CN209133063U - Teaching robot and teaching machine system - Google Patents
Teaching robot and teaching machine system Download PDFInfo
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- CN209133063U CN209133063U CN201820380517.1U CN201820380517U CN209133063U CN 209133063 U CN209133063 U CN 209133063U CN 201820380517 U CN201820380517 U CN 201820380517U CN 209133063 U CN209133063 U CN 209133063U
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Abstract
The utility model provides a kind of teaching robot and teaching machine system, is related to the instructional technology field based on robot.The teaching robot may include processor, sensory package, balance motor, driving motor and moving parts.Wherein, processor is connect with sensory package, balance motor and driving motor, and sensory package can be used for acquiring image.Balance motor receives the balance control instruction that processor generates.Moving parts and driving motor are sequentially connected, and driving motor receives the motion control instruction that processor is generated based on the location information of target object and target object that image determines, and moving parts movement is driven to realize teaching robot to target object pursuit movement.Teaching robot provided by the utility model and teaching machine system structure are simple, are easily achieved, it being capable of automatic collection image and according to determining target object, pursuit movement is carried out to target object, facilitates people and robotic vision system is learnt, develop and is practiced.
Description
Technical field
The utility model relates to the instructional technology field based on robot, in particular to a kind of teaching robot and
Teaching machine system.
Background technique
With the development of science and technology robot technology played in human lives and industrial production and manufacturing it is more and more important
Effect.The operation under complicated, severe, hazardous environment may be implemented using robot, can also reduce labor intensity and improve production
Quality.Educational robot is as one of robot special machine people, except in addition to participating in various matches, it may also be used for
Course teaching and extracurricular interest are expanded, and are improved student's design, are developed, the ability and innovation ability of applied robot.
Vision is to constitute the important composition of human body, has 60% or more information to be experienced by vision.Robot
Lack visual sensing system and just lacks many functional applications.As self-balancing educational robot, if having lacked vision system, just not
It can be carried out the teaching of vision system, student cannot be learnt by this equipment to the knowledge about robotic vision system, and view
The relevant control mechanism of feel system and method for software and hardware.Such as: target identification, target follow.Therefore, how one is provided
The scheme that kind can solve the above problems, it has also become a great problem of those skilled in the art.
Utility model content
In order to overcome the deficiencies in the prior art described above, the utility model provides a kind of teaching robot and teaching machine system
System, can automatic collection image and in image target object carry out pursuit movement, help to be operated using robot
Demonstration, and then solve the above problems.
To achieve the goals above, technical solution provided by the utility model preferred embodiment is as follows:
The utility model preferred embodiment provides a kind of teaching robot, comprising:
Processor；
What is be connected to the processor is used to acquire the sensory package of image；
The balance motor being connected to the processor, the balance motor receive the processor and are based on the sensory package
Acquire the balance control instruction that the attitude data of teaching robot generates；
The driving motor being connected to the processor, and
With the moving parts of driving motor transmission connection, wherein the driving motor receives the processor and is based on
The motion control instruction that the location information of target object and the target object that described image determines generates, and drive the fortune
Dynamic component movement realizes the teaching robot to the target object pursuit movement.
Optionally, above-mentioned sensory package includes:
The attitude transducer for the attitude data for acquiring teaching robot being connected to the processor；
The camera for the described image for acquiring the target object being connected to the processor.
Optionally, above-mentioned sensory package further includes ultrasonic distance-measuring sensor, laser range sensor, in infrared sensor
At least one sensor.
Optionally, above-mentioned teaching robot further include: the peripheral interface module for being connect with management terminal, the peripheral hardware
Interface module is connected to the processor.
Optionally, above-mentioned peripheral interface module include USB interface, I/O interface, RS232 interface, in RS485 interface extremely
Few one kind.
Optionally, above-mentioned teaching robot further includes the display module being connected to the processor.
Optionally, above-mentioned teaching robot further includes power module, the power module and the processor, the sensing
Component, the balance motor, driving motor connection.
Optionally, above-mentioned power module includes Power Management Unit and battery unit, the Power Management Unit with it is described
Battery unit connection.
Optionally, above-mentioned moving parts are the wheel being sequentially connected with the driving motor；
Alternatively, the moving parts are the belt pulley being sequentially connected with the driving motor；
Alternatively, the moving parts are the pedipulator being sequentially connected with the driving motor.
The utility model preferred embodiment also provides a kind of teaching machine system, including management terminal and religion as described above
Robot is learned, the management terminal and the teaching robot communicate to connect.
In terms of existing technologies, teaching robot provided by the utility model and teaching machine system at least have with
Down the utility model has the advantages that the teaching robot may include processor, sensory package, balance motor, driving motor and moving parts.Its
In, sensory package is connect with processor, and processor is also connect with balance motor and driving motor, and sensory package can be used for acquiring
Image.Balance motor receives the balance control that processor is generated based on the attitude data of sensory package acquisition teaching robot and refers to
It enables.Moving parts and driving motor are sequentially connected, and driving motor receives processor based on the determining target object of image and target
The motion control instruction that the location information of object generates, and drive moving parts movement realize teaching robot to target object with
Track movement.Teaching robot provided by the utility model and teaching machine system structure are simple, are easily achieved, being capable of automatic collection
Image and according to determining target object, carries out pursuit movement to target object, facilitate people to robotic vision system into
Row study, exploitation and practice.
To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, be cited below particularly the utility model compared with
Good embodiment, and cooperate appended attached drawing, it is described in detail below.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described.It should be appreciated that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is one of the block diagram of teaching robot that the utility model preferred embodiment provides.
Fig. 2 is the block diagram for the sensory package that the utility model preferred embodiment provides.
Fig. 3 is the two of the block diagram for the teaching robot that the utility model preferred embodiment provides.
Fig. 4 is the interaction schematic diagram for the teaching machine system that the utility model preferred embodiment provides.
Icon: 10- teaching machine system；100- teaching robot；110- processor；120- sensory package；121- posture
Sensor；122- camera；130- balance motor；140- driving motor；160- peripheral interface module；170- display module；
180- power module；200- management terminal.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe.Obviously, described embodiment is only a part of the embodiment of the utility model, rather than all
Embodiment.The component of the utility model embodiment being usually described and illustrated herein in the accompanying drawings can be matched with a variety of different
It sets to arrange and design.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Reality based on the utility model
Apply example, those skilled in the art's every other embodiment obtained without making creative work belongs to
The range of the utility model protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " in ", "upper", "lower", "horizontal", "inner", "outside"
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings or the utility model product uses
When the orientation or positional relationship usually put, be merely for convenience of describing the present invention and simplifying the description, rather than indicate or
It implies that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as
Limitations of the present invention.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is set
Set ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection.It can be mechanical connection, be also possible to be electrically connected.It can be directly connected, the indirect phase of intermediary can also be passed through
Even, it can be the connection inside two elements.For the ordinary skill in the art, can be understood with concrete condition above-mentioned
The concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the utility model.In the absence of conflict, under
The feature in embodiment and embodiment stated can be combined with each other.
Fig. 1 is please referred to, for one of the block diagram for the teaching robot 100 that the utility model preferred embodiment provides.
Teaching robot 100 provided by the utility model may include processor 110, sensory package 120, balance motor 130, driving electricity
Machine 140 and moving parts.The processor 110, sensory package 120, balance motor 130, between each element of driving motor 140
It is directly or indirectly electrically connected, to realize the transmission or interaction of data.For example, these elements between each other can by one or
A plurality of communication bus or signal wire, which are realized, to be electrically connected.
In the present embodiment, processor 110 can for central processing unit (Central Processing Unit, CPU),
Graphics processor (Graphics Processing Unit, GPU)；It can also be digital signal processor (DSP), dedicated integrated
Circuit (ASIC), field programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic
Device, discrete hardware components.Certainly, the processor 110 or single-chip microcontroller, for example be STM32 series monolithic.
Understandably, processor 110 is responsible for the processing of all data, controls the acquisition of 120 data-signal of sensory package, control
The running of balance motor 130 and driving motor 140 processed, is here not especially limited the specific type of processor 110.
In the present embodiment, sensory package 120 is connect with processor 110, for acquiring 100 surrounding enviroment of teaching robot
Image.Processor 110 can identify the information in image based on default feature, to determine the target pair in image
As.For example, default feature is a character image, processor 110, which can identify the character image in image and judge, is
No is preset character image, and determines that the character image in image is target object when to be.
Understandably, target object can be the material object (such as cat, dog, person's automobile etc.) under motion state, or
Material object (such as tables and chairs, computer etc.) under stationary state, is here not especially limited the type of target object.
In the present embodiment, moving parts can be wheel or one of belt pulley or pedipulator, for band motivation
Device people movement, for example pursuit movement is carried out to target object.Wherein, wheel/belt pulley/pedipulator and driving motor 140 are driven
Connection, that is, driving motor 140 are used to provide movement required torque for wheel/belt pulley/pedipulator, to realize fortune
It is dynamic.
Referring to figure 2., the block diagram of the sensory package 120 provided for the utility model preferred embodiment.In this reality
It applies in example, sensory package 120 may include attitude transducer 121, camera 122.Wherein, attitude transducer 121 and processor
110 connections, for acquiring the attitude data of teaching robot 100.The attitude data may include speed data, accelerate degree
According to, at least one of angular acceleration data, angle-data data.Optionally, attitude transducer 121 can be MPU-6050 core
Piece.In addition, camera 122 is connect with processor 110, for acquiring the image of target object.
Understandably, camera 122 can be one, or multiple field ranges to increase acquisition image, this
In the number of camera 122 is not specifically limited.
As an alternative embodiment, sensory package 120 can also include ultrasonic distance-measuring sensor, laser ranging
At least one of sensor, infrared sensor sensor.Wherein, ultrasonic distance-measuring sensor is used for MEASUREMENT TEACHING robot
The distance between 100 and target object or the distance between teaching robot 100 and barrier.The function of laser range sensor
Effect is similar with the function of ultrasonic distance-measuring sensor, and which is not described herein again.
Infrared sensor can be used for detecting infrared ray, can be used for identifying biology.For example, the infrared sensor is released for heat
Electric infrared sensor can be used for receiving infrared-ray and the wavelength recognition mankind according to infrared ray, in order to the mankind carry out with
Track movement.
In the present embodiment, balance motor 130 is connect with processor 110.Processor 110 can be based on sensory package 120
The attitude data of the teaching robot 100 of acquisition generates balance control instruction, and the balance motor 130 is for receiving processor 110
The balance control instruction of transmission, to control the balance of teaching robot 100 according to the balance control instruction.
For example, sensory package 120 can acquire the space tilt angle of teaching robot 100 with respect to the horizontal plane.It can manage
Xie Di, the space tilt angle within a preset range when, teaching robot 100 is in equilibrium state, if exceed the preset range,
Teaching robot 100 may lost balance.And the utility model can be based on balance control instruction using balance motor 130, to religion
The space tilt angle for learning robot 100 is adjusted, so that the angle is within a preset range, to guarantee teaching robot
100 are in equilibrium state.Wherein, which can be configured according to the actual situation, be not especially limited here.
In the present embodiment, driving motor 140 is connect with processor 110.The mesh that processor 110 can be determined based on image
Mark the motion control instruction of object and the location information generation of the target object.Driving motor 140 can receive the hair of processor 110
The motion control instruction sent, and operated according to motion control instruction to drive moving parts to move, so that teaching machine
Device people 100 carries out pursuit movement to target object.Wherein, the location information may include between robot and target object away from
From and azimuth of the target object relative to robot, it is, driving motor 140 can be made based on motion control instruction
Teaching robot 100 realizes the pursuit movement to target object.
Referring to figure 3., the two of the block diagram of the teaching robot 100 provided for the utility model preferred embodiment.
Optionally, teaching robot 100 can also include peripheral interface module 160, display module 170 and power module 180.
As an alternative embodiment, peripheral interface module 160 is connect with processor 110.The peripheral interface module
160 may include at least one of USB interface, I/O interface, RS232 interface, RS485 interface interface, can be used for and manages
Terminal 200 (such as Fig. 4) or the connection of the sensor of other secondary development.For example, student can use Peripheral Interface to robot
When function is extended, other sensors or module can be accessed by peripheral interface module 160, to acquire corresponding data, realized
Corresponding function.For example, Temperature Humidity Sensor can be accessed, to be acquired to temperature and humidity；Alternatively, loudspeaker can be accessed, the loudspeaker
Can be used for alarm sounds or voice and play etc..
In the present embodiment, management terminal 200 can establish communication connection by network with teaching robot 100 to carry out
Data interaction.The management terminal 200 may be, but not limited to, smart phone, PC (personal computer,
PC), tablet computer, personal digital assistant (personal digital assistant, PDA), mobile internet surfing equipment (mobile
Internet device, MID) etc..The network may be, but not limited to, cable network or wireless network.
In this example it is shown that module 170 can be liquid crystal display or LED display, it is displayed for passing
Feel image or video that component 120 acquires.
In the present embodiment, power module 180 can be with processor 110, sensory package 120, balance motor 130, driving
The modules such as motor 140 connection, for being mentioned for modules such as processor 110, sensory package 120, balance motor 130, driving motors 140
For electric energy.
Optionally, power module 180 may include Power Management Unit and battery unit, the Power Management Unit and institute
State battery unit connection.
Understandably, Power Management Unit can be voltage stabilizing chip, such as LM2596S and the conduct of AMS1117 voltage stabilizing chip
Power Management Unit.The battery modules that battery unit can be formed for battery or multiple single batteries.The battery can for lithium from
Sub- battery or lead storage battery, are not especially limited here.
Based on above-mentioned design, teaching robot 100 can obtain surrounding enviroment image automatically, and to based on image with determination
Target object in image, and pursuit movement is carried out to target object.Pass through the identification of the vision system of the teaching robot 100
And tracking, facilitate people (such as student) to the study of vision system hardware knowledge in robot and the exploitation of system.Separately
Outside, it is based on peripheral interface module 160, may make 100 interface opening of teaching robot, expansion capability is strong, and functions of modules is more, improves
The applicability of the teaching robot 100.
Referring to figure 4., the interaction schematic diagram of the teaching machine system 10 provided for the utility model preferred embodiment.The religion
Learning machine system 10 may include management terminal 200 and teaching robot 100, and management terminal 200 can be at least one teaching
Robot 100 is established by network and is communicated to connect, to realize data interaction.
Understandably, which can be used for managing teaching robot 100 and control, such as administrative staff (or
Student) secondary development test can be carried out to teaching robot 100 by management terminal 200, it can also be to teaching robot 100
Relevant parameter modify, the function of management terminal 200 is repeated no more here.
In conclusion the utility model provides a kind of teaching robot and teaching machine system.The teaching robot can be with
Including processor, sensory package, balance motor, driving motor and moving parts.Wherein, sensory package is connect with processor, place
Reason device is also connect with balance motor and driving motor, and sensory package can be used for acquiring image.Balance motor receives processor base
In the balance control instruction that the attitude data of sensory package acquisition teaching robot generates.Moving parts and driving motor transmission connect
It connects, driving motor receives the motion control that processor is generated based on the location information of target object and target object that image determines
Instruction, and moving parts movement is driven to realize teaching robot to target object pursuit movement.Teaching provided by the utility model
Robot and teaching machine system structure are simple, are easily achieved, can automatic collection image and according to determining target object, it is right
Target object carries out pursuit movement, facilitates people and learns to robotic vision system, develops and practice.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of teaching robot characterized by comprising
Processor；
What is be connected to the processor is used to acquire the sensory package of image；
The balance motor being connected to the processor, the balance motor are received the processor and are acquired based on the sensory package
The balance control instruction that the attitude data of teaching robot generates；
The driving motor being connected to the processor, and
With the moving parts of driving motor transmission connection, wherein the driving motor receives the processor based on described
The motion control instruction that the location information of target object and the target object that image determines generates, and drive the exercise group
Part movement realizes the teaching robot to the target object pursuit movement.
2. teaching robot according to claim 1, which is characterized in that the sensory package includes:
The attitude transducer for the attitude data for acquiring teaching robot being connected to the processor；
The camera for the described image for acquiring the target object being connected to the processor.
3. teaching robot according to claim 2, which is characterized in that the sensory package further includes that ultrasonic distance measurement passes
At least one of sensor, laser range sensor, infrared sensor sensor.
4. teaching robot according to claim 1, which is characterized in that the teaching robot further include: be used for and pipe
The peripheral interface module of terminal connection is managed, the peripheral interface module is connected to the processor.
5. teaching robot according to claim 4, which is characterized in that the peripheral interface module includes USB interface, I/
At least one of O Interface, RS232 interface, RS485 interface.
6. teaching robot according to claim 1, which is characterized in that the teaching robot further includes and the processing
The display module of device connection.
7. teaching robot according to claim 1, which is characterized in that the teaching robot further includes power module,
The power module is connect with the processor, the sensory package, the balance motor, the driving motor.
8. teaching robot according to claim 7, which is characterized in that the power module include Power Management Unit and
Battery unit, the Power Management Unit are connect with the battery unit.
9. teaching robot according to claim 1, which is characterized in that the moving parts are to pass with the driving motor
The wheel of dynamic connection；
Alternatively, the moving parts are the belt pulley being sequentially connected with the driving motor；
Alternatively, the moving parts are the pedipulator being sequentially connected with the driving motor.
10. a kind of teaching machine system, which is characterized in that including management terminal and as described in any one of claim 1-9
Teaching robot, the management terminal and the teaching robot communicate to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820380517.1U CN209133063U (en) | 2018-03-19 | 2018-03-19 | Teaching robot and teaching machine system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820380517.1U CN209133063U (en) | 2018-03-19 | 2018-03-19 | Teaching robot and teaching machine system |
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| Publication Number | Publication Date |
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| CN209133063U true CN209133063U (en) | 2019-07-19 |
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| CN201820380517.1U Active CN209133063U (en) | 2018-03-19 | 2018-03-19 | Teaching robot and teaching machine system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108230869A (en) * | 2018-03-19 | 2018-06-29 | 重庆鲁班机器人技术研究院有限公司 | Teaching robot and teaching machine system |
-
2018
- 2018-03-19 CN CN201820380517.1U patent/CN209133063U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108230869A (en) * | 2018-03-19 | 2018-06-29 | 重庆鲁班机器人技术研究院有限公司 | Teaching robot and teaching machine system |
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Effective date of registration: 20210805 Address after: 401329 Jinfeng Park Service Center, No. 99, Xinfeng Avenue, Jiulongpo District, Chongqing Patentee after: Chongqing hi tech development and Construction Investment Group Co.,Ltd. Address before: 400700 No. 5-416, Yunhan Avenue, Shuitu hi tech Industrial Park, Beibei District, Chongqing Patentee before: CHONGQING LUBAN ROBOT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. |