CN205058045U - Robot with vision servo - Google Patents
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- CN205058045U CN205058045U CN201520833592.5U CN201520833592U CN205058045U CN 205058045 U CN205058045 U CN 205058045U CN 201520833592 U CN201520833592 U CN 201520833592U CN 205058045 U CN205058045 U CN 205058045U
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Abstract
The utility model relates to a robot field, concretely relates to robot with vision servo, vision servo include servo moving system, vision sensing system and servo drive system, vision sensing system is including two cameras being connected with the industrial computer respectively, a place ahead of installing at the head cavity for gather the required environmental information on a large scale of the location navigation task of accomplishing: another is installed on the wrist joint for gather the completion article and snatch the required environmental information of task, servo drive system is the closed loop control system that comprises driver, servo motor and encoder, the driver accept to come from the instruction of industrial computer with control servo motor's motion, read encoder information, revise the parameter setting, servo motor turns into voltage signal that torque and rotational speed moves with the drive telecontrol equipment or the arm picks article. This robot can obtain the exact position of waiting to grab article, and the accurate article that pick have reduced the pick fault rate of the arm of robot to article.
Description
Technical Field
The utility model relates to a robot field, concretely relates to robot with vision servo.
Background
With the development of technology, the household robot has moved into more and more households, becoming an indispensable device for many households. Of course, there are many kinds of home robots, including home accompanying robots, entertainment robots, etc., where the home accompanying robots are mainly applied to home services, and the main service objects are the elderly or disabled in the home, and the robots are controlled to provide some home services for the service objects, such as taking and placing of an object, delivery of an article, remote voice interaction, assisting of the service objects, etc., according to the result of video monitoring, which not only reduces the burden of the guardian, but also further improves the quality of care for the elderly or disabled, etc.
However, most of the existing robot vision sensing systems include a camera mounted in front of the robot head cavity for collecting a large range of environmental information required for completing the positioning and navigation tasks. The industrial personal computer of the robot roughly judges the position of the article according to the large-scale environment information, controls the moving device to move to the position of the article to be taken, grabs the article through an arm, and then moves to the position of the service object to take the grabbed article to a user. In the above process, since only one camera is provided, the acquired position information of the article is environment information in a large range, and the accurate position of the article cannot be detected, the article cannot be accurately grabbed by the arm, and the problem of grabbing errors is easily caused.
Based on the above description, there is a need for a robot with a vision servo system to solve the problem that in the prior art, the robot cannot detect the precise position of an object, and therefore, an arm cannot accurately grab the object, and a grabbing error is easy to occur.
SUMMERY OF THE UTILITY MODEL
The defect that exists to prior art, one of the purposes of the utility model is to provide a robot with vision servo, this robot can acquire the accurate position of waiting to grab article, and the accurate article that snatchs has reduced the arm of robot and has snatched the fault rate to article.
The utility model adopts the technical scheme as follows:
a robot with a vision servo, the vision servo comprising:
the servo motion system comprises a robot body and a mechanical arm, wherein a robot head cavity is arranged at the upper end of the robot body, the mechanical arm is arranged on the robot body, and a motion device is arranged at the lower end of the robot body;
the vision sensing system comprises two cameras, wherein the two cameras are respectively connected with an industrial personal computer, one of the cameras is arranged in front of a robot head cavity and used for collecting large-scale environmental information required by completing a positioning and navigation task: the other camera is arranged on a wrist joint of the mechanical arm and used for collecting environmental information required by completing an article grabbing task;
the servo driving system is a closed-loop control system consisting of a driver, a servo motor and an encoder, the driver receives an instruction from the industrial personal computer to control the movement of the servo motor, read the information of the encoder and modify parameter settings, and the servo motor converts a voltage signal into torque and rotating speed to drive the movement device to move or the mechanical arm to grab an article.
Preferably, the number of the mechanical arms is 2, and the 2 mechanical arms are respectively arranged on the left side and the right side of the robot body and are in a symmetrical distribution state.
Preferably, the movement device comprises two driving wheels and a universal wheel;
the universal wheel is arranged right in front of the lower end of the robot body, has two degrees of freedom, and can freely rotate in the vertical direction and the horizontal direction;
the two driving wheels are symmetrically arranged on two sides behind the universal wheel on the center line of the lower end of the robot body, and the universal wheel is matched with the two driving wheels to form a three-point supporting structure;
the two driving wheels are controlled by two servo motors through two shafts, a rotary coupling and a speed reduction device respectively, the industrial personal computer changes the position of the instantaneous center of the robot motion by controlling and proportioning the rotating speed and the steering of the two driving wheels, and the robot rotates around different instantaneous points to realize the rotary motion of different turning radiuses.
Preferably, the mechanical arm comprises a first arm, a second arm and a terminal clamp, one end of the first arm is movably connected with the robot body through a shoulder joint, the other end of the first arm is movably connected with one end of the second arm through an elbow joint, and the other end of the second arm is movably connected with the terminal clamp through a wrist joint;
the mechanical arm has four degrees of freedom, including parallel movement of the shoulder joint, rotation of the elbow joint and rotation of the wrist joint around the axis of the mechanical arm.
Preferably, the terminal gripper comprises two openable gripping claws, and the two gripping claws can open and close to clamp, place and release a gripped object.
An end effector of a robot is a mechanism that is mounted on a mobile device or robot arm so that it can pick up an object and has the functions of handling, transferring, holding, placing, and releasing the object to an accurate discrete position.
Preferably, the shoulder joint, the elbow joint and the wrist joint are respectively provided with corresponding direct current servo motors and are provided with corresponding encoders; and a steering engine is adopted to control the opening and closing of the two clamping claws.
Preferably, the industrial personal computer is connected with the human-computer interaction module and the database, given object images are stored in the database, a user sends object information to be captured to the industrial personal computer through the human-computer interaction module, the industrial personal computer finds out corresponding object images from the database according to the received object information to be captured, meanwhile, the visual sensing system transmits the environment information to the industrial personal computer, the industrial personal computer matches the environment information with the corresponding object images, and if the matching is successful, the servo driving system is controlled to drive the motion device to move and the mechanical arm to capture the objects.
Preferably, the robot further includes:
the robot comprises eight ultrasonic sensors, a main controller and a main controller, wherein the number of the ultrasonic sensors is three, the number of the ultrasonic sensors is two at the left side and the right side, the number of the ultrasonic sensors is one at the rear side, the ultrasonic sensors are respectively connected with the industrial personal computer through serial ports and are used for measuring whether obstacles exist around the robot and the distance between the obstacles and the ultrasonic sensors, and the measuring range is 100 cm;
the infrared sensor is arranged in the robot head cavity, is connected with the industrial personal computer through a CAN (controller area network) bus and is used for measuring whether an obstacle exists in front of the robot head cavity or not;
the odometer is used for calculating the relative pose of the robot body at the current moment according to the approximate circle model by detecting the rotating radians of the servo motors of the two driving wheels in each period;
the system comprises seven photoelectric sensors, a controller and a display, wherein the number of the photoelectric sensors is three in front, one is arranged on the left side and the right side, the number of the photoelectric sensors is two in the rear, and the seven photoelectric sensors are respectively connected with an industrial personal computer through a CAN bus and used for measuring whether an obstacle exists in a preset distance of the robot;
the temperature and humidity sensor is arranged in the head cavity of the robot, is connected with the industrial personal computer through the CAN bus and is used for measuring the temperature and the humidity of the environment;
and the battery electric quantity sensor is arranged in the head cavity of the robot, is connected with the industrial personal computer through the CAN bus and is used for measuring the battery electric quantity of the robot.
Preferably, the human-computer interaction module comprises a voice interaction device and/or a touch interaction device;
a user sends a task to the robot by clicking a touch screen of the touch interaction device, simultaneously displays information feedback of the robot and the current environment through the touch screen, inputs target information into a target through the touch screen, and performs system setting; and/or
And the user sends a control instruction to the industrial personal computer through the voice interaction device to realize a remote conversation function.
Preferably, each camera is given a different IP address.
The utility model provides a following advantage has:
because the vision servo system that this application provided includes servo motion system, vision sensing system and servo actuating system, wherein, vision sensing system includes two cameras, two the camera is connected with the industrial computer respectively, and one of them camera is installed the place ahead in robot head chamber for gather and accomplish the required environmental information on a large scale of location navigation task: the other camera is arranged on a wrist joint of the mechanical arm and used for collecting environmental information required by completing an article grabbing task; the servo driving system is a closed-loop control system consisting of a driver, a servo motor and an encoder, the driver receives instructions from the industrial personal computer to control the movement of the servo motor, read the information of the encoder and modify parameter settings, and the servo motor converts voltage signals into torque and rotating speed to drive the movement device to move or the mechanical arm to grab articles. Therefore, the robot can acquire the accurate position of the object to be grabbed, accurately grab the object and reduce the grabbing error rate of the object by the arms of the robot.
Drawings
Fig. 1 is a schematic structural diagram of a robot with a vision servo system provided by the present invention;
fig. 2 is a schematic structural diagram of the mechanical arm provided by the present invention.
Wherein,
1-a robot body; 2-robot head cavity; 3, a mechanical arm; 4-a motion device; 5-a camera;
31-shoulder joint; 32-a first arm; 33-elbow joint; 34-a second arm; 35-wrist joint; 36-end gripper.
Detailed Description
The present invention is described in detail below with reference to the accompanying drawings:
the application provides a robot with vision servo, vision servo includes servo motion system, vision sensing system and servo actuating system.
As shown in fig. 1, the servo motion system includes a robot body 1 and a robot arm, a robot head cavity 2 is provided at the upper end of the robot body 1, the robot arm 3 is provided on the robot body 1, and a motion device 4 is provided at the lower end of the robot body 1.
In order to realize the functions of article grabbing, positioning navigation, path planning, environment monitoring and the like, the sensors installed on the robot comprise a camera 5, an ultrasonic sensor, an infrared sensor, a odometer, a photoelectric sensor, a temperature and humidity sensor and a battery electric quantity sensor.
Wherein, camera 5 belongs to vision sensing system, and vision sensing system includes two cameras 5, two camera 5 is connected with the industrial computer respectively, and one of them camera 5 is installed the place ahead in robot head chamber 2 for gather and accomplish the required environmental information on a large scale of location navigation task: another camera 5 is mounted on the wrist joint 35 of the robot arm 3 for collecting environmental information required for completing the task of gripping an article. In this embodiment, as a preferred scheme, the two cameras 5 are respectively connected with an industrial personal computer through USB interfaces.
The servo driving system is a closed-loop control system consisting of a driver, a servo motor and an encoder, the driver receives instructions from the industrial personal computer to control the movement of the servo motor, read the information of the encoder and modify parameter settings, and the servo motor converts voltage signals into torque and rotating speed to drive the movement device 4 to move or the mechanical arm 3 to grab articles.
For the old or the disabled, the operation of fetching the object may not be completed autonomously due to inconvenient actions. The remote client controls the robot to capture the given object image stored in the database and deliver the captured image to the hand of the service object. And the robot can acquire the accurate position of the object to be grabbed, accurately grab the object and reduce the grabbing error rate of the robot to the object by the mechanical arm.
In this embodiment, the industrial personal computer has the advantages of high operation speed, large storage capacity and flexible application, and mainly completes control tasks such as a human-computer interface, system management, visual servo, path planning, navigation positioning, mechanical arm track interpolation and the like.
In this embodiment, the servo driving system is a dc servo driving system, and the servo motor is a dc servo motor. The servo driving system is a closed-loop control system consisting of a driver, a direct-current servo motor and a photoelectric encoder. The driver CAN receive instructions from the industrial personal computer through the CAN bus to complete tasks of controlling the motion of the direct current servo motor, reading encoder information, modifying parameter setting and the like. The DC servo motor converts the voltage signal into torque and rotation speed to drive the controlled object, so as to obtain high-precision speed and position control. The robot has seven direct current servo motors which are respectively used for driving the mechanical arm 3, the movement device 4 positioned at the lower end of the robot body 1 and the robot head cavity 2 to move.
In this embodiment, as a preferred scheme, the robot body 1 is provided with two cameras 5 connected with the industrial personal computer through a USB interface, and one camera is installed right in front of the robot head cavity 2 and used for observing large-scale environmental information and completing tasks such as positioning and navigation: and the other is mounted on the wrist joint 35 of the robot arm 3 for recognizing a target having a small size to perform an object grasping task.
In this embodiment, as a preferable scheme, the number of the robot arms 3 is 2, and the 2 robot arms 3 are respectively disposed at the left and right sides of the robot body 1 and are symmetrically distributed.
In the present embodiment, the motion device 4 preferably includes two driving wheels and a universal wheel.
The universal wheel is arranged right in front of the lower end of the robot body 1, has two degrees of freedom, and can freely rotate in the vertical direction and the horizontal direction.
The two driving wheels are arranged on two sides behind the universal wheel symmetrically to the central line of the lower end of the robot body 1, and the universal wheel is matched with the two driving wheels to form a three-point supporting structure.
The two driving wheels are controlled by two servo motors through two shafts, a rotary coupling and a speed reduction device respectively, the industrial personal computer changes the position of the instantaneous center of the robot motion by controlling and proportioning the rotating speed and the steering of the two driving wheels, and the robot rotates around different instantaneous points to realize the rotary motion of different turning radiuses.
In this embodiment, as shown in fig. 2, the robot arm 3 preferably includes a first arm 32, a second arm 34, and a terminal holder 36, one end of the first arm 32 is movably connected to the robot body 1 through a shoulder joint 31, the other end is movably connected to one end of the second arm 34 through an elbow joint 33, and the other end of the second arm 34 is movably connected to the terminal holder 36 through a wrist joint 35.
The robot arm 3 has four degrees of freedom including parallel translation of the shoulder joint 31, rotation of the elbow joint 33 and rotation of the wrist joint 35 about the robot arm axis.
The end effector 36 is a mechanism that is mounted on the robot arm 3 of the robot so that it can pick up an object and has the functions of handling, transferring, holding, placing, and releasing the object to an accurate discrete position.
In this embodiment, the terminal gripper 36 preferably includes two openable gripping claws, and the two gripping claws open and close to each other to grip, place and release the gripped object.
In this embodiment, as a preferable scheme, the shoulder joint 31, the elbow joint 33 and the wrist joint 35 are respectively provided with corresponding dc servo motors and are provided with corresponding encoders. In the embodiment, the two clamping claws are controlled to open and close by adopting a steering engine. The steering engine has the advantages of relatively small volume, convenience in installation and control and low cost. The mechanical requirements for target object grabbing in the robot vision servo system can be met through the equipment.
In this embodiment, as a preferred scheme, the industrial personal computer is connected to the human-computer interaction module and the database, a given article image is stored in the database, a user sends information of an article to be grabbed to the industrial personal computer through the human-computer interaction module, the industrial personal computer finds out a corresponding article image from the database according to the received information of the article to be grabbed, meanwhile, the visual sensing system transmits the environment information to the industrial personal computer, the industrial personal computer matches the environment information with the corresponding article image, and if the matching is successful, the servo driving system is controlled to drive the motion device to move and the mechanical arm to grab the article to take the article.
In this embodiment, as a preferable aspect, the robot further includes:
eight ultrasonic sensor, wherein the robot the place ahead is provided with three, and the left and right sides is respectively two, and one in the rear, ultrasonic sensor respectively through the serial ports with the industrial computer is connected for whether there is the barrier around the measurement robot and this barrier to ultrasonic sensor's distance, measuring range is 100 em.
And the infrared sensor is arranged in the robot head cavity 2, is connected with the industrial personal computer through a CAN (controller area network) bus and is used for measuring whether an obstacle exists in front of the robot head cavity 2.
And the odometer is used for calculating the relative pose of the robot body at the current moment according to the approximate circle model by detecting the rotating radians of the servo motors of the two driving wheels in each period.
The robot comprises seven photoelectric sensors, wherein the number of the photoelectric sensors is three, the number of the photoelectric sensors is one on the left side and the right side, the number of the photoelectric sensors is two on the rear side, and the seven photoelectric sensors are respectively connected with an industrial personal computer through a CAN bus and used for measuring whether an obstacle exists in a preset distance of the robot. The preset distance is preferably 25cm, but not limited to 25 cm.
And the temperature and humidity sensor is arranged in the robot head cavity 2, is connected with the industrial personal computer through a CAN (controller area network) bus and is used for measuring the temperature and the humidity of the environment.
And the battery electric quantity sensor is arranged in the robot head cavity 2, is connected with the industrial personal computer through a CAN (controller area network) bus and is used for measuring the battery electric quantity of the robot.
In this embodiment, as a preferable scheme, the human-computer interaction module includes a voice interaction device or a touch interaction device, or the human-computer interaction module includes both the voice interaction device and the touch interaction device.
A user can give a task to the robot by clicking a touch screen of the touch interaction device, simultaneously, information feedback of the robot and the current environment is displayed through the touch screen, target information is input into a target through the touch screen, and system setting is carried out.
The user can judge the requirement of the service object through the information transmitted by the touch screen, and can also utilize a microphone carried by the voice interaction device to send a control instruction to the industrial personal computer, so that the robot is controlled to be close to the service object remotely, the remote conversation function is realized, and other requirements of the service object are further known.
In this embodiment, through the two cameras 5, the robot knows the condition of the service object at the first time according to the information fed back by monitoring, so as to control the robot to make a corresponding behavior, which not only facilitates the service object, but also further improves the monitoring quality.
Unlike a fixed mechanical arm, a mobile robot does not have a fixed position and needs to be positioned by using a sensor of the mobile robot, because of errors of the sensor and complexity of the environment, the mobile robot is difficult to position, and in addition, the data processing capacity of the robot is limited, especially image information with large data volume cannot process excessive sensing information of the robot.
While the control object and the research content are changed, the corresponding network structure is also changed. In an actual network environment, information transmission between a controller and a robot is divided into different data packets, and the data packets reach the other party through different network nodes. The IP addresses of the robot end are the same, and when a plurality of data packet control commands exist in the network, the robot end can generate a bottleneck problem. The uncertain time delay and packet loss phenomenon generated by the method are determined according to the characteristics of the network.
In order to overcome the defects of a network structure, the robot network structure adopts a distributed system, namely different IP addresses are respectively given to all cameras and robots, so that the operation burden of data processing of a robot controller is reduced, and the network transmission time of control commands can be shortened.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be viewed as the protection scope of the present invention.
Claims (10)
1. A robot with a vision servo, the vision servo comprising:
the servo motion system comprises a robot body and a mechanical arm, wherein a robot head cavity is arranged at the upper end of the robot body, the mechanical arm is arranged on the robot body, and a motion device is arranged at the lower end of the robot body;
the vision sensing system comprises two cameras, wherein the two cameras are respectively connected with an industrial personal computer, one of the cameras is arranged in front of a robot head cavity and used for collecting large-scale environmental information required by completing a positioning and navigation task: the other camera is arranged on a wrist joint of the mechanical arm and used for collecting environmental information required by completing an article grabbing task;
the servo driving system is a closed-loop control system consisting of a driver, a servo motor and an encoder, the driver receives an instruction from the industrial personal computer to control the movement of the servo motor, read the information of the encoder and modify parameter settings, and the servo motor converts a voltage signal into torque and rotating speed to drive the movement device to move or the mechanical arm to grab an article.
2. The robot with the vision servo system as claimed in claim 1, wherein the number of the robot arms is 2, and the 2 robot arms are respectively disposed at the left and right sides of the robot body and are symmetrically distributed.
3. A robot with vision servo system as claimed in claim 1, wherein said moving means comprises two driving wheels and a universal wheel;
the universal wheel is arranged right in front of the lower end of the robot body, has two degrees of freedom, and can freely rotate in the vertical direction and the horizontal direction;
the two driving wheels are symmetrically arranged on two sides behind the universal wheel on the center line of the lower end of the robot body, and the universal wheel is matched with the two driving wheels to form a three-point supporting structure;
the two driving wheels are controlled by two servo motors through two shafts, a rotary coupling and a speed reduction device respectively, the industrial personal computer changes the position of the instantaneous center of the robot motion by controlling and proportioning the rotating speed and the steering of the two driving wheels, and the robot rotates around different instantaneous points to realize the rotary motion of different turning radiuses.
4. Robot with visual servo system according to claim 1,
the mechanical arm comprises a first arm, a second arm and a tail end clamp holder, one end of the first arm is movably connected with the robot body through a shoulder joint, the other end of the first arm is movably connected with one end of the second arm through an elbow joint, and the other end of the second arm is movably connected with the tail end clamp holder through a wrist joint;
the mechanical arm has four degrees of freedom, including parallel movement of the shoulder joint, rotation of the elbow joint and rotation of the wrist joint around the axis of the mechanical arm.
5. A robot with a visual servo system as claimed in claim 4, wherein the end gripper comprises two openable gripping claws, and the two gripping claws can open and close to clamp, place and release the gripped object;
an end effector of a robot is a mechanism that is mounted on a mobile device or robot arm so that it can pick up an object and has the functions of handling, transferring, holding, placing, and releasing the object to an accurate discrete position.
6. A robot with a vision servo system as claimed in claim 4, wherein the shoulder joint, the elbow joint and the wrist joint are respectively provided with corresponding DC servo motors and are provided with corresponding encoders; and a steering engine is adopted to control the opening and closing of the two clamping claws.
7. The robot with the visual servo system as claimed in claim 1, wherein the industrial personal computer is connected with the man-machine interaction module and the database, given object images are stored in the database, a user sends object information to be grabbed to the industrial personal computer through the man-machine interaction module, the industrial personal computer finds out corresponding object images from the database according to the received object information to be grabbed, meanwhile, the visual sensing system transmits the environment information to the industrial personal computer, the industrial personal computer matches the environment information with the corresponding object images, and if the matching is successful, the servo driving system is controlled to drive the motion device to move and the mechanical arm to grab the objects.
8. A robot with vision servo system as described in claim 3, further comprising:
the robot comprises eight ultrasonic sensors, a main controller and a main controller, wherein the number of the ultrasonic sensors is three, the number of the ultrasonic sensors is two at the left side and the right side, the number of the ultrasonic sensors is one at the rear side, the ultrasonic sensors are respectively connected with the industrial personal computer through serial ports and are used for measuring whether obstacles exist around the robot and the distance between the obstacles and the ultrasonic sensors, and the measuring range is 100 cm;
the infrared sensor is arranged in the robot head cavity, is connected with the industrial personal computer through a CAN (controller area network) bus and is used for measuring whether an obstacle exists in front of the robot head cavity or not;
the odometer is used for calculating the relative pose of the robot body at the current moment according to the approximate circle model by detecting the rotating radians of the servo motors of the two driving wheels in each period;
the system comprises seven photoelectric sensors, a controller and a display, wherein the number of the photoelectric sensors is three in front, one is arranged on the left side and the right side, the number of the photoelectric sensors is two in the rear, and the seven photoelectric sensors are respectively connected with an industrial personal computer through a CAN bus and used for measuring whether an obstacle exists in a preset distance of the robot;
the temperature and humidity sensor is arranged in the head cavity of the robot, is connected with the industrial personal computer through the CAN bus and is used for measuring the temperature and the humidity of the environment;
and the battery electric quantity sensor is arranged in the head cavity of the robot, is connected with the industrial personal computer through the CAN bus and is used for measuring the battery electric quantity of the robot.
9. A robot with visual servo system as claimed in claim 7, wherein said human-machine interaction module comprises voice interaction means and/or touch interaction means;
a user sends a task to the robot by clicking a touch screen of the touch interaction device, simultaneously displays information feedback of the robot and the current environment through the touch screen, inputs target information into a target through the touch screen, and performs system setting; and/or
And the user sends a control instruction to the industrial personal computer through the voice interaction device to realize a remote conversation function.
10. A robot with visual servoing system according to claim 1, characterized in that each camera is given a different IP address.
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