CN108687757A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN108687757A CN108687757A CN201710220225.1A CN201710220225A CN108687757A CN 108687757 A CN108687757 A CN 108687757A CN 201710220225 A CN201710220225 A CN 201710220225A CN 108687757 A CN108687757 A CN 108687757A
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- CN
- China
- Prior art keywords
- action
- control device
- information
- environmental information
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
A kind of robot, belongs to field of electromechanical technology.Robot provided by the invention includes executing equipment and control device, the execution equipment is provided with environment information acquisition system and moving system, environmental information residing for the environment information acquisition system acquisition execution equipment, and send the environmental information to the control device, which receives the action message of control device transmission;The control device is provided with human action and captures system and environmental information recurrence system, the action message of human body motion capture system acquisition operations personnel, and send the action message to the execution equipment, and the environment residing for the execution equipment is shown to the operating personnel according to the environmental information received;Being established between the execution equipment and the control device has communication connection, transmits the environmental information and the action message.The present invention improves the straighforward operation efficiency of robot, reduces the difficulty of Robot remote operation.
Description
Technical field
The present invention relates to field of electromechanical technology, especially a kind of robot.
Background technology
With the development of mechanical & electrical technology, remote-controlled robot is in fields such as particular surroundings operates, special type is repaired, dangerous material dismountings
Play irreplaceable role.
Currently, robot is connected by establishing a two-way communication, receive the control command of remote control device, it is this
The control device of remote-controlled robot is usually the tools such as rocking bar, controller, tablet computer, and operator is needed to be instructed by a large amount of professions
The operation of required movement could be completed by practicing, and since operator can not perceive the required space of operation, sense of touch on the control device
Etc. information, and then be difficult to complete the operation of high complexity.
To sum up, existing remote-controlled robot has the problem that manipulation efficiency is low, manipulation difficulty is big, this makes existing remote-controlled machine
People is difficult to the application demand of a variety of occasions.Therefore, at present there is an urgent need for a kind of robot can easily finishing man-machine interaction, to carry
Height manipulation efficiency, lowers manipulation difficulty.
Invention content
Present invention solves the technical problem that being:Overcoming existing remote-controlled robot to have, manipulation efficiency is low, manipulates difficulty greatly
Problem improves manipulation efficiency, lowers manipulation difficulty.
The present invention provides a kind of robot, and the robot includes executing equipment and control device;
The execution equipment is provided with environment information acquisition system and moving system, the environment information acquisition system acquisition
Environmental information residing for the execution equipment, and the environmental information is sent to the control device, the moving system connects
The action message that the control device is sent is received, and corresponding actions are executed according to the action message;The control device setting
There are human body motion capture system and environmental information recurrence system, the human action to capture the action letter of system acquisition operating personnel
Breath, and the action message is sent to the execution equipment, the environmental information recurrence system receives the execution equipment hair
The environmental information sent, and the environment executed residing for equipment is shown to the operating personnel according to the environmental information;It is described
It executes to establish between equipment and the control device and has communication connection, transmit the environmental information and the action message.
In an embodiment of the invention, the moving system includes according to action message execution corresponding actions:Institute
Moving system is stated according to the action message, the action mapping relations between the human action capture system is established, executes
Action identical with the operating personnel.
In an embodiment of the invention, the motion capture system includes at least two motion capture mechanisms, described dynamic
It includes at least two action actuating mechanisms to make system, and at least two motion capture mechanisms are executed with described at least two actions
Mechanism quantity is identical, and the network of at least two motion capture mechanisms composition and at least two action actuating mechanism groups
At network topological structure having the same.
In an embodiment of the invention, the motion capture system is at least provided with two groups of arm joint action trap
Structure, two groups of hand joints capture mechanism and a pair of of foot trample action captures mechanism, and correspondingly, the moving system is at least arranged
There are two groups of mechanical arm action actuating mechanisms, Liang Zu manipulator behaviors executing agency and a set of traveling action actuating mechanism.
In an embodiment of the invention, the environment information acquisition system includes image collecting device, audio collection dress
Set, temperature sensing module, humidity sensor module, gas sensing mould it is at least one of in the block;Correspondingly, the environmental information reproduction
System includes video play device, audio playing apparatus, temperature display module, humidity display module, gas information display module
At least one of in.
In an embodiment of the invention, the environment information acquisition system includes at least one pressure sensor, described
Moving system includes at least one actuating mechanism;The pressure sensor is set at the actuating mechanism, acquires the action
The mechanism stress information suffered in action, and sent to the control device;It includes at least that the human action, which captures system,
One brake application magnet valve, the brake application magnet valve brake motion capture system according to the stress information.
In an embodiment of the invention, the brake application magnet valve carries out motion capture system according to the stress information
Braking includes:Stress suffered by the pressure sensor of the stress information instruction is bigger, and the brake application magnet valve is to motion capture
The braking of system is stronger.
In an embodiment of the invention, the environment information acquisition system include two image collecting devices, described two
The spacing with 2cm to 20cm between the picture centre of a image collecting device, correspondingly, the environmental information recurrence system
Including 3D display device, information of the 3D display device acquired in described two image collecting devices generates 3D rendering,
And show the 3D rendering.
In an embodiment of the invention, the motion capture system is provided with eye movement capture device, generates eye movement information,
Described two image collecting devices adjust the angle and focal length of Image Acquisition according to the eye movement information.
The advantages of the present invention over the prior art are that:Pass through environment information acquisition, recurrence system so that operating personnel
It can be further to be caught by human action on control device at the far end to executing the environment generation telepresenc residing for equipment
Catch system so that operating personnel, can be by the way that most easily mode carries out exact operations on the basis of generating telepresenc.Exactly
Such technical characteristic so that the present invention provides robot and improves manipulation efficiency compared to existing robot, reduces manipulation
Difficulty.
Description of the drawings
Fig. 1 is a kind of robot architecture's schematic diagram provided according to embodiments of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
Fig. 1 is a kind of robot architecture's schematic diagram provided according to embodiments of the present invention, as shown in Figure 1, the robot
Including executing equipment 101 and control device 102.
The execution equipment tool is robot body, and the information for being sent according to control device executes corresponding actions, packet
Include mechanical actuating mechanism, Power entry module, motor, processing circuit.The execution equipment 101 is provided with environment information acquisition system
101a and moving system 101b.
The environment information acquisition system 101a acquires the environmental information residing for the execution equipment 101, and by the ring
Border information is sent to the control device 102.The moving system 101b receives the action letter of the transmission of the control device 102
Breath, and corresponding actions are executed according to the action message.The environmental information includes information necessary to operating environment reproduction.Example
Such as, for the application scenarios of maintenance operation, the operating environment carried out when including live realtime graphic, repair equipment with it is to be repaired
The stress information of object contact;For another example for the application scenarios of personnel inspection, the environmental information includes live realtime graphic
And audio-frequency information.The moving system 101b is held at least provided with two groups of mechanical arm action actuating mechanisms, two groups of manipulator behaviors
Row mechanism and a set of traveling action actuating mechanism.Preferably, every group of mechanical arm executing agency and robot arm executing agency
It is corresponded with the joint of human body corresponding site.
In order to which easily finishing man-machine interaction lowers manipulation difficulty, the control device 102 to improve manipulation efficiency
It is provided with human action and captures system 102a and environmental information recurrence system 102b.The human action captures system 102a acquisitions
The action message of operating personnel, and the action message is sent to the execution equipment 101, the environmental information recurrence system
102b receives the environmental information that the execution equipment 101 is sent, and shows institute to the operating personnel according to the environmental information
State the environment executed residing for equipment 101.By above system, operating personnel can be based on environment information acquisition system 101a institutes
The environmental information of acquisition clearly knows the environment executed residing for equipment 101 from the environmental information recurrence system;To be formed
Judge, makes corresponding actions;After operating personnel make corresponding actions, it is acquired by the motion capture system, in turn
The action message of operating personnel is sent to equipment 101 is executed so that the execution equipment can be according to the action of operating personnel
It is servo-actuated, to complete to operate.
The motion capture system 102a is specially that wearable action acquisition harness and trample action capture mechanism, more specifically
Ground, the wearable action acquisition harness captures mechanism at least provided with two groups of arm joint actions, two groups of hand joints capture
Mechanism, it should be noted that in practical applications, the motion capture system 102a can also be other concrete forms, such as one
Body formula dresses harness, mechanical linkage structure etc., and the present invention is not especially limited this.The environmental information recurrence system 102b tools
Body is augmented reality head display equipment.It should be noted that in practical applications, the control device 102 can also be specific
For other forms, virtual reality equipment, holographic display device etc., this is not limited by the present invention.
Between the execution equipment 101 and the control device 102 establish have communication connection, transmit the environmental information and
The action message.In embodiments of the present invention, it is described communication connection include special digital transmission communication interface, special purpose chart pass communicate connect
Mouth, 4G network communication interfaces, WIFI communication interfaces, bluetooth communication interface and GPS/BD navigational communications interfaces.Exclusive data connects
Mouth is the UHF waveband data radio station transmitter of the 433MHz of 1W power, which is 19.2Kbps, since number passes
Data volume is relatively small, therefore can meet the requirement of data transmission, has ride-through capability strong, the good feature of signal quality.It is special
Figure passes the UHF waveband figure transmission transmitter using 8W power 1.2GHz, can realize the transmission of HD video, has stronger signal
Transmission and ride-through capability.In embodiments of the present invention, in addition to exclusive data chain, configuration is mobile logical also on executing equipment 101
Believe interface, including 4G communication interfaces and the wireless WIFI interfaces of 2.4GHz, movement can be accessed in real time, facilitates and realize that function expands
Exhibition.
In order to more easily realize that the operation of robot, the embodiment of the present invention provide a kind of control system of map operation
System, specifically, above-mentioned moving system 101b are established according to the action message between human action capture system 102a
Action mapping relations, execute identical with operating personnel action.Establishing the action mapping relations includes:It carries out initial
The setting of frame;Establish the matching relationship of motion capture system and moving system;Free angle value in motion capture system is assigned to move
Make the correspondence degree of freedom of corresponding points in system.
In order to enable actuating mechanism can more accurately execute action identical with the operating personnel, so it is more square
Just the operation of robot is realized.In the present invention is implemented, the motion capture system 102a includes at least two motion captures
Mechanism, the moving system 101b include at least two action actuating mechanisms, at least two motion capture mechanisms with it is described
At least two action actuating mechanism quantity are identical, and the network and described at least two of at least two motion capture mechanisms composition
The network topological structure having the same of a action actuating mechanism composition.Identical topological structure makes the motion capture system
The action message of acquisition can be mapped exactly to the moving system.
In order to reappear the environment executed residing for equipment 101 more fully hereinafter, the environment information acquisition system 101a includes
Image collecting device, audio collecting device, temperature sensing module, humidity sensor module, gas sensing module, it is correspondingly, described
Environmental information recurrence system 102b include video play device, audio playing apparatus, temperature display module, humidity display module,
Gas information display module.Specifically, above-mentioned each information display module can be shown to operating personnel by way of augmented reality.
In order to reappear the environment and mode of operation that execute residing for equipment 101, the environment information acquisition system more fully hereinafter
The system multiple pressure sensors of 101a packets, the moving system 101b includes multiple actuating mechanisms;The pressure sensor is set to
At the actuating mechanism, the actuating mechanism stress information suffered in action is acquired, and send out to the control device 102
It send;It includes at least one brake application magnet valve that the human action, which captures system 102a, and the brake application magnet valve is according to the stress
Information brakes motion capture system 102a.In embodiments of the present invention, the pressure sensor of the stress information instruction
Suffered stress is bigger, and the brake application magnet valve is stronger to the braking of motion capture system 102a.For example, working as the executing agency
When catching an object, resistance is received at the machine shaft of the executing agency, the pressure sensor collects the Resistance Pressure information,
And it is sent to the control device 102, corresponding motion capture mechanism in the motion capture system 102a of the control device 102
Brake application magnet valve brakes operating personnel's action according to the resistance so that operating personnel can not continue promptly to act.
In order to reappear the environment executed residing for equipment 101 more fully hereinafter, the environment information acquisition system 101a includes
Two image collecting devices, the spacing with 2cm to 20cm between the picture centre of described two image collecting devices, accordingly
Ground, the environmental information recurrence system 102b includes 3D display device, and the 3D display device is according to described two Image Acquisition
Information acquired in device generates 3D rendering, and shows the 3D rendering.The motion capture system 102a is provided with eye movement and catches
Catch device, generate eye movement information, described two image collecting devices according to the eye movement information adjust the angle of Image Acquisition with
The distance between focal length 2cm to 20cm is the range of distance between the mankind two, and then above system can restore the double of the mankind
Eye effect so that operating personnel can generate the distance of operation object intuitive impression.
It should be noted that those skilled in the art should be appreciated that the present invention be not limited in practical applications it is above-mentioned
Embodiment these are only preferred embodiments of the present invention, be not intended to restrict the invention.Protection scope of the present invention is by right
It is required that limiting.
Claims (9)
1. a kind of robot, which is characterized in that the robot includes executing equipment and control device;
The execution equipment is provided with environment information acquisition system and moving system, described in the environment information acquisition system acquisition
The environmental information residing for equipment is executed, and the environmental information is sent to the control device, the moving system receives institute
The action message of control device transmission is stated, and corresponding actions are executed according to the action message;
The control device is provided with human action and captures system and environmental information recurrence system, and the human action captures system
The action message of acquisition operations personnel, and the action message is sent to the execution equipment, environmental information reproduction system
System receives the environmental information for executing equipment and sending, and shows the execution to the operating personnel according to the environmental information
Environment residing for equipment;
Being established between the execution equipment and the control device has communication connection, transmits the environmental information and action letter
Breath.
2. robot according to claim 1, which is characterized in that the moving system executes phase according to the action message
Should act including:The moving system establishes the action between the human action capture system according to the action message
Mapping relations execute action identical with the operating personnel.
3. robot according to claim 1, which is characterized in that the motion capture system is caught including at least two actions
Catch mechanism, the moving system includes at least two action actuating mechanisms, at least two motion capture mechanisms with it is described extremely
Few two action actuating mechanism quantity are identical, and the network of at least two motion capture mechanisms composition and described at least two
The network topological structure having the same of action actuating mechanism composition.
4. robot according to claim 1, which is characterized in that the motion capture system is at least provided with two groups of arms
Joint action captures mechanism, two groups of hand joints capture mechanism and a pair of of foot trample action captures mechanism, correspondingly, described dynamic
Make system to hold at least provided with two groups of mechanical arm action actuating mechanisms, Liang Zu manipulator behaviors executing agency and a set of traveling action
Row mechanism.
5. robot according to claim 1, which is characterized in that the environment information acquisition system includes image collector
Set, audio collecting device, temperature sensing module, humidity sensor module, gas sensing mould it is at least one of in the block;Correspondingly, institute
It includes video play device, audio playing apparatus, temperature display module, humidity display module, gas to state environmental information recurrence system
At least one of in body information display module.
6. robot according to claim 1, which is characterized in that the environment information acquisition system includes at least one pressure
Force snesor, the moving system include at least one actuating mechanism;
The pressure sensor is set at the actuating mechanism, acquires the actuating mechanism stress letter suffered in action
Breath, and sent to the control device;
It includes at least one brake application magnet valve that the human action, which captures system, and the brake application magnet valve is according to the stress information
Motion capture system is braked.
7. robot according to claim 6, which is characterized in that the brake application magnet valve is according to the stress information to dynamic
Make capture system carry out braking include:
Stress suffered by the pressure sensor of the stress information instruction is bigger, and the brake application magnet valve is to motion capture system
Braking is stronger.
8. robot according to claim 1, which is characterized in that the environment information acquisition system is adopted including two images
Acquisition means, the spacing with 2cm to 20cm between the picture centre of described two image collecting devices, correspondingly, the ring
Border information reconstruction system includes 3D display device, letter of the 3D display device acquired in described two image collecting devices
Breath generates 3D rendering, and shows the 3D rendering.
9. robot according to claim 7, which is characterized in that the motion capture system is provided with eye movement and captures dress
It sets, generates eye movement information, described two image collecting devices adjust the angle and focal length of Image Acquisition according to the eye movement information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710220225.1A CN108687757A (en) | 2017-04-06 | 2017-04-06 | Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710220225.1A CN108687757A (en) | 2017-04-06 | 2017-04-06 | Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108687757A true CN108687757A (en) | 2018-10-23 |
Family
ID=63842710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710220225.1A Pending CN108687757A (en) | 2017-04-06 | 2017-04-06 | Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108687757A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161900A (en) * | 2019-04-25 | 2019-08-23 | 中国人民解放军火箭军工程大学 | A wearable teleoperation platform for remote operation |
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|---|---|---|---|---|
| CN101890719A (en) * | 2010-07-09 | 2010-11-24 | 中国科学院深圳先进技术研究院 | Robot remote control device and robot system |
| CN105824432A (en) * | 2016-06-14 | 2016-08-03 | 上海锡月科技有限公司 | Motion capturing system |
| CN105922262A (en) * | 2016-06-08 | 2016-09-07 | 北京行云时空科技有限公司 | Robot and remote control equipment and remote control method thereof |
| CN205809568U (en) * | 2016-06-21 | 2016-12-14 | 武汉方格信息技术有限公司 | A kind of combination VR and the intelligent domestic system of robot |
| US20170008174A1 (en) * | 2013-04-15 | 2017-01-12 | Alan Rosen | Intelligent visual humanoid robot and computer vision system programmed to perform visual artificial intelligence processes |
-
2017
- 2017-04-06 CN CN201710220225.1A patent/CN108687757A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890719A (en) * | 2010-07-09 | 2010-11-24 | 中国科学院深圳先进技术研究院 | Robot remote control device and robot system |
| US20170008174A1 (en) * | 2013-04-15 | 2017-01-12 | Alan Rosen | Intelligent visual humanoid robot and computer vision system programmed to perform visual artificial intelligence processes |
| CN105922262A (en) * | 2016-06-08 | 2016-09-07 | 北京行云时空科技有限公司 | Robot and remote control equipment and remote control method thereof |
| CN105824432A (en) * | 2016-06-14 | 2016-08-03 | 上海锡月科技有限公司 | Motion capturing system |
| CN205809568U (en) * | 2016-06-21 | 2016-12-14 | 武汉方格信息技术有限公司 | A kind of combination VR and the intelligent domestic system of robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161900A (en) * | 2019-04-25 | 2019-08-23 | 中国人民解放军火箭军工程大学 | A wearable teleoperation platform for remote operation |
| CN110161900B (en) * | 2019-04-25 | 2021-04-27 | 中国人民解放军火箭军工程大学 | Remote operation's wearing formula remote control operation platform |
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Application publication date: 20181023 |