CN211491549U

CN211491549U - Kinect-based somatosensory rescue robot

Info

Publication number: CN211491549U
Application number: CN201922124904.6U
Authority: CN
Inventors: 俞镇洋
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-02
Filing date: 2019-12-02
Publication date: 2020-09-15
Anticipated expiration: 2029-12-02

Abstract

The utility model provides a body feeling rescue robot based on Kinect, including track moving platform, arm and control circuit module, the arm is fixed mounting on track moving platform, and track moving platform includes frame, athey wheel and motor, and the frame includes frame upper plate frame, frame lower plate frame and frame side bearer, and two athey wheels are installed respectively in the outside of two frame side bearers, and the inboard of each frame side bearer is installed two motors; each crawler wheel comprises a crawler, a driving wheel and a driven wheel, and the mechanical arm comprises a chassis, a steering engine, a rudder rack and a mechanical arm clamp. The utility model discloses replace the manual work to the regional rescue of surveying of taking place the disaster to the tracked vehicle that has the ability of hindering more can have fine adaptability to complicated topography as moving platform, uses the Kinect sensor to show people's arm action with the motion of arm as the direct carrier of realizing long-range hand action with the arm, realizes remote control, reduces the secondary casualties, improves work efficiency.

Description

Kinect-based somatosensory rescue robot

Technical Field

The utility model belongs to the technical field of the robot rescue, especially, rescue robot is felt to body based on Kinect.

Background

Natural disasters frequently occur all over the world nowadays, and disasters such as earthquakes, debris flows, tsunamis and the like are continuous. After a disaster accident occurs, a site building structure collapses, so that a terrain environment is changed greatly, a space is narrow and unstable, a traditional rescue robot generally needs to operate a machine in a rescue device by a technician and check the damage degree of the site, and the situations can cause that the rescue action is full of uncertainty or secondary casualties and the like.

SUMMERY OF THE UTILITY MODEL

The utility model provides a technical problem lie in providing a rescue robot is felt to body based on Kinect, replace the manual work to the area of taking place the disaster and survey the rescue, as moving platform with the tracked vehicle that has the ability of surmounting obstacles, can have fine adaptability to complicated topography, regard as the direct carrier that realizes long-range hand action with the arm, use Kinect sensor to show people's arm action with the motion of arm, realize remote control, reduce the secondary casualties, improve work efficiency.

Realize the utility model discloses the technical solution of purpose does:

a body feeling rescue robot based on Kinect comprises a crawler moving platform, a mechanical arm and a control circuit module, wherein the mechanical arm is fixedly arranged on the crawler moving platform; the crawler belt moving platform comprises a frame, crawler wheels and a motor, wherein the frame comprises an upper frame, a lower frame and side frames, the upper frame and the lower frame are arranged between the two side frames in a spanning mode, the upper frame is arranged above the lower frame, and a camera is arranged between the upper frame and the lower frame at the front end of the frame; the two crawler wheels are respectively arranged at the outer sides of the two side frames of the frame, and the inner side of each side frame of the frame is provided with two motors; each crawler wheel comprises a crawler belt, driving wheels and driven wheels, the crawler belt is wrapped outside the driving wheels and the driven wheels, the two driving wheels are respectively arranged at two end parts in the crawler belt, the driven wheels are arranged between the two driving wheels, wheel shafts of the driving wheels are fixed on a motor shaft of a motor through a coupling, and the motor drives the driving wheels to rotate through the motor shaft; the mechanical arm comprises a chassis, a steering engine rack and a mechanical arm clamp, wherein the steering engine is arranged on a steering engine base, the steering engine base is connected with the chassis through a bearing, so that the steering engine base rotates on the chassis for 360 degrees, and the bearing is fixedly connected with the steering engine base and the chassis through a bearing connecting bolt and a nut respectively; one end of the rudder machine frame is arranged on the steering engine through a steering engine shaft, and the other end of the rudder machine frame is connected with the support connecting table through a rudder engine shaft; the mechanical arm head support is arranged on the support connecting table, and the mechanical arm clamp is arranged on the mechanical arm head support through the connecting rod auxiliary device and the irregular gear; the steering engine frame comprises a large steering engine frame, a small steering engine frame and a middle steering engine frame which are sequentially connected through bolts and nuts, wherein the large steering engine frame is connected with the steering engine, and the middle steering engine frame is connected with the steering engine shaft; control circuit module, including the Kinect sensor, raspberry group and STM32 singlechip, the Kinect sensor is installed at the staff end, pass through remote communication connection between Kinect sensor and the raspberry group, the STM32 singlechip is installed at the frame front end, pass through serial ports communication connection between raspberry group and the STM32 singlechip, pass through video line communication connection between raspberry group and the camera, the STM32 singlechip passes through the direct current motor driver and is connected with the motor, the STM32 singlechip passes through PWM pulse and steering wheel, the steering wheel frame is connected.

Further, the utility model discloses a rescue robot is felt to body based on Kinect, the chassis includes disc frame, arm bottom plate and bottom plate bracing piece, through bottom plate bracing piece assembled joint, grillage fixed connection on arm bottom plate and the frame between arm bottom plate and the disc frame.

Further, the utility model discloses a rescue robot is felt to body based on Kinect, the external diameter of bearing is 95 mm.

Further, the utility model discloses a rescue robot is felt to body based on Kinect, it is fixed that steering wheel axle tip passes through the steering wheel axle cap.

The utility model adopts the above technical scheme to compare with prior art, have following technological effect:

1. the utility model discloses a rescue robot is felt to body based on Kinect can the secondary casualties of the rescue in-process that significantly reduces, has reduced manpower and materials cost simultaneously, through Kinect sensor, makes the perfect arm work in coordination with people of arm.

2. The utility model discloses a body is felt rescue robot based on Kinect adopts the athey wheel to remove, can adapt to the complicated topography environment in the rescue action.

3. The utility model discloses a rescue robot is felt to body based on Kinect can realize remote control, promotes work efficiency.

Drawings

Fig. 1 is an overall structure schematic diagram of the somatosensory rescue robot based on the Kinect;

FIG. 2 is a schematic structural view of a crawler moving platform of the somatosensory rescue robot based on Kinect;

FIG. 3 is a front view of a crawler moving platform of the Kinect-based somatosensory rescue robot of the utility model;

fig. 4 is a mechanical arm structure schematic diagram of the somatosensory rescue robot based on the Kinect;

fig. 5 is the utility model discloses a rescue robot's control circuit module schematic diagram is felt to body based on Kinect.

Reference signs mean: 1. a rescue robot; 2. a crawler moving platform; 3. a mechanical arm; 201. a crawler belt; 202. a motor; 203. a motor shaft; 204. a coupling; 205. a wheel axle; 206. a frame upper plate frame; 207. a frame lower plate frame; 208. a driving wheel; 209. a driven wheel; 210. a frame side frame; 211. a camera; 301. a disc frame; 302. a bearing; 303. a steering engine base; 304. a steering engine; 305. a steering engine shaft cap; 306. a steering engine big frame; 307. a steering engine small frame; 308. a steering engine middle frame; 309. rudder machine shaft, 310, robot arm head mount; 311. a mechanical arm clamp; 312. a link assist device; 313. an irregular gear; 314. a bracket connecting table; 315. a bolt and a nut; 316. the bearing is connected with a bolt and a nut; 317. a mechanical arm bottom plate; 318. a bottom plate supporting rod.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.

A body feeling rescue robot based on Kinect is shown in figure 1 and comprises a crawler moving platform 2, a mechanical arm 3 and a control circuit module, wherein the mechanical arm 3 is fixedly installed on the crawler moving platform 2. The crawler moving platform 2 is used for overcoming complex terrains, has certain obstacle crossing capability and is beneficial to the movement and work of the rescue robot.

As shown in fig. 2 and 3, the crawler moving platform 2 includes a frame, crawler wheels, and a motor 202. The frame comprises an upper frame plate frame 206, a lower frame plate frame 207 and frame side frames 210, the upper frame plate frame 206 and the lower frame plate frame 207 are arranged between the two frame side frames 210 in a spanning mode, the upper frame plate frame 206 is arranged above the lower frame plate frame 207, and the camera 211 is arranged between the upper frame plate frame 206 and the lower frame plate frame 207 at the front end of the frame. The two track wheels are respectively installed at the outer sides of the two frame side frames 210, and two motors 202 are installed at the inner side of each frame side frame 210. Each crawler wheel comprises a crawler 201, a driving wheel 208 and a driven wheel 209, the crawler 201 is wrapped outside the driving wheel 208 and the driven wheel 209, the two driving wheels 208 are respectively arranged at two end parts in the crawler 201, the driven wheels 209 are arranged between the two driving wheels 208, a wheel shaft 205 of the driving wheel 208 is fixed on a motor shaft 203 of the motor 202 through a coupling 204, and the motor 202 drives the driving wheel 208 to rotate through the motor shaft 203.

As shown in fig. 4, the robot arm 3 includes a chassis, a steering engine 304, a rudder mount, and a robot arm clamp 311. The chassis comprises a disc frame 301, a mechanical arm bottom plate 317 and a bottom plate support rod 318, the mechanical arm bottom plate 317 and the disc frame 301 are assembled and connected through the bottom plate support rod 318, and the mechanical arm bottom plate 317 is fixedly connected with the frame upper plate frame 206. The steering engine 304 is installed on a steering engine base 303, the steering engine base 303 is connected with the chassis through a bearing 302 with the outer diameter of 95mm, the steering engine base 303 rotates on the chassis for 360 degrees, and the bearing 302 is fixedly connected with the steering engine base 303 and the chassis through a bearing connecting bolt nut 316. One end of the rudder machine frame is arranged on the steering engine 304 through a rudder machine shaft 309, the other end of the rudder machine frame is connected with the support connecting table 314 through the rudder machine shaft 309, and the end part of the rudder machine shaft 309 is fixed through a steering machine shaft cap 305. The mechanical arm head support 310 is arranged on the support connecting table 314, the mechanical arm clamp 311 is arranged on the mechanical arm head support 310 through the connecting rod auxiliary device 312 and the irregular gear 313, the mechanical arm clamp 311 is opened and closed through the driving force provided by the steering engine 304, and force is transferred through the connecting rod auxiliary device 312 and the irregular gear 313 and the opening and closing angle is controlled. The steering engine frame comprises a large steering engine frame 306, a small steering engine frame 307 and a middle steering engine frame 308 which are sequentially connected through bolts and nuts 315, wherein the large steering engine frame 306 is connected with a steering engine 304, and the middle steering engine frame 308 is connected with a steering engine shaft 309. The six degrees of freedom of the robot arm 3 are driven by the steering engine 304 and move synchronously with the arm of the person through the Kinect sensor.

As shown in fig. 5, the control circuit module, including the Kinect sensor, raspberry group and STM32 singlechip, the Kinect sensor is installed at the staff end, pass through remote communication connection between Kinect sensor and the raspberry group, the STM32 singlechip is installed at the frame front end, pass through serial ports communication connection between raspberry group and the STM32 singlechip, pass through video line communication connection between raspberry group and the camera 211, the STM32 singlechip passes through the direct current motor driver and is connected with motor 202, the STM32 singlechip passes through PWM pulse and steering wheel, the steering wheel frame is connected.

The camera 211 and raspberry Pi (PC) are as host computer and detection module, and the Kinect sensor is as discernment joint angle change module, and motor 202 is as removing the module, and steering wheel 304 is as execution module, and STM32 singlechip, execution module and removal module are the next computer control part.

The working principle is as follows: the camera 211 shoots real-time pictures after the terrain is damaged, the video is transmitted to the raspberry sending end, and the shot terrain pictures can be observed on a PC screen. The Kinect sensor detects changes of upper limb arm joints of workers, angle updating data information is sent to an upper computer software end of a raspberry group, then the information is sent to an STM32 single chip microcomputer, the single chip microcomputer controls movement of all steering engines on the mechanical arm 3 through PWM (pulse-width modulation) pulses according to processed information instructions, movement of the mechanical arm 3 is controlled remotely through the arm, the Kinect sensor and the STM32 are in serial port communication, and the moving function of the rescue robot is controlled through an upper computer PC end software interface. In addition, the lower computer of the system is externally connected with a 24V power supply battery and a voltage converter, and when the system works, the voltage of the externally connected 9V battery is converted into stable 5V voltage to supply power to all modules.

The raspberry group is an ARM-based microcomputer mainboard, the system is based on Linux, an SD card is used as a memory hard disk, the communication mode between the system and a main controller adopts USB communication, an SCI interface is connected with a camera and used for reading video data, and the raspberry group is based on a Linux operating system. The video stream shot by the camera 211 is transmitted into the raspberry group, the raspberry group configuration tool is operated under a Linux system of the raspberry group to activate the camera 211, then the camera 211 is set to be in an enabled state, the server side vlc is installed and operated after the raspberry group is restarted, and the shooting surrounding environment can be monitored in real time through the camera. The STM32 single chip microcomputer adopts STM32f103 chip as the lower computer core processor of system, and its kernel is Cortex-M3, has power management, low-power consumption, analog-to-digital converter, DMA and multiple debugging mode, and the communication port such as accessible bluetooth, serial ports receives the instruction data that the host computer sent. The model of the direct current motor driver is AQMD2410NS, the voltage range is 9-24V, the rated current is 7A, the maximum voltage can reach 10A, the speed of the motor can be adjusted through duty ratio, closed-loop speed regulation and torque control, and the motor can be perfectly controlled to start, brake (brake), commutate and block-rotor protection. The response time of the motor is short, and the recoil force is small; the output current is monitored in real time to prevent overcurrent, and the motor and the driver are effectively protected. The Kinect sensor is Kinect2.0 inductor, is equipped with high definition digtal camera, can clearly catch human upper limbs joint angle change, sends instruction data for the lower computer, and then controls the motion of corresponding steering wheel. The angle change of each joint is based on the shoulder joint and the elbow joint, and the angle change value can be displayed through algorithm processing in a program.

The foregoing is only a part of the embodiments of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements can be made without departing from the principles of the present invention, and these improvements should be regarded as the protection scope of the present invention.

Claims

1. A body feeling rescue robot based on Kinect is characterized by comprising a crawler moving platform (2), a mechanical arm (3) and a control circuit module, wherein the mechanical arm (3) is fixedly arranged on the crawler moving platform (2);

the crawler belt moving platform (2) comprises a frame, crawler wheels and a motor (202), the frame comprises an upper frame (206), a lower frame (207) and side frames (210), the upper frame (206) and the lower frame (207) are arranged between the two side frames (210) in a spanning mode, the upper frame (206) is arranged above the lower frame (207), and a camera (211) is arranged between the upper frame (206) and the lower frame (207) at the front end of the frame; the two track wheels are respectively arranged at the outer sides of the two frame side frames (210), and two motors (202) are arranged at the inner side of each frame side frame (210); each crawler wheel comprises a crawler belt (201), driving wheels (208) and driven wheels (209), the crawler belts (201) are wrapped outside the driving wheels (208) and the driven wheels (209), the two driving wheels (208) are respectively arranged at two end parts in the crawler belts (201), the driven wheels (209) are arranged between the two driving wheels (208), wheel shafts (205) of the driving wheels (208) are fixed on motor shafts (203) of motors (202) through couplers (204), and the motors (202) drive the driving wheels (208) to rotate through the motor shafts (203);

the mechanical arm (3) comprises a chassis, a steering engine (304), a steering engine rack and a mechanical arm clamp (311), wherein the steering engine (304) is installed on a steering engine base (303), the steering engine base (303) is connected with the chassis through a bearing (302), so that the steering engine base (303) rotates on the chassis for 360 degrees, and the bearing (302) is fixedly connected with the steering engine base (303) and the chassis through a bearing connecting bolt and nut (316); one end of the rudder machine frame is arranged on the steering engine (304) through a rudder machine shaft (309), and the other end of the rudder machine frame is connected with the support connecting table (314) through the rudder machine shaft (309); the mechanical arm head support (310) is arranged on the support connecting table (314), and the mechanical arm clamp (311) is arranged on the mechanical arm head support (310) through a connecting rod auxiliary device (312) and a gear (313); the steering engine frame comprises a large steering engine frame (306), a small steering engine frame (307) and a middle steering engine frame (308) which are sequentially connected through bolts and nuts (315), wherein the large steering engine frame (306) is connected with a steering engine (304), and the middle steering engine frame (308) is connected with a steering engine shaft (309);

control circuit module, including the Kinect sensor, raspberry group and STM32 singlechip, the Kinect sensor is installed at the staff end, pass through remote communication connection between Kinect sensor and the raspberry group, the STM32 singlechip is installed at the frame front end, pass through serial ports communication connection between raspberry group and the STM32 singlechip, pass through video line communication connection between raspberry group and camera (211), the STM32 singlechip passes through the direct current motor driver and is connected with motor (202), the STM32 singlechip passes through PWM pulse and steering wheel, the steering wheel frame is connected.

2. The Kinect-based somatosensory rescue robot according to claim 1, wherein the chassis comprises a disc frame (301), a mechanical arm bottom plate (317) and a bottom plate support rod (318), the mechanical arm bottom plate (317) and the disc frame (301) are assembled and connected through the bottom plate support rod (318), and the mechanical arm bottom plate (317) is fixedly connected with the frame upper plate frame (206).

3. The Kinect-based somatosensory rescue robot according to claim 1, wherein the bearing (302) has an outer diameter of 95 mm.

4. Kinect-based somatosensory rescue robot according to claim 1, wherein the end of the rudder shaft (309) is fixed by a rudder shaft cap (305).