the middle interconnecting piece 72 is connect with the lower end of the upper interconnecting piece 73, described
Lower interconnecting piece 71 and upper interconnecting piece 73 are vertically arranged, and the middle interconnecting piece 72 and vertical direction are in 45° angle.
Further, the robot further includes short range wireless transmission module, the short range wireless transmission module with
The control mainboard is bi-directionally connected, for carrying out data interaction with mobile terminal.Preferably, the short range wireless transmission module
Including bluetooth module or WIFI module.
MPU6050 gyroscope can be used in gyroscope, as shown in figure 3, the VCC of the MPU6050 gyroscope (U2),
The pin electrical connection corresponding with STM32 control mainboard of GND, SCL, SDA, XOA, XCL, ADO, INT pin；Pass through MPU6050 top
Spiral shell instrument measure the motion platform inclination angle and inclination angle speed control described in the acceleration of motion platform wheel eliminate the fortune
The inclination angle of moving platform successively carries out low order filtering (first-order filtering, second-order filter), high-grade filting (Kalman Filtering), then straight by DMP
It connects to obtain angle (starting MPU6050 internal arithmetic, read data in DMP memory)；
Described two high power DC electric machines are electrically connected with M1, M2 interface of STM32 control mainboard, by STM32 core
Device output pulse and direction signal are managed, is further converted by motor-drive circuit and realizes the walking of robot self-balancing with output；
5V, GND, TXD, RXD of the bluetooth module are electrically connected with 5V, GND, RXD, TXD of STM32 control mainboard, the bluetooth mould
Block is used to receive the instruction that mobile phone or PC are sent, that is, realizes and manually control machine people, including robot ambulation, manipulator behavior.
The mechanical arm driving motor is electrically connected with the M3 interface of STM32 control mainboard, exports arteries and veins by STM32 control mainboard
The rotary motion for rushing signal and direction signal control mechanical arm, i.e., drive manipulator to move up and down, machine by second mechanical arm
When device people's system initialization is completed, manipulator is located above, and when robot accurately identifies tennis (testee), second is mechanical
Arm is by rotary motion, so that manipulator is located just at the horizontal plane where the tennis centre of sphere；
The steering engine is connect with the steering engine interface of STM32 control mainboard, by STM32 control mainboard output pulse signal and side
Manipulator clamp or release, i.e. clamping object and release object are realized to signal control steering engine rotation；
The pwm interface of the laser ranging module is electrically connected with PA11 (TIM1_CH14) interface of STM32 control mainboard,
On the one hand laser ranging module is used to detect obstacle distance, preset avoidance distance is BL value, on the other hand, laser ranging
Module, if meeting the condition that correctly identification tennis and robot face Tennis Center before this, works as laser for positioning tennis
The detecting distance of range finder module is equal to preset object detection distance (WL value, BL value < WL value), i.e. positioning tennis is completed, next
Step can carry out clamping tennis；
5v, TXD, RXD, GND interface of the Openmv camera respectively with STM32 control mainboard 5v, USART1_RX
(PA10), USART1_TX (PA9), the electrical connection of GND interface, Openmv camera and STM32 control mainboard carry out serial communication,
Openmv camera is instructed for acquiring image, image procossing and sending；
The robot is operable with automatic operation mode or MANUAL CONTROL mode；Robot powers on, motor driven systems,
Vision system brings into operation, and initializes parameters；Under automatic operation mode, using color image write mode, close white flat
Weighing apparatus carries out green filtering, captures blue target, before not capturing blue target, robot can pass through spinning one at a slow speed
Circle and mobile fixed step length searching blue target, until successfully capturing blue target；Further to input picture side
Edge detection calculates the gradient of figure, and determines circumference, and wherein the gradient of circumference is exactly its normal, in two-dimensional Huffman space
The gradient straight line of all figures is inside drawn, the value of the cumulative sum of coordinate points is bigger, then the number of straight line intersection is more on the aspect, the point
It is more likely to be the center of circle, non-maximum value inhibition is carried out in 4 neighborhoods of hough space, a threshold value is set, tires out in hough space
The point that adduction is greater than the threshold value then corresponds to the center of circle；Meet two conditions of green characteristic and circular contour when simultaneously, robot is true
Fixed its is green tennis；Further, Openmv camera is converted into specifically according to the position deviation in the center of circle and picture centre
Encoded information is transferred to STM32 control mainboard by serial communication, to export pulse and direction signal control motor, adjusts machine
Device people faces the center of tennis, and further robot straight line is gone ahead, when laser ranging module detect front away from
From being equal to a distance from preset object detection (WL value), robot halts, and further, the control of STM32 control mainboard is mechanical
Hand moves from top to bottom, rotates fixed angle, and the manipulator of opening is just parked in the horizontal plane where the tennis centre of sphere, manipulator
It clamps, realizes clamping tennis；Under manual mode, robot receives the instruction of host computer, STM32 control mainboard by bluetooth module
Command information is identified and is converted, further output signal control robot ambulation and manipulator behavior.
The robot uses two-wheeled mobile mechanism, in conjunction with self-balancing technology, so that the movement of robot is more flexible,
Based on a variety of filtering techniques, the self-balancing system of the robot has more stability；By manipulator in conjunction with double-wheel self-balancing system,
Effectively expand the application range of manipulator；Merge Visual identification technology and automatic obstacle-avoiding technology, a whole set of robot system logic
Tightly, intelligence degree with higher；It has both automatic work and manually controls two kinds of operating modes.
Claims (10)
1. a kind of two-wheeled vision robot with manipulator, it is characterised in that: including self-balancing movement platform, control mainboard, swash
Ligh-ranging module (3), gyroscope, camera module (4) and mechanical arm module, the laser ranging module (3) be located at it is described from
It on balance exercise platform, is bi-directionally connected with the control mainboard, for being positioned under the control of control mainboard to object；Institute
It states camera module (4) to be located on the platform, be bi-directionally connected with the control mainboard, for right under the control of control mainboard
Object carries out Image Acquisition；The gyroscope is located on the platform, is bi-directionally connected with the control mainboard, described for measuring
The inclination angle of motion platform and inclination angle speed；Driving mechanism, the driving machine are provided on the motion platform and mechanical arm module
Structure is controlled by the control mainboard, and control mainboard is used for according to laser ranging module (3), gyroscope and camera module (4)
The information of acquisition controls the motion platform and mechanical arm module is acted.
2. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that: the self-balancing movement platform
Including two wheels (1), two wheel drive motors (2), bottom plate (5) and support plate (6), the bottom plate (5) is located at downside, support plate
(6) it is located at upside, is connected together between bottom plate (5) and support plate (6) by connecting column (14), the wheel drive motors (2)
It is fixed on the lower surface of the bottom plate (5), two wheels (1) are symmetrically set to the two sides of the motor, and the motor
Power output end is connect with the axle center of the wheel (1), the control output end of the control terminal of the motor and the control mainboard
Connection, for being acted under the control of the control mainboard.
3. the two-wheeled vision robot with manipulator as claimed in claim 2, it is characterised in that: the control mainboard setting exists
The upper surface of bottom plate (5)；Upper surface of the mechanical arm module setting in support plate (6)；Laser ranging module (3) setting exists
Lower middle position immediately ahead of the self-balancing movement platform, and fixed by the lower surface of connecting plate and the bottom plate (5), swash
The center of ligh-ranging module (3) and the center of testee are in same level；The camera module (4) is arranged in laser
The surface of range finder module (3), and be fixedly connected by connecting plate with the bottom plate (5).
4. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that: the mechanical arm module includes
First mechanical arm (7), second mechanical arm (8), mechanical arm drive module, steering engine (13) and manipulator (9), described first is mechanical
The lower end of arm (7) and the self-balancing movement platform, the upper end of the first mechanical arm (7) is rotatably connected with drive shaft
(15), one end of the second mechanical arm (8) is fixedly connected with the drive shaft (15), and mechanical arm drive module is fixed on described
In first mechanical arm (7), and the power output end of the mechanical arm drive module is connect with the drive shaft (15), for driving
The drive shaft (15) rotation is moved, drive shaft (15) drives the second mechanical arm (8) to act again, and the steering engine (13) is fixed on
On the second mechanical arm (8), the power output end of steering engine (13) is connect with the manipulator (9), and the steering engine (13) is used for
Drive the manipulator (9) to realize clamp or release, the control terminal of the mechanical arm drive module and steering engine (13) with it is described
The control output end of control mainboard connects.
5. the two-wheeled vision robot with manipulator as claimed in claim 4, it is characterised in that: the mechanical arm drive module
Including mechanical arm driving motor (11), synchronous belt (12) and synchronous pulley (16), the mechanical arm driving motor (11) is fixed on
On the first mechanical arm (7), it is provided with driving wheel (10) on the power output end of the mechanical arm driving motor (11), it is described
The axle center of synchronous pulley (16) is fixedly connected with the drive shaft (15), the synchronous pulley (16) and the driving wheel (10) it
Between be attached and be driven by the synchronous belt (12).
6. the two-wheeled vision robot with manipulator as claimed in claim 4, it is characterised in that: first mechanical arm (7) includes
Lower interconnecting piece (71), middle interconnecting piece (72) and upper interconnecting piece (73), one end of the lower interconnecting piece (71) and the movement are flat
Platform is fixedly connected, and the upper end of the lower interconnecting piece (71) is fixedly connected with the lower end of the middle interconnecting piece (72), the middle connection
The upper end in portion (72) is connect with the lower end of the upper interconnecting piece (73), and the lower interconnecting piece (71) and upper interconnecting piece (73) are set vertically
It sets, the middle interconnecting piece (72) and vertical direction are in 45° angle.
7. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that: the robot further includes short
Range wireless transmission module, the short range wireless transmission module are bi-directionally connected with the control mainboard, are used for and mobile terminal
Carry out data interaction.
8. the two-wheeled vision robot with manipulator as claimed in claim 7, it is characterised in that: the short range wireless transmission
Module includes bluetooth module or WIFI module.
9. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that: the control mainboard uses
STM32 series monolithic is as processing chip.
10. the two-wheeled vision robot with manipulator as described in claim 1, it is characterised in that: the gyroscope uses
MPU6050 type gyroscope, the camera module (4) use Openmv camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820101978.0U CN208276889U (en) | 2018-01-22 | 2018-01-22 | Two-wheeled vision robot with manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820101978.0U CN208276889U (en) | 2018-01-22 | 2018-01-22 | Two-wheeled vision robot with manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208276889U true CN208276889U (en) | 2018-12-25 |
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ID=64747364
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820101978.0U Expired - Fee Related CN208276889U (en) | 2018-01-22 | 2018-01-22 | Two-wheeled vision robot with manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN208276889U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161887A (en) * | 2018-01-22 | 2018-06-15 | 东莞理工学院 | Two-wheeled vision robot with manipulator |
| CN109602345A (en) * | 2019-01-10 | 2019-04-12 | 轻客小觅智能科技（北京）有限公司 | A kind of vision sweeping robot and its barrier-avoiding method |
-
2018
- 2018-01-22 CN CN201820101978.0U patent/CN208276889U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161887A (en) * | 2018-01-22 | 2018-06-15 | 东莞理工学院 | Two-wheeled vision robot with manipulator |
| CN109602345A (en) * | 2019-01-10 | 2019-04-12 | 轻客小觅智能科技（北京）有限公司 | A kind of vision sweeping robot and its barrier-avoiding method |
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Granted publication date: 20181225 Termination date: 20210122 |