WO2009030108A1 - Remote control moving device and the working system for the device - Google Patents

Abstract

A remote control moving device and the working system for the device are disclosed. The device includes a flat frame (3) with orbit X (1) and orbit Y (2), and locating components provided along the Z direction. A camera (5) for distinguishing the objects and a distance measuring device (6) for measuring the distance from the objects are provided in the locating components, the longitudinal axis of said camera (5) and distance measuring device (6) being vertical to X-Y plane. Said locating components are connected to the orbit Y (2), the first motor (71) drives the orbit Y (2) to move along the orbit X (1), and the second motor (72) drives the locating components to move along the orbit Y (2). The first motor (71) is provided on the plat frame (3), and the second motor (72) is provided on the orbit Y (2). The third motor drives the locating components to move along the Z direction. All the motors operate according to the control instruction sent by the information processor.

Description

遥控可移动装置及应用该装置的工作***  Remote control mobile device and working system using the same

技术领域 Technical field

本发明涉及一种应用于采摘果实、 射击、 超市货架上货、 建筑行业垒 砖头、 邮件分类等领域的遥控可移动性装置及应用该装置的工作***。 背景技术  The invention relates to a remote control movable device applied to the fields of picking fruits, shooting, supermarket shelves, bricks in the construction industry, mail classification and the like, and a working system using the same. Background technique

目前人工智能、 自动识别技术有较大的发展， 但在应用上尚不能代替 人眼的识别与人脑的判断。 美国航天总署、 日本的一些大学， 都在研究自 动摘西红柿的机器， 重点是自动识别成熟的果实。 这些机器的识别能力， 远远不及人眼， 至于在野外的农场诸多干扰因素下， 更加不如人眼的观察 能力和人脑的综合判断能力。 目前信件自动分拣机对于分拣英文写的地址 已经有非常高的识别能力， 哪怕是很草的手写体也可识别， 不过对于形状 不规则的包裹， 机器无法分拣， 仍然需要人手分拣。 另外， 大的回收厂虽 然很多分类步骤都由机器自动进行， 但仍然需要许多人站在传送带旁手工 分拣。 因此， 现有的技术还存在各种各样局限性， 不能将人的眼和脑与机 器的手臂联系起来， 智能化程度不高。  At present, artificial intelligence and automatic recognition technology have a great development, but it is not a substitute for the recognition of the human eye and the judgment of the human brain. NASA and some universities in Japan are studying machines that automatically pick tomatoes, with a focus on automatically identifying mature fruits. The recognition ability of these machines is far less than the human eye. As for the many disturbance factors in the wild farms, it is even worse than the human eye's observation ability and the comprehensive judgment ability of the human brain. At present, the automatic sorting machine of letters has a very high recognition ability for sorting English-written addresses, even if it is very grassy handwriting, but for irregularly shaped packages, the machine cannot be sorted, and still needs manual sorting. In addition, many large recycling plants, although many of the sorting steps are automated by the machine, still require many people to stand by the conveyor belt for manual sorting. Therefore, the existing technology has various limitations, and it is impossible to associate the human eye and the brain with the arm of the machine, and the degree of intelligence is not high.

发明内容 Summary of the invention

本发明要解决的技术问题在于克服现有技术的不足， 提供一种可将人 的眼和脑与机器的手臂通过互联网联系起来的遥控可移动装置。 利用该装 置， 可以提高工作效率， 延长工作时间， 甚至可以在恶劣的自然环境条件 下工作。  The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and to provide a remotely movable device that can connect a person's eyes and brain with the arm of the machine via the Internet. With this device, you can increase your work efficiency, extend your working hours, and even work in harsh natural environments.

本发明的另一目的，提供一种带有上述装置的遥控可移动果实采摘器， 适用于摘取娇嫩果实、 翻动在地上晾晒的果干等重复性工作。  Another object of the present invention is to provide a remotely movable fruit picker with the above-mentioned device, which is suitable for repetitive work such as picking delicate fruits and turning dry fruits dried on the ground.

本发明进一步的目的， 提供一种带有上述装置的遥控可移动瞄准射击 器， 令士兵远离危险， 遥控操作武器进行精确瞄准。  It is a further object of the present invention to provide a remotely movable, movable sighting device with the above-described apparatus that keeps the soldier away from danger and remotely operates the weapon for precise aiming.

本发明进一步的目的，提供一种带有上述装置的遥控可移动货架装填装 置， 将货品放上货架。  It is a further object of the present invention to provide a remotely movable, portable shelf loading apparatus with the above apparatus for placing goods on a shelf.

本发明进一步的目的， 提供一种带有上述装置的遥控可移动垒砖器， 用 于建筑业如砌砖等。  It is a further object of the present invention to provide a remotely movable movable barrier with the above apparatus for use in the construction industry such as bricklaying.

本发明进一歩的目的， 提供一种带有上述装置的遥控邮包分类器， 用于 取代工作场所的人手， 通过遥控分拣包裹。 The object of the present invention is to provide a remote-controlled parcel sorter with the above device, Replace the hands of the workplace and sort the packages by remote control.

本发明遥控可移动装置的技术方案为： 一种遥控可移动装置， 包括一 个具有 X轨道及 Y轨道的平面框架和沿垂直于该平面 Z轴方向设置的定位 组件， 定位组件上设有用以区别目标的视像镜头和用于测量目标距离的测 距仪， 所述视像镜头和测距仪的纵轴线与 XY平面垂直； 所述定位组件连 接在 Y轨道上， Y轨道由第一马达驱动沿 X轨道移动， 定位组件由第二马 达驱动沿 Y轨道运动， 第一马达设置在平面框架上， 第二马达设置在 Y轨 道上， 定位组件的 z轴方向运动由第三马达驱动， 所有马达根据信息处理 器所发出的控制指令来工作。  The technical solution of the remote control movable device of the present invention is: a remote control movable device comprising a plane frame having an X track and a Y track and a positioning component disposed along a Z axis direction perpendicular to the plane, the positioning component being provided with a difference a vision lens of the target and a range finder for measuring a target distance, the longitudinal axis of the video lens and the range finder being perpendicular to the XY plane; the positioning assembly being coupled to the Y track, the Y track being driven by the first motor Moving along the X-track, the positioning assembly is driven by the second motor to move along the Y-track, the first motor is disposed on the plane frame, the second motor is disposed on the Y-track, and the z-axis motion of the positioning assembly is driven by the third motor, all motors It works according to the control instructions issued by the information processor.

本犮明的第一项应用是作为遥控移动性果实摘采器。 该工作***包括 下列组成部分： 运载装置； 识别果实的一个或多个镜头； 与摘采器联通的 无线网络， 用以发送及接收数据； 一个或多个测距仪， 用于测量果实的距 离； 一个可伸缩至果实的机械臂； 一个在机械臂末端可抓取果实的机械手； 可以令机械臂在三维空间移动的遥控可移动装置， 该装置根据接收到的指 令移动； 由操作者通过信息处理器遥距操作的控制端， 用以控制摘采器摘 取果实。  The first application of Benming is as a remote-controlled mobile fruit picker. The working system comprises the following components: a carrier; one or more lenses that identify the fruit; a wireless network in communication with the picker for transmitting and receiving data; one or more rangefinders for measuring the distance of the fruit a robotic arm that can be telescoped to the fruit; a robotic arm that grasps the fruit at the end of the robotic arm; a remotely movable device that moves the robotic arm in three dimensions, the device moves according to the received command; The control end of the processor remote operation controls the picker to extract the fruit.

本发明的第二项应用是遥控移动性瞄准射击器。 该工作***包括下列 组成部分： 运载装置； 多个视像镜头用以区别目标;. 无线数据收发部分， 多个测距仪用于测量目标距离； 一个或多个射击装置； 一个使射击装置在 二维空间移动的遥控可移动装置， 其移动距离根据所接收的数据决定 ί 一 个控制射击装置俯仰的装置， 其角度根据所接收的数据决定； 由操作者通 过信息处理器遥距操作的控制端， 用以控制射击装置射击。  A second application of the invention is a remotely controlled mobile aiming shooter. The working system comprises the following components: a carrier device; a plurality of video lenses for distinguishing the target; a wireless data transceiver portion, a plurality of range finder for measuring the target distance; one or more shooting devices; A two-dimensionally mobile remotely movable device whose moving distance is determined according to the received data ί a device for controlling the pitch of the shooting device, the angle of which is determined according to the received data; the control terminal remotely operated by the operator through the information processor , used to control the shooting of the shooting device.

本发明的第三项应用是遥控移动性货架装填装置。 该工作***有下列 组成部分： 运载装置； 识别货物的镜头， 可以是多个； 与装填装置联通的 无线网络， 用以发送及接收数据； 测距仪， 用于测量货物的距离， 可以是 多个； 一个可伸缩至货架的机械臂； 一个在机械臂末端可抓取货物的机械 手； 可以令机械臂在三维空间移动的遥控可移动装置， 该装置根据接收到 的指令移动， 用以控制装填装置 HI/放货物的位置； 由操作者通过信息处理 器遥距操作的控制端。  A third application of the invention is a remotely controlled mobile shelf loading device. The working system has the following components: a carrying device; a lens for identifying goods, which may be multiple; a wireless network connected to the loading device for transmitting and receiving data; a range finder for measuring the distance of the cargo, which may be more a robotic arm that can be telescoped to the shelf; a robot that can grip the cargo at the end of the robotic arm; a remotely movable device that moves the robotic arm in three dimensions, the device moves according to the received command to control the loading Device HI / position of the cargo; the operator is remotely operated by the operator through the information processor.

本发明的第四项应用是遥控移动性垒砖器。 该工作***有下列组成部 分： 运载装置； 多个视像镜头用以区别砖头； 用于数据收发的无线网络； 多个测距仪用于测量砖头距离； 一个可伸缩至砖头和安放砖头地点的机械 臂； 一个或多个抓取装置； 一个使机械臂在二维空间移动的遥控可移动装 置， 其移动距离根据所接收的数据决定； 由操作者通过信息处理器遥距操 作的控制端。 A fourth application of the present invention is a remotely controlled mobile barrier. The working system has the following components: a carrier; a plurality of video lenses for distinguishing bricks; a wireless network for data transmission and reception; Multiple range finder for measuring brick distance; a robotic arm that can be extended to the brick and place where the brick is placed; one or more gripping devices; a remotely movable device that moves the robot arm in two dimensions, the moving distance Based on the received data; the operator is remotely operated by the operator through the information processor.

本发明的第五项应用是遥控邮包分类器。 该工作***有下列组成部分： 运载装置， 邮包分类器安装其上； 多个视像镜头用以识别邮包上的地址； 用于数据收发的无线网络； 一个可伸缩至邮包和邮包分类区的机械臂； 一 个或多个抓取装置； 一个机械臂在二维空间移动的装置， 其移动距离根据 所接收的数据决定； 由操作者通过信息处理器遥距操作的控制端。  A fifth application of the present invention is a remote packet parcel classifier. The working system has the following components: a carrier, a parcel sorter installed thereon; a plurality of video lenses for identifying addresses on the parcel; a wireless network for data transceiving; a machine that can be telescoped to the parcel and parcel sorting area One or more gripping devices; a device that moves in a two-dimensional space with a moving distance determined by the received data; a control terminal that is remotely operated by an operator through an information processor.

本发明所提供的装置及其工作***与现有技术相比，具有如下的优点： Compared with the prior art, the device and the working system thereof provided by the invention have the following advantages:

1、可以令操作者的眼与手的功能在工作场地发挥功能， 而操作者本人 可以不在现场， 以达到劳动力遥距输出的目的； 部分解决高工资国家 /地区 劳力不足的问题。 1. The function of the operator's eyes and hands can be used in the workplace, and the operator himself can not be on site to achieve the goal of labor remote output; part of solving the problem of insufficient labor in high-wage countries/regions.

2、 可以免除对操作者手-眼协调的训练训练。 机器与操作者通过点击显 示屏为连接界面， 操作者仅通过点击鼠标即可操作， 不需要象操控遥控电 动玩具或遥控机械般需要很好的手-眼协调训练。 比如需要本***的机械臂 采集在遥远地面的石头，操作者只需要在电脑显示器上用鼠标点击该石头， 机械臂必定抓取这块石头。 而使用模拟人体动作的遥控机械臂时， 则需操 作者有良好的手-眼协调， 不断引导机械臂接近目标， 然后发出抓取指令。  2, can be exempted from the operator's hand-eye coordination training training. By clicking on the display screen, the machine and the operator can operate the operation with just a click of the mouse. There is no need for good hand-eye coordination training like controlling a remote control electric toy or a remote control machine. For example, if the mechanical arm of the system is required to collect stones on a distant ground, the operator only needs to click the stone with a mouse on the computer display, and the robot arm must grasp the stone. When using a remote control arm that simulates human motion, the operator needs good hand-eye coordination, constantly guiding the arm to approach the target, and then issuing a grab command.

3、 可克服网络速度对操作影响。一旦操作者点击目标， 现场机械臂必 然会到达指定方位， 哪怕网络速度极慢而需要一段时间。 操作者的电脑只 发出一个位置指令， 中间不需要不间断的调整， 一旦点击之后， 坐标信息 发出， 可以关闭本地电脑。 而仿生机械臂需要发出不断的指令， 不能关闭 操控者的电脑。  3. It can overcome the impact of network speed on operation. Once the operator clicks on the target, the field robot will definitely reach the specified position, even if the network speed is extremely slow and takes a while. The operator's computer only issues a position command, and there is no need for uninterrupted adjustment in the middle. Once clicked, the coordinate information is sent and the local computer can be turned off. The bionic robot arm needs to issue constant commands and cannot close the controller's computer.

4、 由于机械臂为直线运动， 因此可以赋予机械臂恒定的负重能力， 而 人体手臂与仿生臂负重能力受伸展角度影响， 难以实现恒定的负重。  4. Since the arm is linear, it can give the arm a constant load-bearing capacity, and the load capacity of the human arm and the bionic arm is affected by the stretching angle, making it difficult to achieve a constant load.

5、 结构极其简单， 无易损坏零件， 造价及维修费用低廉。  5, the structure is extremely simple, no damage to parts, cost and maintenance costs are low.

6、 一个操控者可以控制同时多部机器， 大大提高生产效率。  6, a controller can control multiple machines at the same time, greatly improving production efficiency.

附图说明 DRAWINGS

图 1为本发明实施例 ]用于采集模式中可移动装置的结构示意图； 图 2为果实摘采器的第一面透视图。 图 3为图 2中果实摘采器的水平运动组件透视图。 1 is a schematic structural view of a movable device for use in an acquisition mode according to an embodiment of the present invention; and FIG. 2 is a first perspective view of the fruit picker. Figure 3 is a perspective view of the horizontal movement assembly of the fruit picker of Figure 2.

图 4为图 2中果实摘采器的伸缩式机械臂透视图。 Figure 4 is a perspective view of the telescopic mechanical arm of the fruit picker of Figure 2.

图 5为图 2中果实摘采器的垂直运动组件透视图。 Figure 5 is a perspective view of the vertical movement assembly of the fruit picker of Figure 2.

图 6为图 2中果实摘采器机械手的透视图。 Figure 6 is a perspective view of the fruit picker robot of Figure 2.

图 7为图 2中果实摘采器的机械手将果实放入之字形滑道的侧面透视。 图 8为本发明实施例 2用于瞄准模式中可移动装置的结构示意图。 Figure 7 is a side perspective view of the manipulator of the fruit picker of Figure 2 placing the fruit into the zigzag slide. FIG. 8 is a schematic structural view of a movable device used in an aiming mode according to Embodiment 2 of the present invention.

图 9为本发明遥控瞄准射击器的透视图。 Figure 9 is a perspective view of the remote aiming shooter of the present invention.

图 10为图 9中瞄准射击器的俯视图。 Figure 10 is a top plan view of the aiming shooter of Figure 9.

图 11为图 9中瞄准射击器的主视图。 Figure 11 is a front elevational view of the aiming shooter of Figure 9.

图 12为本发明实施例 3用于排布模式中可移动装置的结构示意图。 FIG. 12 is a schematic structural diagram of a movable device used in an arrangement mode according to Embodiment 3 of the present invention.

具体实施方式 detailed description

下面结合附图及实施方式对本发明的装置及工作***作进一步说明。 实施例 1 :  The apparatus and working system of the present invention will be further described below in conjunction with the accompanying drawings and embodiments. Example 1

本装置在应用时，需要通过控制部件的控制来工作。其控制部件包括： 一台电脑； 宽带互联网 （当需要遥控操作时）； 同步马达控件及驱动器； 电 源， 可以是电池或太阳能。 例如用于采集模式， 此模式可用于采摘农作物、 摘花、 地面垃圾清洁等等。 工作***的工作端 （机器所在工作地点） 在镜 头视野内的每个物体都被赋予坐标数值， 这些数值与操控端 （遥控操作者 的所在地点） 显示器的视频中每个物件相对应。 当操作者点击操控端显示 器上的目标时， 定位组件的机械臂会到达相应的目标， 使机械臂上的工作 装置发挥功用 （可以是采摘器、 切割器、 电击杀虫器等）。 机械臂的操作模 式是： 鼠标左键按下， 机械臂前伸， 放开立即停止； 鼠标右键按下， 机械 臂缩回， 放开立即停止。 而抓取器通过感应器在碰到目标后自动抓取。  When the device is applied, it needs to work by the control of the control unit. Its control components include: a computer; broadband Internet (when remote operation is required); synchronous motor controls and drivers; power source, which can be battery or solar. For example, in the acquisition mode, this mode can be used for picking crops, picking flowers, cleaning ground waste, and so on. The working end of the working system (where the machine is located) is assigned a coordinate value for each object in the field of view of the lens, which corresponds to each object in the video of the display on the console (the location of the remote operator). When the operator clicks on the target on the console display, the robotic arm of the positioning assembly will reach the corresponding target, allowing the working device on the robotic arm to function (can be a picker, cutter, electric insect killer, etc.). The operation mode of the robot arm is: Press the left mouse button, the arm extends forward, release and stop immediately; when the right mouse button is pressed, the arm is retracted and released immediately. The gripper automatically grabs the target after it hits the target.

如附图 1所示， 本实施例中的遥控可移动装置包括一个具有 X轨道 1 及 Y轨道 2的平面框架 3和沿 Z轴方向设置的机械臂 4， 机械臂 4上设有 用以区别目标的视像镜头 5和用于测量目标距离的中心激光测距仪 6，视像 镜头 5和测距仪 6的纵轴线与 XY平面垂直；机械臂 4连接在 Y轨道 2上， 第一马达 71设置在平面框架 3上， 第二马达 72设置在 Y轨道 2上。 框架 3可以有外壳，可以安置有动力或无动力轮子 8在轨道上行驶。框架 3上可 以安装多个辅助镜头， 以协助操作者观察环境与机器运作。 另外， 还可安 装多个激光发射器 61组成激光尺， 帮助定位。 第一马达 71通过皮带 /齿轮 或蜗杆驱动 Y轨道 2在框架内沿着 X轨道 1水平移动。该马达可以使用同 步马达， 也可使用伺服马达等作为动力源。 第二马达 72通过皮带 /齿轮或 蜗杆驱动机械臂 4及其上的中心激光测距仪 6及视像镜头 5在 Υ轨道 2上 上下移动。 机械臂 4的运动形式是直线伸缩， 可以是天线式， 也可以气动、 液动伸缩， 或是安全闸门所用的铰接式， 或是用齿轮直接驱动钢卷尺 （钢 卷尺本身带齿或孔） 或利用可卷曲尼龙齿条。 本实施例中由第三马达 （图 中未示出） 带动可卷曲尼龙齿条， 驱动机械臂 4直线伸出。 机械臂 4的末 端有接口， 用以连接各种形式的机械手 9， 可以包括抓取器、切割器、承接 器、 电击除虫器、 吸盘等等。 假如该装置用于瞄准， 则不需要机械臂及第 三马达， 而以发射装置取代。 机械手 9可以是自动式， 如被动感应式抓取 器， 当抓取器接触到目标时自动抓取， 机械臂 4复位后自动打开。机械手 9 也可以是主动式， 一切动作可以由操作者通过作为信息处理器的电脑进行 遥距操控。机械手伸出后的位置应与测距仪 6的中心激光重回。一个框架 3 内可以同时安装多个机械臂 4，一个机械臂 4上也可以同时安装多个机械手 9， 以提高生产效率。 As shown in FIG. 1, the remote control movable device in this embodiment includes a plane frame 3 having an X-track 1 and a Y-track 2 and a robot arm 4 disposed along the Z-axis direction. The robot arm 4 is provided with a target for distinguishing the target. The video lens 5 and the central laser range finder 6 for measuring the target distance, the longitudinal axes of the video lens 5 and the range finder 6 are perpendicular to the XY plane; the mechanical arm 4 is connected to the Y track 2, the first motor 71 Provided on the plane frame 3, the second motor 72 is disposed on the Y rail 2. The frame 3 can have a housing on which the powered or unpowered wheels 8 can be placed. Multiple auxiliary lenses can be mounted on the frame 3 to assist the operator in observing the environment and machine operation. In addition, a plurality of laser emitters 61 can be installed to form a laser scale to assist in positioning. The first motor 71 passes the belt/gear Or the worm drive Y track 2 moves horizontally along the X track 1 within the frame. The motor can use a synchronous motor or a servo motor or the like as a power source. The second motor 72 moves up and down on the cymbal track 2 via the belt/gear or worm drive robot 4 and the center laser range finder 6 and the video lens 5 thereon. The movement of the arm 4 is linear telescopic, which can be an antenna type, pneumatic or hydrodynamic expansion, or articulated for the safety gate, or directly drive the steel tape with a gear (the steel tape itself has teeth or holes) or Use a crimpable nylon rack. In this embodiment, the third motor (not shown) drives the curlable nylon rack, and the driving robot arm 4 projects straight. The end of the robot arm 4 has an interface for connecting various types of robots 9, and may include a gripper, a cutter, a receiver, an electric shock hopper, a suction cup, and the like. If the device is used for aiming, the robot arm and the third motor are not required and replaced by a launching device. The robot 9 can be an automatic type, such as a passive inductive gripper, which automatically grabs when the gripper touches the target, and automatically opens after the robot arm 4 is reset. The robot 9 can also be active, and all actions can be remotely controlled by the operator through a computer as an information processor. The position of the robot after it has been extended should be returned to the center laser of the range finder 6. A plurality of robot arms 4 can be installed in one frame 3 at the same time, and a plurality of robots 9 can be simultaneously mounted on one robot arm 4 to improve production efficiency.

下面以果实采摘为例，从总体上介绍应用上述装置的遥控果实摘采器。 首先将视像镜头（如高保真度的 CCD 1.3 M VGA镜头）安装在机械臂的***。 采摘的全部操作通过点击视频中的目标完成， 可以给鼠标的左右键安 排不同功能 （比如伸出、 回收等）， 也可以使用键盘控制。 中心激光测距仪 的位置尽量接近镜头视野中线， 此激光处于视野中心位置， 故无论目标与 镜头间的距离远近， 此激光点与屏幕视频的关系恒定。 此激光代表机械臂 伸出过程中的轨道， 也代表机械手在机械臂伸出后达到的位置。 另外也可 以安装一组多个激光， 每个激光间距相等， 形成激光尺， 可以同时测量视 野中不同区域的距离， 加快摘采速度。 目前自动测距技术已经很成熟， 如 相机中应用的多点光学测距或是声纳测距，都可以为本装置提供测距功能。 而且也只在摘采模式、 瞄准模式时才需要测距。 对于排布模式， 如包裹分 类、 废品分类、 货品上货架， 因为机器与目标距离恒定， 则无需测距。 本 装置中由于机械臂没有关节， 直线伸缩， 大大提高了采摘速度。  Taking the fruit picking as an example, the remote control fruit picker using the above device is generally introduced. First install a video lens (such as a high-fidelity CCD 1.3 M VGA lens) at the root of the arm. All the operations of picking are done by clicking on the target in the video. You can arrange different functions (such as sticking out, recycling, etc.) for the left and right buttons of the mouse, or you can use the keyboard to control. The position of the center laser range finder is as close as possible to the midline of the lens field of view. This laser is at the center of the field of view, so the relationship between the laser point and the screen video is constant regardless of the distance between the target and the lens. This laser represents the track during the extension of the arm and also represents the position reached by the robot after the arm is extended. In addition, a plurality of lasers can be installed, each laser is equally spaced, and a laser scale is formed, which can simultaneously measure the distance between different regions in the field of view and speed up the picking. At present, the automatic ranging technology is very mature. For example, multi-point optical ranging or sonar ranging used in the camera can provide the ranging function for the device. Moreover, ranging is only required in the picking mode and the aiming mode. For the arrangement mode, such as package classification, waste classification, and goods on the shelf, since the distance between the machine and the target is constant, no distance measurement is required. In this device, since the arm has no joints and linearly expands and contracts, the picking speed is greatly improved.

遥控果实摘釆器的操作程序是：首先用鼠标中间键点击电脑屏幕上的中 心激光光点。 软件会显示信息： 中心点已设。 假如使用激光尺， 使用鼠标 右键点击任何两个相邻的激光点， 软件会显示信息： 测距完毕。 假如不使 用激光尺而知使用中心激光（比如在瞄准模式下）， 这个步骤省略。 然后以 鼠标左键点击目标,中心激光会落到目标上。 中心激光落到目标上之后， 可 以按相应的键盘键或将将鼠标放到视频之外后按鼠标右键， 机械臂会自动 伸出， 当机械手手心触及目标后， 机械臂自动停止， 机械手自动抓取后机 械臂自动回收， 复位后机械手自动放开。 The operation procedure of the remote fruit picker is: first click the center laser spot on the computer screen with the middle mouse button. The software will display the message: The center point is already set. If you use a laser ruler, right-click on any two adjacent laser points and the software will display the message: Ranging is complete. If you don’t make it Using a laser to know the center laser (for example, in the aiming mode), this step is omitted. Then click on the target with the left mouse button and the center laser will fall on the target. After the center laser falls on the target, you can press the corresponding keyboard key or put the mouse outside the video and then press the right mouse button. The arm will automatically extend. When the robot's palm touches the target, the robot arm automatically stops, and the robot automatically catches. After the arm is removed, the arm is automatically retracted, and the robot is automatically released after resetting.

另外可以使用任何形式或可以遥控更换的机械手，如以记忆金属为动力 的机械手， 模拟人手抓取动作。 机械手的构造不在本申请范围内 _ή In addition, any type of robot that can be replaced remotely, such as a metal-powered robot, can be used to simulate a human hand gripping action. Robot framework of this application is not configured _ή

另外， 通过改变遥控可移动装置的布局， 可以完成不同的工作。 如将框 架平面平行于地面， 机械手朝向地面， 或将框架平面垂直于地面， 机械臂 7f、平或斜向伸出， 就可完成地面农作物摘取、 高位置产品摘取、 矿石样品 采集与地面清洁等工作。  In addition, different work can be done by changing the layout of the remotely movable device. If the frame plane is parallel to the ground, the robot is facing the ground, or the frame plane is perpendicular to the ground, the arm 7f, flat or obliquely extended, can complete ground crop picking, high-position product picking, ore sample collection and ground Clean and other work.

另外， 劳资双方可以通过网上登录的方式交易。 雇主将希望有人操做 的机器及报酬列在网页， 已经注册的操控者可以在任何时间任何地点登录， 操作等人操作的机器。机器上可安置电子秤或计件器， 以计算操作者酬劳。 资方通过电脑记录支付操作者工资。  In addition, both employers and employees can trade online. The employer will list the machines and rewards that someone is operating on the web page, and the registered controller can log in and operate the machine at any time, anywhere. An electronic scale or piece counter can be placed on the machine to calculate the operator's compensation. The employer records the operator's salary through the computer.

下面根据附图 2至 7来具体介绍臬实采摘器的结构：如附图 2中所示， 果实摘采器 100 由前后以及左右共四个次级摘采装置装置 100a、 100b. 100c, 100d组合而成。果实摘采器 100安装在运载车 101上。运载车 101 以 履带运行， 令压力平均分布于地面， 减少对植物根部的伤害， 果实摘采器 The structure of the tamping picker will be specifically described below with reference to Figures 2 to 7: as shown in Figure 2, the fruit picker 100 has four secondary picking device devices 100a, 100b. 100c, 100d from front to back and left and right. Combined. The fruit picker 100 is mounted on the carrier 101. The carrier 101 runs on the track, distributing the pressure evenly over the ground, reducing damage to the roots of the plant, fruit picker

100可以原地旋转不同的角度。 由于这四个次级装置是以同样的方式运作， 所以此处只以 100a为例解说。 100 can be rotated in different angles. Since the four sub-devices operate in the same way, only 100a is used here as an example.

次级果实摘采装置 100a包括果实装载箱 102， 用于观察果树的照明灯 103m和 103η (见图 3)， 无线数据传输装置 106d (见图 7)和 105x (见图 4)用于双向传输数据， 作为测距的激光发射装置 105f, 105g， 105h， 105i， 1051, 105m, 105j， 105k (见图 4、 5 )， 还包括定位组件 105 (见图 4)， 由用于伸 向果实并回收的机械臂 105η及其末端的抓取器组成。  The secondary fruit picking device 100a includes a fruit loading bin 102 for viewing the illumination lights 103m and 103n of the fruit trees (see Fig. 3), and the wireless data transmission devices 106d (see Fig. 7) and 105x (see Fig. 4) for bidirectional transmission. The data, as the laser emitting devices 105f, 105g, 105h, 105i, 1051, 105m, 105j, 105k (see Figures 4, 5), also includes a positioning assembly 105 (see Figure 4) for extending to the fruit and The recovered robot arm 105η and its gripper at the end are composed.

机械臂 10511安装于可 其在两维空间移动的移动*** （见图 2)， 该移 动***包括水平移动组件 103和垂直移动组件 104，该***的移动坐标根据 控制组件 106f (见图 7 ) 发出的指令决定。  The robot arm 10511 is mounted on a movement system (see FIG. 2) that is movable in a two-dimensional space, the movement system including a horizontal movement assembly 103 and a vertical movement assembly 104, the movement coordinates of which are issued according to the control assembly 106f (see FIG. 7) The decision of the order.

水平移动组件 103包括由金属制成的水平轨道 103b和水平导轨 103q (见 图 3 )，水平导轨 103q引导垂直移动组件 104并支撑垂直移动组件 104及定 位组件 105。移动平台 103h有四个滚轮，图 2中显示的为其中一个滚轮 10'3d， 移动平台 103h通过上述滚轮与水平轨道 103b相连。马达 103ο带动蜗轮或 蜗杆使移动平台 103h (见图 3 )移动， 马达 103ο通过电线与控件组件 106f 连接。 支板 103i 与 103j 上分别支撑辅助镜头 103k、 1031。 The horizontal moving assembly 103 includes a horizontal rail 103b made of metal and a horizontal rail 103q (see FIG. 3), and the horizontal rail 103q guides the vertical moving assembly 104 and supports the vertical moving assembly 104 and Bit component 105. The mobile platform 103h has four rollers, and one of the rollers 10'3d is shown in Fig. 2, and the moving platform 103h is connected to the horizontal rail 103b through the above-mentioned rollers. The motor 103o drives the worm gear or the worm to move the moving platform 103h (see Fig. 3), and the motor 103o is connected to the control assembly 106f by wires. The auxiliary lenses 103k, 1031 are supported on the support plates 103i and 103j, respectively.

如附图 4所示， 垂直移动组件 104装置于移动平台 103h与水平导轨 103q之间。 垂直移动组件 104包括垂直轨道 104a， 移动平台 104b， 电机 104c，电线 104d。移动平台 104b 安装有六个滚轮， 其中一侧的滚轮为 104e, 104f, 104g (见图 5)。移动平台 104b通过上述滚轮与垂直轨道 104a相连接。  As shown in Figure 4, the vertical movement assembly 104 is disposed between the mobile platform 103h and the horizontal rail 103q. The vertical moving assembly 104 includes a vertical rail 104a, a moving platform 104b, a motor 104c, and a wire 104d. The mobile platform 104b is equipped with six rollers, one of which has 104e, 104f, 104g (see Figure 5). The moving platform 104b is coupled to the vertical rail 104a via the above-described rollers.

如附图 4至 7所示， 定位组件 105 安装于垂直移动组件 104上的移动 平台 104b。 定位组件 105包括： 控件 l a; 支撑 105d用于支撑四个用于 测距的激光发射器 105f、 105g、 105j、 105k; 伸缩机械臂 105η; 链接于机 械臂 105η末端的抓取装置 105ο;触动开关 105ρ安装于抓取装置 105ο上 ， 可以触发抓取器上的爪 105q, 105r, 105s， 令其合拢抓取果实； 电锯 105u设 在支撑 105t上， 电锯 105u可用于割断果实柄； 激光 105v和镜头 105 w用 于向远端操控提供视频以供选择和定位。  As shown in Figures 4 through 7, the positioning assembly 105 is mounted to the mobile platform 104b on the vertical moving assembly 104. The positioning assembly 105 includes: a control la; a support 105d for supporting four laser emitters 105f, 105g, 105j, 105k for ranging; a telescopic mechanical arm 105n; a gripping device 105o linked to the end of the robot arm 105n; a touch switch The 105p is mounted on the gripping device 105o, and can trigger the claws 105q, 105r, 105s on the gripper to close the grasping fruit; the electric saw 105u is arranged on the support 105t, and the electric saw 105u can be used to cut the fruit handle; the laser 105v The lens 105w is used to provide video for remote manipulation for selection and positioning.

在实际操作中， 摘采器 100可以由运载车 101运达工作地点， 遥控端 通过视频在屏幕上以鼠标点击目标果实， 水平移动组件 103 和垂直移动组 件 104将同时移动至正对果实的^标位置， 然后机械臂 105η直线伸出， 直 至 105ρ触及所点击的果实后停止，抓取器上的 105q, 105r, 105s合拢抓取果 实， 机械臂 105η回收至果实装载装置 102， 抓取器上的 105q， 105r, 105s放 开， 果实落入箱子 102。 果实可以通过真空吸取器 106和 "之"字形滑道进 入箱子 102。 通过重复这一动作， 可以摘尽所选择果实。  In actual operation, the picker 100 can be transported to the work place by the carrier 101, the remote end clicks the target fruit with the mouse on the screen by video, and the horizontal moving component 103 and the vertical moving component 104 will simultaneously move to the facing fruit ^ The target position, then the robot arm 105n extends straight until the 105ρ touches the clicked fruit, stops, the 105q, 105r, 105s on the gripper closes the grasped fruit, and the robot arm 105η is recovered to the fruit loading device 102, on the gripper The 105q, 105r, 105s are released and the fruit falls into the box 102. The fruit can enter the box 102 through the vacuum extractor 106 and the zigzag slide. By repeating this action, the selected fruit can be extracted.

实施例 2:  Example 2:

将本发明用于（遥距或非遥距）瞄准模式。 发射装置在一个框架内移 动达到精确定位、 遥距精确瞄准的目的， 而且该框架可作水平与垂直转动 以大幅增加瞄准器覆盖面积。 因此只要有互联网的地方就可以控制， 当然 也可以通过无线或有线近距离操控， 将发射装置安置在地面， 令发射装置 免受身体震动影响， 人人都可以通过点击屏幕上的目标， 进行极其精确的 瞄准， 同时也可令操作者隐蔽于视野之外。 另外， 也可以安装多个镜头覆 盖不同方位， 也可以使用望远镜头。 该装置也可以做成便携式。  The invention is used in a (remote or non-remote) aiming mode. The launcher moves within a frame for precise positioning, precise aiming at a distance, and the frame can be rotated horizontally and vertically to substantially increase the area covered by the sight. Therefore, as long as there is an Internet place to control, of course, it can also be controlled by wireless or wired close-range control, the launching device is placed on the ground, so that the launching device is protected from physical vibration, and everyone can click on the target on the screen to perform extremely Precise aiming also allows the operator to be hidden from view. In addition, multiple lens covers can be installed to cover different orientations, and a telescope head can also be used. The device can also be made portable.

下面以遥距瞄准为例，从总体上介绍采用遥控可移动装置的遥控瞄准 射击器。 如附图 8所示， 在立方体框架内， 设有两个纵向移动组件 （可以 上下左右前后各有一个或多个）。每个纵向移动组件 6包括基座 62，激光尺 61、 发射装置 63、 视像镜头 64和中心激光 65。 另外， 框架内设有 Y轨道 2和 X轨道 1 ; 纵向移动组件 6设置在 Y轨道上。 第二马达 72及纵向驱动 部件 21 (可以是螺杆或皮带齿轮等)驱动纵向移动组件 6沿 Y轨道 2上下 移动； 第一马达 71及横向驱动部件 11驱动 Y轨道沿 X轨道左右移动； 另 外还设有： 六个框架辅助镜头 51 ; 控件盒 7; 可以令整个***移动或转动 的轮子 8; 可调整整个***的俯仰角度的俯仰器 12。 Taking the remote aiming as an example, the remote control aiming of the remotely movable device is introduced as a whole. Shooter. As shown in Fig. 8, in the cube frame, there are two longitudinally movable components (one or more of up, down, left, and right). Each of the longitudinal moving assemblies 6 includes a base 62, a laser scale 61, a launching device 63, a visual lens 64, and a center laser 65. In addition, a Y track 2 and an X track 1 are provided in the frame; the longitudinal moving unit 6 is disposed on the Y track. The second motor 72 and the longitudinal driving member 21 (which may be a screw or a belt gear or the like) drive the longitudinal moving assembly 6 to move up and down along the Y rail 2; the first motor 71 and the lateral driving member 11 drive the Y rail to move left and right along the X rail; It is provided with: six frame auxiliary lenses 51; a control box 7; wheels 8 which can move or rotate the entire system; and a pitcher 12 which can adjust the pitch angle of the entire system.

整个工作***可以自行移动， 即移动一个框架的距离， 停止一定时间， 再移动一个框架的距离； 也可以遥控移动； 也可以安装在固定轨道上被动 移动； 或由管理员等控制移动。 而操作者仅能控制发射装置移动而执行任 务， 无权移动框架位置。 这样管理员可以同时控制多台机器的位置， 实行 统一管理。  The entire working system can move by itself, that is, the distance of moving a frame, stopping for a certain time, and then moving the distance of a frame; it can also be moved remotely; it can also be installed passively on a fixed track; or controlled by an administrator or the like. The operator can only control the movement of the launcher to perform the task and has no right to move the frame position. In this way, the administrator can control the position of multiple machines at the same time and implement unified management.

下面具体介绍瞄准射击*** 200的具体结构。如附图 9至 11所示， 瞄 准射击*** 200包括两次级组合 200a与 200b (见图 9、 10)， 连接于控件 盒 205， 装载于运载车 204上， 且整个瞄准射击*** 200可以相对于运载 车 204水平 360度转动。 次级组合 200a与 200b运作方式相同， 此处只描 述 200a  The specific structure of the aiming firing system 200 will be specifically described below. As shown in Figures 9 through 11, the aiming firing system 200 includes two stages of combinations 200a and 200b (see Figures 9, 10) coupled to the control box 205 for loading on the carrier 204, and the entire aiming firing system 200 can be relatively The vehicle 204 is rotated 360 degrees horizontally. Sub-combinations 200a and 200b operate in the same way, only 200a is described here.

瞄准射击***次级组合 200a包括中心镜头 203e， 辅助镜头 201i, 201j (见图 9、 10、 11 )， 控件 201f内的无线通讯， 激光测距器 203c， 发射装置 203b  The aiming and shooting system sub-combination 200a includes a center lens 203e, an auxiliary lens 201i, 201j (see Figs. 9, 10, 11), wireless communication in the control 201f, a laser range finder 203c, and a transmitting device 203b.

发射装置 203b 可以在两维空间内移动， 移动装置包括水平移动组件 201 , 垂直移动组件 202， 移动坐标由控件 201f控制。 另外， 瞄准射击装置 200俯仰角度的俯仰器 206，可以令射击装置瞄准超过装置本身高度的目标。  The launching device 203b is movable in a two-dimensional space, the mobile device includes a horizontal moving component 201, a vertical moving component 202, and the moving coordinates are controlled by the control 201f. In addition, the pitcher 206, which is aimed at the pitching angle of the shooting device 200, can aim the shooting device at a target that exceeds the height of the device itself.

水平移动组件包括水平轨道 201c和水平导轨 201m，可以由金属制造； 水平导轨 201m引导垂直移动组件 202并支撑 202与发射装置 203b。 移动 平台 201d上面装有第一马达 201e，马达可带动蜗轮或蜗杆传动部件；移动 平台 201d安装在水平轨道 201c上。 支撑板 201g 和 201h用于支撑辅助镜 头 201i、 201j和射灯 201k、 2011。  The horizontal moving assembly includes a horizontal rail 201c and a horizontal rail 201m, which may be made of metal; the horizontal rail 201m guides the vertical moving assembly 202 and supports 202 and the transmitting device 203b. The mobile platform 201d is provided with a first motor 201e on which the motor can drive the worm gear or the worm drive member; and the mobile platform 201d is mounted on the horizontal rail 201c. The support plates 201g and 201h are for supporting the auxiliary lens heads 201i, 201j and the spotlights 201k, 2011.

如图 11所示，垂直移动组件 202安装于移动平台 201d和水平导轨 201m 之间。 垂直移动组件 202 包括垂直轨道 202a， 移动平台 202b， 第二马达 202c。 发射装置 203b安装于垂直移动组件 202， 用于发射子弹 203f。 As shown in FIG. 11, the vertical movement assembly 202 is mounted between the mobile platform 201d and the horizontal rail 201m. The vertical movement assembly 202 includes a vertical rail 202a, a mobile platform 202b, and a second motor 202c. The launching device 203b is mounted to the vertical moving assembly 202 for launching the bullet 203f.

遥控端操作者根据镜头所提供视频选择目标， 用鼠标点击视频中目标， 整个装置、 水平及垂直移动组件会自动移动到与目标相应坐标并发射。  The remote operator selects the target according to the video provided by the lens, and clicks the target in the video with the mouse. The entire device, horizontal and vertical moving components will automatically move to the coordinates corresponding to the target and transmit.

实施例 3:  Example 3:

将本发明用于排布模式。 此模式用于超市商品上架、 废品分类回收、 不规则邮包分选、 机场包裹分选、 实验室样品分类等等所有机器自动识别 难以胜任的工作。在排布模式下， 操控者通过视像镜头遥距观察目标物件， 然后决定将其放到何处预定位置。 当代表预定位置的键被按或屏幕按钮被 点击后， 机械手臂必然将此物件抓取放到被选定的预订位置 （如箱子或货 架）。 同时可以将视像镜头固走， 令遥距操控者只可观察目标物件， 而看不 到物件周围环境， 也不知道物件的下一处理步骤。 另外， 也可以安装多个 镜头， 同时观察物件的各个方面 （承载物件之平台以透明材料制造）。  The invention is used in an arrangement mode. This mode is used for automatic identification of supermarket merchandise shelves, waste sorting and recycling, irregular parcel sorting, airport parcel sorting, laboratory sample sorting, etc. In the arrangement mode, the controller observes the target object remotely through the video lens and then decides where to place it in the predetermined position. When the button representing the predetermined position is pressed or the on-screen button is clicked, the robot will necessarily grab the object and place it in the selected reservation location (e.g., box or pallet). At the same time, the video lens can be removed, so that the remote controller can only observe the target object, but can not see the surrounding environment of the object, and does not know the next processing step of the object. In addition, multiple lenses can be mounted while observing all aspects of the object (the platform on which the object is carried is made of a transparent material).

下面以邮件分拣为例，来介绍采用遥控可移动装置的遥控邮包分类器。 如附图 12所示， 该装置包括框架 3， 可横向及纵向移动的机械臂 4， 机械 臂前端的吸盘 5， 邮包 14放在传送带 10， 传送带附近设有视像镜头 51， 吸 盘 5正对着需要抓取的邮包 14。 操作者在操控端电脑上看到工作端视频。 当操作者看清操作界面中的视频所显示包裹地址后， 点击界面中有相应街 道名称的按钮， 或按键盘上相应的键， 操作即告完成， 视频中将出现另一 包裹。 每个按钮设定 3个数据， 分别代表机械臂的 x, y，z的坐标， 包裹 /货 品在固定地点被机械臂 4通过抓取装置抓取或吸盘 5吸起， 准确地放到邮 件袋子 13或货架上。 如果设置多个镜头， 则可同时看到包裹的各个面。 而 操控者只可以看到视频和按钮， 对工作端控制电机的电脑没有操控权。 目 前自动化信件分派***有一个程序， 就是 '面向上' 的程序， 将信件的地 址面翻到面向镜头一面， 使自动识别程序可以识别地址。 本发明可以通过 安装多个镜头和透明平台， 可以同时看到包裹的各个面， 免除了翻动的程 序， 加快分拣速度。  The following is an example of mail sorting to introduce a remote parcel sorter using a remotely movable device. As shown in Fig. 12, the device comprises a frame 3, a mechanical arm 4 which can be moved laterally and longitudinally, a suction cup 5 at the front end of the robot arm, a mailer 14 placed on the conveyor belt 10, and a video lens 51 is provided near the conveyor belt, and the suction cup 5 is directly opposite. The parcel 14 that needs to be crawled. The operator sees the working video on the console computer. When the operator sees the package address displayed in the video in the operation interface, click the button with the corresponding street name in the interface, or press the corresponding button on the keyboard, the operation will be completed, and another package will appear in the video. Each button sets 3 data, which respectively represent the coordinates of x, y, and z of the robot arm. The package/goods are picked up by the robot arm 4 through the gripping device or the suction cup 5 at a fixed place, and accurately placed in the mail bag. 13 or on the shelf. If you set multiple lenses, you can see each side of the package at the same time. The controller can only see the video and buttons, and has no control over the computer that controls the motor at the working end. The current automated mail distribution system has a program that is a 'face-up' program that flips the address side of the letter to the lens-facing side so that the auto-recognition program can recognize the address. The invention can install multiple lenses and a transparent platform, and can simultaneously view the various faces of the package, eliminating the flipping process and speeding up the sorting speed.

以上描述是该发明某些应用的样例， 并非该发明仅有的应用， 具体设计 制造可以形式多样。  The above description is an example of some applications of the invention, and is not the only application of the invention, and the specific design and manufacture may take various forms.

Claims

权 利 要 求 书 Claim

1、 一种遥控可移动装置， 其特征在于： 包括一个具有 X轨道及 Y轨道的 平面框架和沿 z轴方向设置的定位组件， 定位组件上设有用以区别目标的 视像镜头和用于测量目标距离的测距仪， 所述视像镜头和测距仪的纵轴线 与 Y平面垂直； 所述定位组件连接在 Y轨道上， Y轨道由第一马达驱动 沿 X轨道移动， 定位组件由第二马达驱动沿 Y轨道运动， 第一马达设置在 平面框架上， 第二马达设置在 Y轨道上， 定位组件的 Z轴方向运动由第三 马达驱动， 所有马达由信息处理器所发出的控制指令来工作。  A remote control movable device, comprising: a plane frame having an X track and a Y track; and a positioning component disposed along the z-axis direction, wherein the positioning component is provided with a video lens for distinguishing the target and for measuring a distance measuring device of the target distance, the longitudinal axis of the visual lens and the range finder is perpendicular to the Y plane; the positioning component is connected to the Y track, and the Y track is driven by the first motor to move along the X track, and the positioning component is The two motor drives move along the Y track, the first motor is disposed on the plane frame, the second motor is disposed on the Y track, and the Z-axis direction movement of the positioning assembly is driven by the third motor, and all motors are controlled by the information processor. Come to work.

2、 根 S权利要求 1所述的遥控可移动装置， 其特征在于： 所述平面框 架装设在运载装置上， 所述运载装置为传送带或带有动力或不带动力的滚 动轮。  2. The remotely movable device of claim 1 wherein: said planar frame is mounted on a carrier, said carrier being a conveyor belt or a powered or unpowered rolling wheel.

3、 根据权利要求 1所述的遥控可移动装置， 其特征在于： 所述测距仪 为一个或多个激光测距仪， 用于测量目标的距离。  3. The remote control movable device according to claim 1, wherein: the range finder is one or more laser range finder for measuring a distance of a target.

4、 一种采用权利要求 1 所述瞄准装置的遥控可移动果实采摘器， 其特 征在于所述果实采摘器包括：  4. A remotely movable fruit picker using the aiming device of claim 1 wherein said fruit picker comprises:

( a) 与采摘器联通的无线网络， 用以发送及接收数据；  (a) a wireless network connected to the picker for transmitting and receiving data;

(b ) —个作为定位组件可伸縮至果实的机械臂；  (b) a robotic arm that is telescopic to the fruit as a positioning component;

( c ) 一个或多个在机械臂末端可抓取果实的机械手；  (c) one or more robots capable of grasping the fruit at the end of the robot arm;

(d ) 令机械臂在三维空间移动的遥控可移动装置， 该装置根据接收到 的指令移动；  (d) a remotely movable device that moves the robot arm in three dimensions, the device moving according to the received command;

( e ) 由操作者遥距操作的信息处理器， 用以遥控可移动装置。  (e) An information processor remotely operated by the operator for remotely controlling the mobile device.

5、 根据权利要求 4所述的果实采摘器， 其特征在于： 所述发送及接收 数据的无线网络为互联网； 所述信息处理器为电脑。  The fruit picker according to claim 4, wherein: said wireless network that transmits and receives data is the Internet; and said information processor is a computer.

6、 根据权利要求 4所述的果实采摘器， 其特征在于： 所述机械臂为天 线式， 机械手为可开合的抓取器或切割器或电击杀虫器。  6. The fruit picker according to claim 4, wherein: the robot arm is an antenna type, and the robot is a collapsible gripper or cutter or an electric shock insecticide.

7、 根据权利要求 6所述的果实采摘器， 其特征在于： 所述机械手上设 有触动开关和 /或测距仪和 /或镜头。  7. Fruit picker according to claim 6, characterized in that the robot hand is provided with a touch switch and / or a range finder and / or a lens.

8、 一种采用权利要求 1 所述瞄准装置的遥控可移动瞄准射击器： 其特 征在于所述瞄准射击器包括： (a) 与瞄准射击器联通的无线网络， 用以发送及接收数据； 8. A remotely movable movable sighting device employing the aiming device of claim 1 wherein: said aiming shooter comprises: (a) a wireless network connected to the aiming shooter for transmitting and receiving data;

(b) 令发射器在二维空间移动的遥控可移动装置， 其移动距离根据 所接收的数据决定。  (b) A remotely movable device that moves the transmitter in two dimensions, the distance of which is determined based on the received data.

(c) 控制射击装置俯仰的装置， 其角度根据所接收的数据决定。  (c) A device that controls the pitch of the shooting device, the angle of which is determined based on the received data.

(d) 由操作者遥距操作的信息处理器， 用以遥控可移动装置。  (d) An information processor remotely operated by the operator for remotely controlling the mobile device.

9、 根据权利要求 8所述的瞄准射击器， 其特征在于： 所述视像镜头及 测距仪为一个或多个， 使操作者可以拣选目标。  9. The aiming shooter according to claim 8, wherein: the video lens and the range finder are one or more, so that an operator can select a target.

10、 一种采用权利要求 1所述瞄准装置的遥控可移动货架装填装置： 其 特征在于所述货¾装填装置包括：  10. A remotely movable, portable shelf loading apparatus using the sighting device of claim 1 wherein: said cargo loading device comprises:

a 与装填装置联通的无线网络， 用以发送及接收数据；  a wireless network in communication with the loading device for transmitting and receiving data;

b 一个作为定位组件可伸縮至货架的机械臂；  b a robotic arm that is telescopic to the shelf as a positioning assembly;

c 一个或多个在机械臂末端可抓取货物的机械手；  c one or more robots that can pick up the cargo at the end of the robot arm;

d 令机械臂在三维空间移动的遥控可移动装置， 该装置根据接 e 由操作者遥距操作的信息处理器， 用以遥控可移动装置。  d A remotely movable device that moves the robot arm in three dimensions, the device is used to remotely control the movable device according to an information processor remotely operated by the operator.

11、 根据权利要求 10所述的货架装填装置， 其特征在于： 所述视像镜 头为一组， 使操作者可以拣选货架。  11. A shelf loading apparatus according to claim 10, wherein: said video camera heads are a group that allows an operator to pick a shelf.

12、 根据权利要求 10所述的货架装填装置， 其特征在于： 所述机械臂 是直线伸縮的天线式， 伸长后可以达到货架所在距离。  12. The shelf loading apparatus according to claim 10, wherein: the mechanical arm is a linear telescopic antenna type, and can reach a distance of the shelf after being extended.

13、 一种采用权利要求 1 所述瞄准装置的遥控可移动垒砖器： 其特征 在于所述垒砖器包括：  13. A remotely movable barrier brick device using the sighting device of claim 1 wherein: said barrier brick comprises:

(a) 与垒砖器联通的无线网络， 用以发送及接收数据；  (a) a wireless network connected to the bricklayer for transmitting and receiving data;

(b) 作为定位组件可伸缩至砖头和安放砖头地点的机械臂；  (b) as a positioning assembly that can be telescoped to the brick and the arm of the brick location;

(c) 连接在机械臂上的一个或多个抓取装置；  (c) one or more gripping devices attached to the robot arm;

(d) —个使机械臂在二维空间移动的可移动瞄准装置， 其移动距离根 据所接收的数据决定；  (d) a movable sighting device that moves the robot arm in two dimensions, the distance of which is determined based on the received data;

(e) 由操作者遥距操作的信息处理器， 用以遥控可移动装置。  (e) An information processor remotely operated by the operator for remotely controlling the mobile device.

14、 根据权利要求 13所述的遥控可移动垒砖器： 其特征在于所述垒砖器 安装在运输工具上， 或使用履带行走，  14. The remotely movable movable barrier according to claim 13, wherein the barrier is mounted on a vehicle or walks using a crawler.

15、根据权利要求 13所述的遥控可移动垒砖器： 其特征在于所述垒砖器 包括装载砖头的器具。 15. The remotely movable barrier brick according to claim 13 wherein: said barrier brick Includes appliances for loading bricks.

16、 一种采用权利要求 1所述瞄准装置的遥控邮包分类器： 其特征在于 所述邮包分类器包括：  16. A remote-controlled parcel sorter using the aiming device of claim 1 wherein: said parcel sorter comprises:

( a) 与邮包分类器联通的无线网络， 用以发送及接收数据；  (a) a wireless network connected to the parcel classifier for transmitting and receiving data;

(b ) —个作为定位组件可伸縮至邮包和邮包分类区的机械臂；  (b) a robotic arm that is telescopic to the parcel and parcel sorting area as a positioning component;

(c ) 一个或多个装设在机械臂前端的抓取装置。  (c) One or more gripping devices mounted on the front end of the arm.

( d) 一个使机械臂在二维空间移动的遥控可移动装置， 其移动距离根 据所接收的数据决定；  (d) a remotely movable device that moves the robot arm in a two-dimensional space, the distance of which is determined based on the received data;

(e) 由操作者遥距操作的信息处 ΪΦ.器， 用以遥控可移动装置。  (e) The information operated by the operator remotely Ϊ Φ., used to remotely control the movable device.

17、 根据权利要求 16所述的遥控邮包分类器： 其特征在于： 多个视像 镜头用以识别邮包上的地址。  17. The remote packet classifier of claim 16 wherein: a plurality of video lenses are used to identify an address on the postal packet.

18、 根据权利要求 17所述的遥控邮包分类器： 其特征在于： 所述邮包分 类器可安装在传送带旁。  18. The remote packet sorter of claim 17 wherein: said parcel sorter is mountable adjacent to the conveyor.

19、 根据权利要求 ] 8所述的遥控邮包分类器： 其特征在于： 所述传送带 设有透明的平台， 至少一个视像镜头设置在透明平台下方并朝向平台。  19. The remote packet classification device according to claim 8, wherein: the conveyor belt is provided with a transparent platform, and at least one of the video lenses is disposed below the transparent platform and faces the platform.

20、 根据权利要求 16所述的遥控邮包分类器： 其特征在于： 所述机械臂 是直线伸縮的天线式， 伸长后可以达到邮包所在与所安放的距离。  20. The remote-controlled parcel sorter according to claim 16, wherein: the mechanical arm is a linear telescopic antenna type, and the distance between the postal packet and the installed position can be reached after the extension.