CN212287616U

CN212287616U - Mirror surface stereoscopic display device and mirror surface stereoscopic display remote control robot

Info

Publication number: CN212287616U
Application number: CN202021977366.1U
Authority: CN
Inventors: 张芮滔; 孙浩然; 张皓然; 吴佳聪; 张益民
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2021-01-05
Anticipated expiration: 2030-09-10

Abstract

The utility model provides a mirror surface stereoscopic display device and mirror surface stereoscopic display remote control robot relates to intelligent machinery technical field, has solved the relatively poor technical problem of control accuracy of the robot that exists among the prior art. The mirror surface stereo display device comprises a camera shooting mechanism, a server and a display mechanism, wherein the server is connected with the camera shooting mechanism and the display mechanism; the camera mechanism comprises a left camera and a right camera; the display mechanism comprises a first display, a second display and a mirror surface; the first display is used for displaying an image obtained by turning the image shot by the left camera in a mirror image manner, and the second display is used for displaying an image shot by the right camera; the first display and the second display are placed in an acute angle, the mirror surface is positioned on a bisector of an included angle between the first display and the second display, and a user observes an image on the mirror surface through the left eye and observes an image on the second display through the right eye. The utility model is used for a mirror surface stereoscopic display remote control robot that controls the precision is higher is provided.

Description

Mirror surface stereoscopic display device and mirror surface stereoscopic display remote control robot

Technical Field

The utility model belongs to the technical field of the intelligent machine technique and specifically relates to a mirror surface stereoscopic display device and mirror surface stereoscopic display remote control robot is related to.

Background

The fifth generation mobile communication (5G) is a representative and leading network information technology, and will realize the ubiquitous interconnection of everything, but most of the current works are remote office, information exchange, document processing and the like.

In the actual working process, carry goods, the maintenance of equipment, work such as operation machine can't realize remote control operation, in addition, many kinds of industry need go to accomplish in the abominable working environment such as heavy, high temperature, it is poisonous, dangerous, radioactivity, many dusts, though along with the technological innovation in industrial automation field these years, the robot develops gradually, however, current large-scale robot structure is all very complicated, the cost is expensive, and civilian robot is mostly controlled through instruction or control lever or camera that set for again, the low degree of accuracy surely is poor in flexibility.

The applicant has found that the prior art has at least the following technical problems: the control precision and the flexibility of the existing robot are poor.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mirror surface stereoscopic display device and mirror surface stereoscopic display remote control robot to solve the relatively poor technical problem of control accuracy of the robot that exists among the prior art. The utility model provides a plurality of technical effects that preferred technical scheme among a great deal of technical scheme can produce see the explanation below in detail.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a mirror surface stereo display device, which comprises a camera shooting mechanism, a server and a display mechanism, wherein the server is connected with the camera shooting mechanism and the display mechanism;

wherein:

the camera shooting mechanism comprises a left camera and a right camera; the display mechanism comprises a first display, a second display and a mirror,

the left camera and the right camera are arranged in parallel, and the distance between the left camera and the right camera is equal to or slightly larger than the distance between the left eye and the right eye of a person;

the first display is used for displaying an image obtained by mirror-turning the image shot by the left camera through a circuit image, and the second display is used for displaying the image shot by the right camera;

the first display and the second display are placed at acute angles, the mirror surface is located on a bisector of an included angle between the first display and the second display, and a user observes an image reflected by the first display through a left eye and an image displayed by the second display through a right eye.

A mirror surface stereo display remote control robot comprises a robot body, a remote control end and the mirror surface stereo display device, wherein a server is also used for connecting the robot body and the remote control end.

Preferably, the robot body comprises a base and a controller, a moving wheel is arranged at the bottom of the base, a machine body is arranged at the upper part of the base, the left camera and the right camera are arranged at the top of the machine body, a left mechanical arm and a right mechanical arm are arranged in the middle of the machine body, a disc is arranged at the bottom of the machine body, and the disc can drive the machine body to rotate on the base; the moving wheel, the left mechanical arm, the right mechanical arm and the disc are all connected with the controller;

the remote control end comprises a workbench and a control mechanism, and the display mechanism is arranged on the workbench;

the control mechanism comprises a left control arm, a right control arm and a pedal, the left control arm and the right control arm are arranged on the workbench, the left control arm and the right control arm are respectively connected with the left arm and the right arm of a user in a matched manner, and the arm joint information of the user is acquired and fed back to the controller; the pedal is connected with the controller, the pedal is trampled, and the controller can control and drive the disc to rotate or drive the movable wheel to move.

Preferably, left side arm with right side arm all includes forearm dead lever, elbow arm dead lever and three dactylognathus, the forearm dead lever with connect through mechanical shoulder joint between the fuselage, the forearm dead lever with connect through mechanical elbow joint between the elbow arm dead lever, the elbow arm dead lever with be connected with wrist joint and mechanical dactylognathus rotation joint between the three dactylognathus.

Preferably, the left control arm and the right control arm both comprise a control arm fixing rod, a control elbow fixing rod and a hand positioning ring, the control arm fixing rod is connected with the workbench through a control shoulder joint, and a shoulder joint sensor is arranged on the control shoulder joint;

the control arm fixing rod is connected with the control elbow fixing rod through a control elbow joint, and an elbow joint sensor is arranged on the control elbow joint;

the control elbow fixing rod is connected with the hand positioning ring through a control wrist joint and a control hand rotating joint, a wrist joint sensor is arranged on the control wrist joint, a hand rotating sensor is arranged on the control hand rotating joint, and a pinching force sensor is arranged on the hand positioning ring.

Preferably, the control arm fixing rod and the control elbow fixing rod are provided with a control arm sleeve and a control elbow sleeve.

Preferably, the mechanical shoulder joint, the mechanical elbow joint and the mechanical wrist joint all have freedom degrees of rotation along the axial direction and freedom degrees of rotation along the radial direction; the mechanical finger claw rotating joint has the freedom degree of axial rotation and the three-finger grabbing function.

Preferably, a changeover switch is provided on the pedal.

Preferably, a control screen is further provided on the robot body.

Preferably, the server is a low latency (5G) network.

The utility model has the advantages that: the utility model provides a mirror surface three-dimensional display device and mirror surface three-dimensional show remote control robot, through setting up two cameras side by side, and arrange according to people's binocular interval, show the image that two cameras shot respectively on two displays, concretely, the image that the left camera was shot is through circuit image mirror upset display on first display screen, the image that the right camera was shot is shown on the second display screen, and then through setting up the mirror surface between first display screen and second display screen, operator's left eye sees the mirror surface through the mirror surface, right eye sees the right screen, at this moment, the image that operator's left and right eyes watched is the image that left and right cameras shot respectively, just so watch the three-dimensional picture that the camera was shot, through mirror surface three-dimensional show, make the operator watch three-dimensional work scene, as being on the spot, can be more handy during operation, improve the control precision of robot.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a partial structural schematic diagram (I) of the present invention;

fig. 3 is a partial structural schematic diagram (ii) of the present invention;

fig. 4 is a schematic structural view of the left mechanical arm of the present invention;

fig. 5 is a schematic structural view of the right control arm of the present invention;

fig. 6 is a partial structural plan view of the present invention;

FIG. 7 is a schematic view of the mirror-surface stereoscopic display apparatus of the present invention; .

FIG. 1, camera mechanism; 2. a robot body; 3. a server; 4. a remote control end; 5. a display mechanism; 11. a left camera; 12. a right camera; 21. a base; 22. a moving wheel; 23. a body; 24. a right mechanical arm; 25. a left mechanical arm; 26. a disc; 27. a controller; 41. a work table; 42. a control mechanism; 43. a left control arm; 44. a right control arm; 45. a pedal; 51. a first display; 52. a second display; 53. a mirror surface; 251. a mechanical shoulder joint; 252. a forearm fixing rod; 253. a mechanical elbow joint; 254. a toggle arm fixing link; 255. a robotic wrist joint; 256. a mechanical finger joint; 257. three fingers; 441. controlling the shoulder joint; 442. a control arm fixing rod; 443. controlling the elbow joint; 444. controlling the elbow fixing rod; 445. controlling the wrist joint; 446. controlling the hand rotating joint; 447. a hand positioning ring; 448. a control arm sleeve; 449. controlling the elbow sleeve; 4410. a shoulder joint sensor; 4430. an elbow joint sensor; 4450. a wrist joint sensor; 4460. a manual rotation sensor; 4470. a pinching force sensor.

Detailed Description

The contents of the present invention and the differences between the present invention and the prior art can be understood with reference to fig. 1 to 7 and the text. The invention will be described in further detail below (including the preferred embodiments) with reference to the drawings and illustrative examples of some alternative embodiments of the invention. It should be noted that: any technical features and any technical solutions in this embodiment are one or more of various optional technical features or optional technical solutions, and for the sake of brevity, this document cannot exhaust all the alternative technical features and alternative technical solutions of the present invention, and it is not convenient for each embodiment of the technical features to emphasize that it is one of various optional embodiments, so those skilled in the art should know that: can replace any technical means or combine two or more technical means or technical characteristics of the utility model provides an arbitrary or more technical means or technical characteristics mutually and obtain new technical scheme. Any technical features and any technical solutions in the present embodiment do not limit the scope of the present invention, and the scope of the present invention should include any alternative technical solutions that can be conceived by those skilled in the art without creative efforts and new technical solutions that can be obtained by combining any two or more technical means or technical features provided by the present invention with each other by those skilled in the art.

In the description of the present invention, it is to be noted that "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings for convenience of description and simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is also to be understood that the terms "mounted", "connected" and "connected", unless expressly specified or limited otherwise, are intended to be interpreted broadly, as meaning either a fixed connection or a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood as the case may be, by those of ordinary skill in the art.

The utility model provides a mirror surface three-dimensional display remote control robot that control accuracy is higher.

The technical solution provided by the present invention will be explained in more detail with reference to fig. 1 to 7.

wherein:

The utility model provides a three-dimensional display device of mirror surface, through setting up two cameras side by side, and arrange according to people's eyes interval, the image that shoots with two cameras again shows respectively on two displays, specifically, the image that left side camera was shot is through circuit image mirror image upset demonstration at first display screen, the image display that right side camera was shot is at the second display screen, the rethread sets up the mirror surface between first display screen and second display screen, the mirror surface is watched through the mirror surface to operator's left eye, right screen is watched to right eye, at this moment, the image that the operator watched to the left and right eyes is the image of controlling camera shooting respectively, just so watch the three-dimensional picture of camera shooting, through mirror surface stereoscopic display, make the operator watch three-dimensional work scene, like being on the scene.

The utility model provides a mirror surface stereoscopic display teleoperation robot through setting up mirror surface stereoscopic display device for the operator watches three-dimensional work scene, like being on the spot, when remote control end control robot body operates, can be more attentive, improves the precision of controlling of robot.

As an optional implementation mode, the robot body comprises a base and a controller, wherein a moving wheel is arranged at the bottom of the base, a machine body is arranged at the upper part of the base, the top of the machine body is provided with the left camera and the right camera, a left mechanical arm and a right mechanical arm are arranged in the middle of the machine body, a disc is arranged at the bottom of the machine body, and the disc can drive the machine body to rotate on the base; the moving wheel, the left mechanical arm, the right mechanical arm and the disc are all connected with the controller;

As an optional implementation mode, the left mechanical arm and the right mechanical arm both comprise a forearm fixing rod, an elbow arm fixing rod and three fingers, the forearm fixing rod is connected with the body through a mechanical shoulder joint, the forearm fixing rod is connected with the elbow arm fixing rod through a mechanical elbow joint, and the elbow arm fixing rod is connected with a mechanical wrist joint and a mechanical finger rotating joint between the three fingers.

As an optional implementation manner, each of the left control arm and the right control arm comprises a control arm fixing rod, a control elbow fixing rod and a hand positioning ring, the control arm fixing rod is connected with the workbench through a control shoulder joint, and a shoulder joint sensor is arranged on the control shoulder joint;

As an alternative embodiment, a control arm sleeve and a control elbow sleeve are arranged on the control arm fixing rod and the control elbow fixing rod.

Above-mentioned structure, the arm was dressed on control arm cover and control elbow cover during user's operation, and hand holding ring, finger hold between the fingers power sensor, and user's left arm and the joint information of right arm can be by each sensor perception, transmit the controller in step, and the operation is accomplished to left arm and the right arm of robot body by controller control.

In an alternative embodiment, the mechanical shoulder joint, the mechanical elbow joint and the mechanical wrist joint have axial rotation freedom and radial rotation freedom; the mechanical finger claw rotating joint has the freedom degree of axial rotation and the three-finger grabbing function.

Each joint has two rotational degrees of freedom, the direction of the rotational degrees of freedom is the same as that of the arm joint of a person, the rotational angle of each degree of freedom is slightly larger than the angle of the arm joint of the person, the rotational angle is provided with a code disc, rotational angle speed information can be converted into an electric signal to be transmitted to a computer for recording and storing, the mechanical arm can record actions and perform repeated work, the rotational joint of the mechanical finger hand has one rotational degree of freedom to simulate the action of a manual screw, the three-finger assembly can simulate the action of grabbing the manual screw to grab, teeth on the three-finger can grab a tool firmly, the teeth can be matched with the teeth of the special tool to grab a special tool with teeth firmly, and a wire plug can be grabbed to charge the.

As an alternative embodiment, a changeover switch is provided on the pedal. Through setting up change over switch, step on the footboard, the controller can control the drive the disc rotates or drive the removal wheel removes.

As an optional embodiment, a manipulation screen is further provided on the robot body.

As an alternative embodiment, the body has a lifting function.

In an optional embodiment, the server is a low latency (5G) network.

Example 1:

the utility model provides a mirror surface stereo display device, which comprises a camera mechanism 1, a server 3 and a display mechanism 5, wherein the server 3 is connected with the camera mechanism 1 and the display mechanism 5;

wherein:

the camera shooting mechanism 1 comprises a left camera 11 and a right camera 12; the display mechanism 5 comprises a first display 51, a second display 52 and a mirror 53,

the left camera 11 and the right camera 12 are arranged in parallel, and the distance between the left camera 11 and the right camera 12 is equal to or slightly larger than the distance between the left eye and the right eye of a human;

the first display 51 is configured to display an image obtained by mirror-inverting the image captured by the left camera 11 through a circuit image, and the second display 52 is configured to display an image captured by the right camera 12;

the first display 51 and the second display 52 are placed at an acute angle, the mirror surface 53 is located on a bisector of an included angle between the first display 51 and the second display 52, and a user observes an image reflected on the mirror surface 53 by the first display 51 and an image displayed by the second display 52 by a left eye of the user.

Example 2:

the utility model provides a mirror surface stereoscopic display remote control robot, including robot 2, the mechanism of making a video recording 1, server 3, display mechanism 5 and remote control end 4, robot 2 with remote control end 4 display mechanism 5 with the mechanism of making a video recording 1 all passes through server 3 connects.

The robot body 2 comprises a base 21 and a controller 27, a moving wheel 22 is arranged at the bottom of the base 21, a body 23 is arranged at the upper part of the base 21, a camera 1 is arranged at the top of the body 23, the camera 1 comprises a left camera 11 and a right camera 12, a left mechanical arm 25 and a right mechanical arm 24 are arranged in the middle of the body 23, a disc 26 is arranged at the bottom of the body 23, and the disc 26 can drive the body 23 to rotate on the base 21; the moving wheel 22, the left mechanical arm 25, the right mechanical arm 24, and the disk 26 are connected to the controller 27.

The remote control end 4 comprises a workbench 41 and a control mechanism 42, and the display mechanism 5 is arranged on the workbench 41;

the display mechanism 5 includes a first display 51, a second display 52 and a mirror 53, the first display 51 is used for displaying an image obtained by mirror-inverting the image captured by the left camera 11 through a circuit image, and the second display 52 is used for displaying the image captured by the right camera 12;

The control mechanism 42 comprises a left control arm 43, a right control arm 44 and a pedal 45, wherein the left control arm 43 and the right control arm 44 are respectively connected with the left arm and the right arm of a user in a matched manner and acquire arm joint information of the user; the pedal 45 is connected to the controller 27, and the controller 27 can control the disc 26 to rotate or the moving wheel 22 to move by stepping on the pedal 45.

The left mechanical arm 25 and the right mechanical arm 24 each include a forearm fixing rod 252, an elbow arm fixing rod 254 and a three-finger claw 257, the forearm fixing rod 252 is connected with the body 23 through a mechanical shoulder joint 251, the forearm fixing rod 252 is connected with the elbow arm fixing rod 254 through a mechanical elbow joint 253, and the elbow arm fixing rod 254 is connected with the three-finger claw 257 through a mechanical wrist joint 255 and a mechanical finger claw rotating joint 256.

The left control arm 43 and the right control arm 44 each comprise a control arm fixing rod 442, a control elbow fixing rod 444 and a hand positioning ring 447, the control arm fixing rod 442 is connected with the workbench 41 through a control shoulder joint 441, and a shoulder joint sensor 4410 is arranged on the control shoulder joint 441;

the control arm fixing rod 442 is connected with the control elbow fixing rod 444 through a control elbow joint 443, and an elbow joint sensor 4430 is arranged on the control elbow joint 443;

the control elbow fixing rod 444 is connected with the hand positioning ring 447 through a control wrist joint 445 and a control hand rotating joint 446, the control wrist joint 445 is provided with a wrist joint sensor 4450, the control hand rotating joint 446 is provided with a hand rotating sensor 4460, and the hand positioning ring 447 is provided with a pinching force sensor 4470.

The control arm fixing rod 442 and the control elbow fixing rod 444 are provided with a control arm sleeve 448 and a control elbow sleeve 449.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A mirror surface stereo display device is characterized by comprising a camera shooting mechanism, a server and a display mechanism, wherein the server is connected with the camera shooting mechanism and the display mechanism;

wherein:

2. A mirror stereo display remote control robot, which is characterized by comprising a robot body, a remote control end and the mirror stereo display device as claimed in claim 1, wherein the server is also used for connecting the robot body and the remote control end.

3. The mirror stereoscopic display remote control robot according to claim 2, wherein the robot body comprises a base and a controller, a moving wheel is arranged at the bottom of the base, a body is arranged at the upper part of the base, the left camera and the right camera are arranged at the top of the body, a left mechanical arm and a right mechanical arm are arranged at the middle part of the body, a disc is arranged at the bottom of the body, and the disc can drive the body to rotate on the base; the moving wheel, the left mechanical arm, the right mechanical arm and the disc are all connected with the controller;

4. The mirror stereoscopic display telemanipulator robot of claim 3, wherein the left arm and the right arm each comprise a forearm fixing rod, an elbow arm fixing rod and three fingers, the forearm fixing rod is connected with the body through a mechanical shoulder joint, the forearm fixing rod is connected with the elbow arm fixing rod through a mechanical elbow joint, and a mechanical wrist joint and a mechanical finger rotary joint are connected between the elbow arm fixing rod and the three fingers.

5. The mirror-surface stereoscopic display telemanipulator robot of claim 3, wherein the left control arm and the right control arm each comprise a control arm fixing rod, a control elbow fixing rod and a hand positioning ring, the control arm fixing rod is connected with the workbench through a control shoulder joint, and a shoulder joint sensor is arranged on the control shoulder joint;

6. The mirror stereoscopic display telemanipulator robot of claim 5, wherein a control arm sleeve and a control elbow sleeve are disposed on the control arm fixing rod and the control elbow fixing rod.

7. The mirror stereoscopic display teleoperated robot of claim 4, wherein the shoulder joint, elbow joint, wrist joint each have a degree of freedom of rotation in an axial direction and a degree of freedom of rotation in a radial direction; the mechanical finger claw rotating joint has the freedom degree of axial rotation and the three-finger grabbing function.

8. The mirror stereoscopic display remote control robot according to claim 3, wherein a changeover switch is provided on the pedal.

9. The mirror stereoscopic display remote control robot according to claim 3, wherein a control screen is further provided on the robot body.

10. The mirror stereoscopic display teleoperated robot of claim 3, wherein the server is a low latency (5G) network.