CN205889194U - Distant operation follow -up robot control system - Google Patents
Distant operation follow -up robot control system Download PDFInfo
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- CN205889194U CN205889194U CN201620820677.4U CN201620820677U CN205889194U CN 205889194 U CN205889194 U CN 205889194U CN 201620820677 U CN201620820677 U CN 201620820677U CN 205889194 U CN205889194 U CN 205889194U
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Abstract
The utility model relates to a robot control system technical field discloses a distant operation follow -up robot control system, include: main hold human gesture acquisition unit, mainly hold human gesture acquisition unit including main a plurality of collections boards of holding main control board and motion posture that can human each joints of real -time detection, each gather the board all with hold mainly that the main control board is electric to be connected, and with main hold that the main control board electricity connects from the end robot. This control system has the advantage of the direct and better human -computer interaction's of control compliance.
Description
Technical field
This utility model is related to robot control system technical field, more particularly to a kind of remote operating passive robot control
System processed.
Background technology
With to work requirements such as development of resources, nuke rubbish cleaning, high pressure high-risk operations, surgical operation and rehabilitation nursings
Continuous expansion, research remote operating control technology is so as to substitute people more urgent come the demand to complete corresponding Special Work.Its
In, remote operating control technology is particularly suitable for people and is difficult to close or harmful unstructured moving grids operation, with
And be applied equally in the fields such as Medical nursing.That is, operator can be in the environment of safety convenient, and remote operation is from terminal tool
People carries out operation.
At present, using relatively broad remote operating control mode mainly by building main side robot and from terminal device
People, using the experience of operator, in conjunction with the feedback information from end robot, by control the motion of main side robot realize from
The relative motion of end robot.
However, existing remote operating control system is due to needing to be equipped with corresponding main side robot, thus, exist so that distant
Operation control system numerous and diverse and can not directly control from end robot make the problem with main side robot same action.
Utility model content
(1) technical problem to be solved
The purpose of this utility model is to provide a kind of remote operating passive robot control system, to solve to deposit in prior art
Remote operating control system numerous and diverse and can not directly control from end robot make and main side robot same action
Problem.
(2) technical scheme
In order to solve above-mentioned technical problem, a kind of remote operating passive robot is provided according to this utility model and controls system
System, comprising: can be worn on the main side human body attitude collecting unit on human body, described main side human body attitude collecting unit includes leading
End master control borad and be capable of each joint part of real-time detection human body movement posture multiple collection plates, each described collection plate is all and institute
State main side master control borad electrical connection；And electrically connect with described main side master control borad from end robot.
Wherein, described control system also include being arranged on the described trunk from end robot from end master control borad, wherein,
Described from end master control borad be wirelessly connected with described main side master control borad.
Wherein, described control system also includes being separately positioned on each joint portion of the described mechanical arm from end robot
The joint angles execution unit of position, each described joint angles execution unit is all electrically connected from end master control borad with described.
Wherein, described control system also includes being arranged on the binocular vision acquisition module of the described head from end robot,
Described binocular vision acquisition module includes obtaining the Image Acquisition submodule of present image and obtains submodule with described image
The transmitting submodule of block electrical connection.
Wherein, described main side human body attitude collecting unit also includes binocular vision imaging module, described binocular vision imaging
Module is electrically connected with described transmitting submodule.
Wherein, described control system also include connecting respectively described from the end head of robot and the angle of trunk
Rotatable parts, described angular turn part is electrically connected from end master control borad with described.
Wherein, the end in the described mechanical arm from end robot is provided with and coupled execution unit can be promoted to enter
The actuator interface of row five degree of freedom motion, described actuator interface is electrically connected from end master control borad with described.
Wherein, each described joint angles execution unit is steering wheel or servomotor.
Wherein, described control system also includes driving the described walking module from end robot ambulation.
(3) beneficial effect
The control system that this utility model provides, compared with prior art has the advantage that
The control system of the application by main side human body attitude collecting unit is worn on the body of user, by main side
Each collection plate in human body attitude collecting unit obtains the four of the movement posture of each joint part that can represent human body respectively
First number, and each quaternary number is transferred to main side master control borad respectively, human body attitude computation is utilized to each by main side master control borad
Quaternary number is resolved, to obtain the signal of telecommunication of the joint angles of each joint part representing human body, and by this electric signal transmission
Give from end robot from end master control borad, so that human body can be followed from end robot make identical movement posture.This
Sample, for existing control system, i.e. existing control system needs to be specially to design main side machine from end robot
People.However, the application is then directly by being worn on main side human body attitude collecting unit on human body, thus controlling from terminal
The action of device people.As can be seen here, the control system of the application can more directly control the action from end robot, thus greatly
The earth improves the compliance of man-machine interaction.
Further, since being typically located at the working environment of danger from end robot, thus, for improving the portable of control system
Property, the part in this control system need to be made more few better.However, the control system of the application is due to eliminating in prior art
Main side robot so that the composition of control system is more simplified, convenient to the control from end robot.
In addition, by setting up walking module, this walking module can be for wheel undercarriage so that may be adapted to from end robot
Neatly moved in indoor environment, or this walking module is caterpillar chassis, thus had the advantages that obstacle performance is good, made
Obtain and may be adapted to walking external environment out of office from end robot.
Brief description
Fig. 1 is the overall structure diagram of the remote operating passive robot control system of embodiments herein；
Fig. 2 is that the overall structure from end robot of the remote operating passive robot control system of embodiments herein is shown
It is intended to；
Fig. 3 is the overall structure diagram of the mechanical arm from end robot in Fig. 2.
In figure, 100: control system；1: main side human body attitude collecting unit；11: main side master control borad；12: collection plate；13:
Binocular vision imaging module；2: from end robot；21: trunk；211: from end master control borad；22: mechanical arm；221: enforcement division
Part；23: head；3: joint angles execution unit；4: binocular vision acquisition module；41: Image Acquisition submodule；42: transmitting
Module；5: angular turn part；6: actuator interface；7: walking module；222: shoulder pitch joint；223: shoulder driftage is closed
Section；224: shoulder roll joint；225: ancon pitching joint；226: ancon roll joint；227: wrist driftage joint；228: handss
Clinodactyly joint.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Example is used for this utility model is described, but is not limited to scope of the present utility model.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " being connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or integratedly
Connect；Can be to be mechanically connected or electrically connect；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, above-mentioned art can be understood with concrete condition
Concrete meaning in this utility model for the language.
As shown in figure 1, Fig. 1 show schematically show this control system 100 include main side human body attitude collecting unit 1 and with
In main side human body attitude collecting unit 1 main side master control borad 11 electrical connection from end robot 2.Easy to understand, being electrically connected herein
Connecing can be wired connection or wireless connection.However, from simplify equipment and convenient from the perspective of, wireless connect more convenient.
This main side human body attitude collecting unit 1 main using human body attitude remote real_time control from end robot 2 make with
Human body attitude identical action, i.e. so that slave end robot 2 is followed the action of human body and move.So, just greatly
Improve the compliance of man-machine interaction, can more directly control and make and human body identical movement posture from end robot 2.
This main side human body attitude collecting unit 1 can be worn on human body, and it includes main side master control borad 11 and can be real-time
Multiple collection plates 12 of the movement posture of the detection each joint part of human body.Wherein, each collection plate 12 is all electric with main side master control borad 11
Connect.So, the information of each joint part of the human body being collected by each collection plate 12 can pass to main side in time
Master control borad 11.Specifically, the letter of the movement posture of each joint part that can represent human body is obtained respectively by each collection plate 12
Breath, and this information is represented in the form of quaternary number, and each quaternary number is transferred to main side master control borad 11 respectively, by main side
Master control borad 11 is resolved to each quaternary number using human body attitude computation, to obtain the pass of each joint part representing human body
The signal of telecommunication of section angle, and this electric signal transmission is given from end robot 2 from end master control borad 21, so that from end robot
2 can follow human body makes identical movement posture.So, for existing control system, i.e. existing control system
System needs are specially to design main side robot from end robot.However, the application is then directly by adopting main side human body attitude
Collection unit 1 be worn on human body, thus come to control from end robot 2 action.As can be seen here, the control system 100 of the application
The action from end robot 2 can more directly be controlled, thus greatly increasing the compliance of man-machine interaction.
Further, since being typically located at the working environment of danger from end robot 2, thus, for improving control system just
The property taken, need to make the part in this control system more few better.However, the control system 100 of the application is existing due to eliminating
Main side robot in technology, so that the composition of control system 100 is more simplified, conveniently to the control from end robot 2
System.
In embodiments herein, quaternary number and human body attitude computation are as well known to those skilled in the art
, for the sake of saving length, it is not detailed herein.
In a specific embodiment, collection plate 12 can be distributed in the head of human body, back, left large arm, left forearm, a left side
The positions such as handss, right large arm, right forearm and the right hand, thus the convenient movement posture gathering corresponding joint position.
As shown in Figure 1, Figure 2 and Figure 3, in one embodiment, Fig. 2 show schematically show this control system 100 and also wraps
Include be arranged on from the trunk 21 of end robot 2 from end master control borad 211, wherein, slave end master control borad 211 and main side master control borad
11 wirelessly connect.That is, slave end master control borad 211 and main side master control borad 11 can realize the transmission of information by radio signal.This
Sample, the signal of telecommunication of each joint part of representative human body being received by main side master control borad 11 is radioed to from end master control borad
After 211, thus control making and human body identical movement posture from end robot 2.Easy to understand, in order to more directly
Control the motion from end robot 2, need to make the angle of each joint part of representative human body that each collection plate 12 obtains all with from end
The angle of each joint part of robot 2 is corresponding, thus ensureing movement posture that human body makes and making from end robot 2
The concordance of movement posture.
As shown in figure 3, in one embodiment, Fig. 3 also schematically shows this control system 100 and also includes setting respectively
Put the joint angles execution unit 3 of each joint part in the mechanical arm 22 from end robot 2, each joint angles enforcement division
Part 3 all electrically connects with from end master control borad 211.So, slave end master control borad 211 just can directly control each joint angles to execute
Part 3 makes satisfactory action, further so that the action of mechanical arm 22 is more flexible.
As shown in figure 3, in a specific embodiment, joint angles execution unit 3 can be sequentially distributed from top to bottom
The shoulder pitch joint 222 of mechanical arm 22, shoulder driftage joint 223, shoulder roll joint 224, ancon pitching joint 225,
Ancon roll joint 226, wrist driftage joint 227 and digital flexion joint 228.Thus realizing mechanical arm 22 successively respectively
With respect to the swing of trunk 21, the forearm in the both sides outward expansion of the relative trunk 21 of mechanical arm 22, mechanical arm 22
Carry out rotating around the central axis of itself closer or far from the motion of large arm, forearm with respect to the left-right rotation of large arm, forearm, handss
Wrist is swung relative to forearm and is realized the bending of each finger.
As shown in Fig. 2 in one embodiment, Fig. 3 also schematically shows this control system 100 and also includes being arranged on
From the binocular vision acquisition module 4 of the head 23 of end robot 2, this binocular vision acquisition module 4 includes obtaining current figure
The Image Acquisition submodule 41 of picture and the transmitting submodule 42 electrically connecting with Image Acquisition submodule 41.Wherein, Image Acquisition
Present image is passed to transmitting submodule 42 by module 41 as electronic signals.So, just realize the reality of right site environment
When obtain.
In a specific embodiment, this binocular vision acquisition module 4 can be binocular vision photographic head, is set directly at
On angular turn part 5 as described below.
As shown in figure 1, main side human body attitude collecting unit 1 also includes binocular vision imaging module 13, this binocular vision becomes
As module 13 is electrically connected with transmitting submodule 42.Specifically, the telecommunications of the present image that this transmitting submodule 42 is received
Number radio to binocular vision imaging module 13, meanwhile, the stereopsis vision system of the person of being used in combination itself, thus greatly increase
The third dimension of strong visual feedback, so that user can obtain the environment residing for from end robot 2 truly, exactly, enters one
Step ground so that user remotely control can make the movement posture of needs from end robot 2 within the time the shortest, thus complete
Become job task.
In a specific embodiment, this binocular vision imaging module 13 can be binocular video glasses, can directly join
Stay in the eyes of user.
As shown in Fig. 2 in one embodiment, this control system 100 also includes connecting respectively from end robot 2
The angular turn part 5 of head 23 and trunk 21, this angular turn part 5 electrically connects with from end master control borad 211.Due to this angle
The setting of degree rotatable parts 5 so that can carry out pitching and the driftage of 180 degree from the head 23 of end robot 2 with respect to trunk 21
Rotation, thus greatly increase from end robot 2 motion motility so as to more conform to the motion criteria of human body.
In one embodiment, in the end setting actuator interface 6 of the mechanical arm 22 from end robot 2, this is held
Row actuator interface 6 has coupled execution unit 221 can be promoted to carry out five degree of freedom motion.Wherein, this actuator connects
Mouth 6 electrically connects with from end master control borad 211.So, by controlling actuator interface 6 from end master control borad 211, so that it can
There is provided the control signal of five degree of freedom motion for execution unit 221, i.e. realize the bending of each finger.
In a specific embodiment, this execution unit 221 can be bionic mechanical hand or the clamping being less than five degree of freedom
Part, thus adapting to different job requirements.
In one embodiment, each joint angles execution unit 3 is steering wheel or servomotor.Wherein, steering wheel has reaction
The advantage that fast and execution is swift in motion, so that the mechanical arm 22 of the application being capable of more neatly action.It is easy to understand,
The concrete structure of steering wheel is well known to the skilled artisan in the art, for the sake of saving length, is not detailed herein.
In another embodiment, this control system 100 also includes driving the walking module from the walking of end robot 2
7.This walking module 7 is wheel undercarriage or caterpillar chassis.Specifically, from the half body apery holding robot 2 to be replaceable chassis
Robot, the upper body group of its replaceable chassis by modularized design and the anthropomorphic robot similar to upper half of human body structure
Become.
Walking module 7 due to the application can be for wheel undercarriage so that may be adapted to indoors in environment from end robot 2
Neatly moved, or this walking module 7 be caterpillar chassis, thus have the advantages that obstacle performance good so that from terminal
Device people 2 may be adapted to walking in external environment out of office.
The specific work process of the control system 100 of the application is that being obtained respectively by each collection plate 12 being capable of representative
The quaternary number of the movement posture of each joint part of body, and each quaternary number is transferred to main side master control borad 11 respectively.Specifically, will
After main side human body attitude collecting unit 1 is worn on user, the collection plate 12 positioned at each joint part can obtain respectively
The information of the movement posture at corresponding joint position, and this information is represented in the form of quaternary number.
Each quaternary number is resolved using human body attitude computation by main side master control borad 11, to obtain representing human body
The joint angles of each joint part the signal of telecommunication.
The electric signal transmission of the joint angles of each joint part of human body will be represented to from end master by main side master control borad 11
Control plate 211.That is, the signal of telecommunication of the joint angles of each joint part is radioed to from end master control borad 211 by main side master control borad 11,
Thus realizing to the control from end robot 2, so that it is made and human body identical movement posture.
After the signal of telecommunication of the joint angles that end master control borad 211 receives each joint part representing human body, control from end
The corresponding site of robot 2 is followed human body and is made and human body identical movement posture.So, just achieve the people of people and robot
Machine interacts, and the compliance of man-machine interaction is greatly improved, i.e. people can more directly control and does from end robot 2
Go out the action of needs, with the task that preferably fulfils assignment.
In one embodiment, each collection plate 12 can represent human body by adopting inertial navigation technology to obtain respectively
The information of the movement posture of each joint part, and this information is represented in the form of quaternary number.Easy to understand, inertial navigation technology
Be ability technical staff known to, for save length for the sake of, be not detailed herein.
In sum, the control system 100 of the application is passed through for main side human body attitude collecting unit 1 to be worn on user
With, each joint portion that can represent human body is obtained respectively by each collection plate 12 in main side human body attitude collecting unit 1
The quaternary number of the movement posture of position, and each quaternary number is transferred to main side master control borad 11 respectively, utilized by main side master control borad 11
Human body attitude computation resolves to each quaternary number, to obtain the telecommunications of the joint angles of each joint part representing human body
Number, and this electric signal transmission is given from end robot 2 from end master control borad 21, so that people can be followed from end robot 2
Body makes identical movement posture.So, for existing control system, i.e. existing control system need be from
End robot specially designs main side robot.However, the application is then directly to pass through to dress main side human body attitude collecting unit 1
On human body, thus come to control from end robot 2 action.As can be seen here, the control system 100 of the application can be more direct
Ground controls the action from end robot 2, thus greatly increasing the compliance of man-machine interaction.
Further, since being typically located at the working environment of danger from end robot 2, thus, for improving control system just
The property taken, need to make the part in this control system more few better.However, the control system 100 of the application is existing due to eliminating
Main side robot in technology, so that the composition of control system 100 is more simplified, conveniently to the control from end robot 2
System.
In addition, by setting up walking module 7, this walking module 7 can be for wheel undercarriage so that can fit from end robot 2
Neatly moved in environment indoors, or this walking module 7 is caterpillar chassis, thus be there is good excellent of obstacle performance
Point is so that may be adapted to walking external environment out of office from end robot 2.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all this
Within the spirit of utility model and principle, any modification, equivalent substitution and improvement made etc., should be included in this utility model
Protection domain within.
Claims (9)
1. a kind of remote operating passive robot control system it is characterised in that
The main side human body attitude collecting unit on human body can be worn on, described main side human body attitude collecting unit includes main side master
Control plate and be capable of each joint part of real-time detection human body movement posture multiple collection plates, each described collection plate all with described master
End master control borad electrical connection；And
Electrically connect with described main side master control borad from end robot.
2. remote operating passive robot control system according to claim 1 is it is characterised in that described control system is also wrapped
Include be arranged on the described trunk from end robot from end master control borad, wherein, described from end master control borad and the master control of described main side
Plate wirelessly connects.
3. remote operating passive robot control system according to claim 2 is it is characterised in that described control system is also wrapped
Include the joint angles execution unit of each joint part being separately positioned on the described mechanical arm from end robot, each described pass
Section angle execution unit is all electrically connected from end master control borad with described.
4. remote operating passive robot control system according to claim 1 is it is characterised in that described control system is also wrapped
Include the binocular vision acquisition module being arranged on the described head from end robot, described binocular vision acquisition module includes obtaining
Take the Image Acquisition submodule of present image and the transmitting submodule electrically connecting with described image acquisition submodule.
5. remote operating passive robot control system according to claim 4 is it is characterised in that described main side human body attitude
Collecting unit also includes binocular vision imaging module, and described binocular vision imaging module is electrically connected with described transmitting submodule.
6. remote operating passive robot control system according to claim 1 is it is characterised in that described control system is also wrapped
Include described in can connecting respectively from the end head of robot and the angular turn part of trunk, described angular turn part and institute
State from end master control borad electrical connection.
7. remote operating passive robot control system according to claim 2 it is characterised in that described from end robot
The end of mechanical arm be provided with the actuator interface that coupled execution unit can be promoted to carry out five degree of freedom motion,
Described actuator interface is electrically connected from end master control borad with described.
8. remote operating passive robot control system according to claim 3 is it is characterised in that each described joint angles are held
Row part is steering wheel or servomotor.
9. remote operating passive robot control system according to claim 1 is it is characterised in that described control system is also wrapped
Include and can drive the described walking module from end robot ambulation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620820677.4U CN205889194U (en) | 2016-07-29 | 2016-07-29 | Distant operation follow -up robot control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620820677.4U CN205889194U (en) | 2016-07-29 | 2016-07-29 | Distant operation follow -up robot control system |
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| CN205889194U true CN205889194U (en) | 2017-01-18 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926260A (en) * | 2017-03-10 | 2017-07-07 | 蒙柳 | A kind of teleoperation robot interaction controller |
| CN108724209A (en) * | 2017-11-30 | 2018-11-02 | 北京建筑大学 | A kind of ten degree of freedom double mechanical arms structure of providing for the aged and nursing robot |
| CN108772839A (en) * | 2018-06-25 | 2018-11-09 | 中国人民解放军第二军医大学 | Master-slave operation and human-machine system |
-
2016
- 2016-07-29 CN CN201620820677.4U patent/CN205889194U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106926260A (en) * | 2017-03-10 | 2017-07-07 | 蒙柳 | A kind of teleoperation robot interaction controller |
| CN108724209A (en) * | 2017-11-30 | 2018-11-02 | 北京建筑大学 | A kind of ten degree of freedom double mechanical arms structure of providing for the aged and nursing robot |
| CN108772839A (en) * | 2018-06-25 | 2018-11-09 | 中国人民解放军第二军医大学 | Master-slave operation and human-machine system |
| CN108772839B (en) * | 2018-06-25 | 2021-07-20 | 中国人民解放军第二军医大学 | Master-slave operation and man-machine integrated system |
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