CN212187114U - Mechanical guide dog based on machine vision - Google Patents
Mechanical guide dog based on machine vision Download PDFInfo
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- CN212187114U CN212187114U CN201922377506.5U CN201922377506U CN212187114U CN 212187114 U CN212187114 U CN 212187114U CN 201922377506 U CN201922377506 U CN 201922377506U CN 212187114 U CN212187114 U CN 212187114U
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- 238000009434 installation Methods 0.000 claims description 29
- 210000000689 upper leg Anatomy 0.000 claims description 15
- 210000002414 leg Anatomy 0.000 claims description 13
- 210000001699 lower leg Anatomy 0.000 claims description 13
- 240000007651 Rubus glaucus Species 0.000 claims description 10
- 235000011034 Rubus glaucus Nutrition 0.000 claims description 10
- 235000009122 Rubus idaeus Nutrition 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims 1
- 238000000034 method Methods 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 4
- 210000004534 cecum Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000004224 protection Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model relates to a blind dog is led to machinery based on machine vision, this blind dog is led to machinery includes main part spare (5), mechanical leg, vision subassembly and controller, the mechanical leg set up four and install and form four-footed mobile robot on main part spare (5), the vision unit mount be used for surveying the surrounding environment on main part spare (5), mechanical leg and vision subassembly all be connected to the controller. Compared with the prior art, the utility model discloses the structure is reliable, and is with low costs, can more adapt to manifold environment, and the robot still possesses unobstructed ability under the geographical environment of difference.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to a blind dog is led to machinery based on machine vision is related to.
Background
The guide dog is used for guiding the blind, and can help the blind to cross the road, sit on the subway, go home and the like. Many people buy a guide dog as their partner abroad. In China, more and more people select the guide dog as the relatives or the blind friends of the guide dog to guide in two years.
However, the guide dog is expensive, the training period is long, the working life is limited, one guide dog cannot accompany a cecum all the time, and a new guide dog is continuously required to replace the guide dog, which brings great economic burden to blind friends, so that the guide dog is not popularized at present, and a mechanical guide dog with low price is required to be designed to provide life convenience for the blind friends.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a mechanical guide dog based on machine vision for overcoming the defects of the prior art.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides a mechanical guide dog based on machine vision, this mechanical guide dog includes main part, mechanical leg, vision subassembly and controller, mechanical leg set up four and install and form four-footed mobile robot on the main part, the vision subassembly install and be used for surveying the surrounding environment on the main part, mechanical leg and vision subassembly all be connected to the controller.
The main body piece is a flat plate with a certain thickness, and the surface of the tail part of the flat plate is provided with an accommodating cavity for placing articles.
The mechanical leg comprises a thigh joint and a shank joint, the top of the thigh joint is movably connected with the main body part to form a first movable node, the bottom of the thigh joint is movably connected with the shank joint to form a second movable node, a driving motor for driving the thigh joint to move is arranged at the first movable node, and the driving motors are all connected to the controller.
The contact position of the tail end of the shank joint and the ground is arc-shaped.
The vision assembly comprises a camera, an installation connecting rod and an installation base, the installation base is fixed on the main body piece, one end of the installation connecting rod is installed on the installation base and movably connected with the installation base, and the camera is installed at the other end of the installation connecting rod.
The camera is provided with an installation shell, the installation shell is fixed at the end part of the installation connecting rod, the main body part of the camera is wrapped in the installation shell, and the lens part of the camera protrudes out of the installation shell.
The installation connecting rod is provided with a stepping motor used for driving the installation connecting rod to rotate at the movable connection part of the installation base.
The controller comprises a raspberry pie.
Compared with the prior art, the utility model has the advantages of as follows:
(1) the mechanical blind guiding dog designed by the utility model carries out visual navigation through the camera, provides a brand-new blind guiding mode, has low cost, can realize popularization and application, and provides life convenience for blind people;
(2) the utility model can be adapted to various environments, and the robot still has the unobstructed ability under different geographic environments, and the reliability is high;
(3) the utility model discloses the camera can independently adjust for the picture that the camera was shot is more controllable, guarantees the reliability of walking.
Drawings
Fig. 1 is a schematic overall structure diagram of a mechanical guide dog based on machine vision;
fig. 2 is a schematic diagram showing the results of the main body part of a mechanical guide dog based on machine vision.
In the figure, 1 is a camera, 2 is a mounting link, 3 is a thigh joint, 4 is a shank joint, 5 is a main body, 6 is a containing cavity, and 7 is a mounting base.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Note that the following description of the embodiments is merely an example of the nature, and the present invention is not intended to limit the application or the use thereof, and the present invention is not limited to the following embodiments.
Examples
As shown in fig. 1 and 2, the mechanical guide dog based on the machine vision comprises a main body part 5, four mechanical legs, a vision assembly and a controller, wherein the mechanical legs are arranged on the main body part 5 and are installed on the main body part 5 to form a four-legged mobile robot, the vision assembly is installed on the main body part 5 and is used for detecting the surrounding environment, the mechanical legs and the vision assembly are both connected to the controller, and the controller comprises a raspberry pie.
Compared with the traditional four-wheel type and crawler type, the foot type robot has the advantages of inexpedient ratio, has higher maneuverability in a complex environment, and can play a larger role in military tasks and emergency tasks than the traditional wheel type. To make the robot more intelligent, it is first of all to make the robot be able to act freely like a human or an animal.
Balance and dynamic motion capability, namely, the robot can keep balance at any place and any terrain and realize free movement, which means that the working range of the robot is effectively expanded.
Secondly, the control capability of the movement means that the robot can flexibly and freely move, which means that the robot can easily complete various operation tasks in the moving process.
The mobile sensing ability means that the robot can sense the stable existence of an object in the space, and can avoid the obstacle even if the sight line moves to other places, which means that the robot can draw a position diagram of the obstacle in the surrounding environment, so that the obstacle can be effectively avoided in the moving process.
The four-foot walking robot has simple and flexible mechanism, strong bearing capacity and good stability, and has good application prospect in many aspects of rescue and relief work, exploration, entertainment, military affairs and the like.
The main part 5 is a flat plate with a certain thickness, and through the integrated design, parts do not need to be machined to the main part 5 again, so that the connection is firmer, the strength and the hardness of the product are guaranteed, meanwhile, the required parts are integrated into a whole, a separate installation method is not needed, extra manufacturing cost is saved when the product is produced on a large scale, and the integral type electric welding machine is more economical. The holding cavity 6 for placing articles is formed in the surface of the tail of the flat plate, so that light articles can be placed when the person goes out conveniently, and convenience is brought to life.
The mechanical leg comprises a thigh joint 3 and a shank joint 4, the top of the thigh joint 3 is movably connected with a main body part 5 to form a first movable node, the bottom of the thigh joint 3 is movably connected with the shank joint 4 to form a second movable node, a driving motor for driving the thigh joint 3 to move is arranged at the first movable node, and the driving motors are all connected to a controller. The contact position of the tail end of the shank joint 4 and the ground is arc-shaped. The thigh joint 3 is controlled by the driving motor, and then the motion method of the movement of the shank joint 4 is realized by the link mechanism, which refers to the bionics, so that the robot can be more suitable for various environments, and the robot still has the capability of smooth running under different geographic environments. The arc-shaped design of the bottom of the robot crus joint 4 reduces the friction force, increases the wear resistance, can increase the durability and has more economical efficiency.
The visual component comprises a camera 1, a mounting connecting rod 2 and a mounting base 7, the mounting base 7 is fixed on the main body piece 5, one end of the mounting connecting rod 2 is mounted on the mounting base 7 and movably connected with the mounting base, and the other end of the mounting connecting rod 2 is provided with the camera 1. The camera 1 is provided with an installation shell, the installation shell is fixed at the end part of the installation connecting rod 2, the main body part of the camera 1 is wrapped in the installation shell, and the lens part of the camera 1 protrudes out of the installation shell. A stepping motor for driving the installation connecting rod 2 to rotate is arranged at the movable connection position of the installation connecting rod 2 on the installation base 7. The camera 1 is wrapped in the whole-body wrapping type mounting shell, so that the camera 1 is protected from being interfered and damaged by the external environment, and the service life of the camera 1 is longer. The camera 1 is installed on the installation base 7 through the installation connecting rod 2, the movement is more convenient by adopting a connecting rod mechanism, and meanwhile, the picture shot by the camera 1 is more controllable, so that the walking reliability is ensured.
The utility model discloses drive module has adopted roboMaster M2006P 36 brushless DC gear motor and roboMaster C610 brushless motor speed regulator to constitute, and it is high to have control accuracy, and output is big, characteristics such as small.
(1) M2006P 36 DC brushless speed reducing motor
Compared with a common power system, the RoboMaster M2006P 36 direct-current brushless speed reduction motor built-in rotor position sensor can provide accurate position feedback. The RoboMaster C610 motor speed regulator utilizes rotor position data fed back by the motor and applies a vector control (FOC) technology to enable the motor to generate continuous and linear torque, thereby bringing more sensitive and accurate control. The maximum rotating speed of the output end of the RoboMaster M2006 power system can reach 500rpm, the maximum continuous torque is 1000mNm, and the maximum continuous output power is 44W.
(2) C610 motor speed regulator
The RoboMaster C610 motor speed regulator adopts DJI customized 32-bit motor control chips, integrates a power management system, a main control system and a driving system, and is small in size, stable and reliable. Meanwhile, multiple protections such as overvoltage, disconnection, locked rotor and the like are arranged in the RoboMaster C610 motor speed regulator, so that the reliability and durability of the motor are ensured.
640 x 480px cameras and raspberry pie 3B + are used, and the cameras are used for collecting visual information of the surrounding environment and feeding the visual information back to the raspberry pie so as to analyze data of the raspberry pie. After the raspberry group carries out data analysis, corresponding signals are sent to the control panel according to the surrounding environment. The circuit module mainly comprises a motor, a control board, a raspberry group, a camera and the control board, wherein the motor is connected with the control board, the raspberry group is connected with the control board, and the camera is connected with the control board. Wherein, link to each other through the electricity accent between motor and the control panel, adopted CAN bus communication mode, improved the sensitivity of motor, through serial ports connection between raspberry group and the control panel, connect through the USB socket between camera and the control panel, the circuit is whole to be convenient for connect.
The utility model discloses machine vision based machinery is led blind dog and is regarded as four-footed robot and carry out gait planning with machinery when carrying out gait control, and its concrete method is prior art.
The utility model discloses this blind dog is led to machinery adopts sufficient formula to remove and can make the robot carry out the navigation of autonomy in the environment of complicacy as the mobile mode of blind dog is led to machinery. The mechanical guide dog adopts the shape of a bionic dog, belongs to a leg movement mechanism of a four-legged mobile robot and consists of connecting rods, and the mode of controlling the movement through the connecting rods can help to ensure that the mechanical guide dog can still be controlled when passing through an unstable road section; the motion method of the thigh joint controlled by the motor and the motion of the shank joint made by the link mechanism refers to bionics, can be more suitable for various environments, the robot still has the capability of smooth running under different geographic environments, and the picture shot by the camera still can be kept stable. The abdomen has a certain storage space to help the cecum reduce the burden of travel; the body size of the dog is close to that of a medium-sized dog, so that the machine can generate certain power to serve as a cecum collar.
The above embodiments are merely examples and do not limit the scope of the present invention. These embodiments may be implemented in other various manners, and various omissions, substitutions, and changes may be made without departing from the technical spirit of the present invention.
Claims (8)
1. The mechanical guide dog based on the machine vision is characterized by comprising a main body part (5), four mechanical legs, a vision component and a controller, wherein the four mechanical legs are arranged on the main body part (5) and are installed on the main body part (5) to form a four-legged mobile robot, the vision component is installed on the main body part (5) and is used for detecting the surrounding environment, and the mechanical legs and the vision component are connected to the controller.
2. The mechanical guide dog based on machine vision is characterized in that the main body piece (5) is a flat plate with a certain thickness, and the tail surface of the flat plate is provided with a containing cavity (6) for placing an article.
3. The mechanical guide dog based on machine vision is characterized in that the mechanical leg comprises a thigh joint (3) and a shank joint (4), the top of the thigh joint (3) is movably connected with a main body part (5) to form a first movable node, the bottom of the thigh joint (3) is movably connected with the shank joint (4) to form a second movable node, a driving motor for driving the thigh joint (3) to move is arranged at the first movable node, and the driving motors are connected to a controller.
4. The mechanical guide dog based on machine vision is characterized in that the contact position of the tail end of the lower leg joint (4) and the ground is in a circular arc shape.
5. The mechanical guide dog based on machine vision is characterized in that the vision component comprises a camera (1), a mounting connecting rod (2) and a mounting base (7), the mounting base (7) is fixed on the main body piece (5), one end of the mounting connecting rod (2) is mounted on the mounting base (7) and movably connected with the mounting base, and the other end of the mounting connecting rod (2) is provided with the camera (1).
6. The mechanical guide dog based on machine vision is characterized in that the camera (1) is provided with a mounting shell, the mounting shell is fixed at the end part of the mounting connecting rod (2), the main body part of the camera (1) is wrapped and arranged in the mounting shell, and the lens part of the camera (1) protrudes out of the mounting shell.
7. The mechanical guide dog based on machine vision is characterized in that a stepping motor for driving the installation connecting rod (2) to rotate is arranged at the movable connection position of the installation connecting rod (2) and the installation base (7).
8. The machine-vision-based mechanical guide dog of claim 1, wherein the controller comprises a raspberry pie.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922377506.5U CN212187114U (en) | 2019-12-26 | 2019-12-26 | Mechanical guide dog based on machine vision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922377506.5U CN212187114U (en) | 2019-12-26 | 2019-12-26 | Mechanical guide dog based on machine vision |
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| CN212187114U true CN212187114U (en) | 2020-12-22 |
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| CN201922377506.5U Active CN212187114U (en) | 2019-12-26 | 2019-12-26 | Mechanical guide dog based on machine vision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110529A (en) * | 2019-12-26 | 2020-05-08 | 上海电力大学 | Mechanical guide dog based on machine vision |
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2019
- 2019-12-26 CN CN201922377506.5U patent/CN212187114U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111110529A (en) * | 2019-12-26 | 2020-05-08 | 上海电力大学 | Mechanical guide dog based on machine vision |
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