技术领域technical field
本发明涉及机器人领域，具体是一种用于高危作业的机器人。The invention relates to the field of robots, in particular to a robot for high-risk operations.
背景技术Background technique
鉴于主从遥控操作机器人技术的重大意义和广阔的应用前景，美、日和欧洲各国竞相开发相关的技术。美国NASA针对空间遥控作业研制出具有初步临场感的过程机械手FTS系统和DTF-I系统，并于1993年将其载入航天飞机中。1993年，德国研制的空间遥操作机器ROTEX首次在哥伦比亚航天飞机上进行了太空飞行试验，ROTEX由遥控机器人和手套式人机接口以及具有预见显示能力的立体图像系统构成。在应用较多的海洋开发中，作业级遥控无人水下机器人(ROV)研究较为广泛，1999年底，埃及航空公司的990航班在美国纽约附近海域坠毁，就是由美国海军的“深潜7200(Deep Drone)”型ROV将飞机的黑匣子打捞上来。伴随着通讯技术的迅速发展，基于网络的遥操作机器人技术的研究逐渐发展起来，改变了互联网传输的信息只是人类视觉和听觉可以感知的文字、图像和声音等信息的局面，使互联网成为人类动作行为的载体，从而可实现人类操作功能的延伸。1994年8月，美国加州大学伯克利分校的Goldberg首次将一台SCARA型工业机器人通过服务器连接到网络上，这是世界上第一台基于网络的远程操作机器人，它允许操作者通过网络远程控制该机器人在充满沙子的空间中进行挖掘作业。1995年，澳大利亚的Taylor成功地建立了“Australian Tele robot On the Web”，成为当今最成功的网上机器人。当远程操作者获得授权后，可用计算机通过网络远程控制在澳大利亚实验室中的机器人。更有实用意义的是1998年美国NASA的Backes等人建立的WITS系统，分布在各地的专家都可使用该系统对火星漫游机器人进行远程规划和远程操作。英国则积极利用远程操作技术改造传统的机电系统，并成功地研制了具有力反馈感知功能的远程挖掘机械手。美国和日本则根据远程医疗的需要，先后开发出外科手术辅助远程机器人系统。国内对主从式高危作业机器人的研究还处于进阶发展阶段。我国的“863”计划中，自动化领域智能机器人主题以及航天领域空间机器人专题在1993年就开始将遥操作机器人技术列为关键技术加以研究，国内有关高校和科研机构也先后开展了远程操作机器人技术的理论和应用研究。“八·五”期间，由两所两校共同承担研制的“智水一II”型AUV搭载有华中理工大学研制的智能两功能水下机械手，并于海洋环境完成自主模拟系挂炸药包，切割缆绳的作业演示。在中船总的领导与组织下，自行研制的以援潜救生为背景的“8A4”型ROV，潜器装有两个功能强大的机械手，带有多种工具，潜水深度可达600米，可进行各种不同的作业。哈尔滨工业大学机器人研究所研制出的主从式遥控微操作机器人力反馈控制系统，当主机械手控制从机械手抓取物体或进行装置时，从机械手可将接触物体时的接触感觉和抓取物体的重力感觉等反馈到主机械手.并通过主机械手上的力触觉反馈系统，使操作者能够获得持续而稳定的接触力感觉，为进一步的微操作机器人实验研究奠定了基础。这是主从式机器人在微操作领域比较成功的范例，但在面临高危操作的复杂环境中，设备的操作性能的研究应较分析性能占有高一点的比重。In view of the great significance and broad application prospects of master-slave remote control robot technology, the United States, Japan and European countries are competing to develop related technologies. NASA of the United States developed the process manipulator FTS system and DTF-I system with a preliminary sense of presence for space remote control operations, and loaded them into the space shuttle in 1993. In 1993, ROTEX, a space teleoperation machine developed by Germany, carried out a space flight test on the Columbia Space Shuttle for the first time. ROTEX is composed of a remote control robot, a glove-type human-machine interface, and a stereoscopic image system with predictive display capabilities. In the marine development with many applications, the research on the operation-level remote-controlled unmanned underwater robot (ROV) is relatively extensive. At the end of 1999, EgyptAir Flight 990 crashed in the waters near New York, USA. Deep Drone)" ROV salvaged the black box of the aircraft. With the rapid development of communication technology, the research on network-based remote operation robot technology has gradually developed, which has changed the situation that the information transmitted by the Internet is only the information such as text, image and sound that can be perceived by human vision and hearing, making the Internet an important part of human actions. The carrier of behavior, which can realize the extension of human operation function. In August 1994, Goldberg of the University of California, Berkeley first connected a SCARA-type industrial robot to the network through a server. A robot digs in a sand-filled space. In 1995, Australia's Taylor successfully established "Australian Tele robot On the Web", becoming the most successful online robot today. When the remote operator is authorized, the computer can remotely control the robot in the Australian laboratory through the network. What is more practical is the WITS system established by Backes and others of NASA in the United States in 1998. Experts distributed all over the world can use this system to carry out remote planning and remote operation of Mars rovers. Britain is actively using remote operation technology to transform traditional electromechanical systems, and has successfully developed a remote excavation manipulator with force feedback perception. According to the needs of telemedicine, the United States and Japan have successively developed surgical operation-assisted telerobotic systems. Domestic research on master-slave high-risk operation robots is still in an advanced stage of development. In my country's "863" plan, the topic of intelligent robots in the field of automation and the topic of space robots in the aerospace field began to list teleoperation robot technology as a key technology for research in 1993, and relevant domestic universities and scientific research institutions have also successively developed teleoperation robot technology. theoretical and applied research. During the "Eighth Five-Year Plan" period, the "Zhishui-II" AUV jointly developed by the two universities and colleges was equipped with an intelligent two-function underwater manipulator developed by Huazhong University of Science and Technology, and completed the independent simulation of hanging explosives in the marine environment. Demonstration of a job cutting a cable. Under the leadership and organization of CSSC, the self-developed "8A4" ROV with the background of submersible rescue is equipped with two powerful manipulators and a variety of tools, and the diving depth can reach 600 meters. Various jobs can be performed. The master-slave remote control micro-manipulation robot force feedback control system developed by the Institute of Robotics of Harbin Institute of Technology, when the master manipulator controls the slave manipulator to grab objects or carry out devices, the slave manipulator can control the contact feeling when touching the object and the gravity of the grasped object. Feedback of feeling etc. to the main manipulator. And through the force tactile feedback system on the main manipulator, the operator can obtain a continuous and stable contact force feeling, which lays the foundation for further experimental research on micro-manipulator robots. This is a relatively successful example of master-slave robots in the field of micro-manipulation, but in a complex environment facing high-risk operations, the research on the operational performance of the equipment should occupy a higher proportion than the analytical performance.
在其它领域中，医疗方面，为防止射线对医生的危害，常搭建信号传输距离很短的主从机器人系统，如外国的da Vinci robot，这类机器人系统具有精度高延时小的特点。有效地结合了手术医生的经验和机器人定位精确、运行稳定和操作精度高的特性，可以协助医生完成精细的手术动作，减少手术中因为疲劳产生的误操作和手部的震颤造成的损伤，从而提高手术质量与安全性，缩短治疗时间，减低医疗成本。军事方面。“美伊”战争中，美国派出一批可侦查的高度智能机器人，由于完全由机器人“自作主张”，对一些并非可疑的对象进行袭击，一个月后便被全部撤回。可见机器人自主操作是具有盲目性、程序化的。尤其是在排爆，高危险复杂的环境中研究主从式机器人凭借人思维控制的优势配以和谐便捷的控制结构是十分必要的。In other fields, in medical treatment, in order to prevent radiation from harming doctors, a master-slave robot system with a short signal transmission distance is often built, such as the foreign da Vinci robot. This type of robot system has the characteristics of high precision and small delay. Effectively combining the experience of the surgeon with the characteristics of precise positioning, stable operation and high operation precision of the robot, it can assist the doctor to complete fine surgical actions, reduce the damage caused by misoperation and hand tremor caused by fatigue during the operation, and thus Improve surgical quality and safety, shorten treatment time, and reduce medical costs. military aspect. During the "U.S.-Iraq" war, the United States sent a group of highly intelligent robots that could be detected. Since the robots "asserted themselves" and attacked some unsuspecting objects, they were all withdrawn a month later. It can be seen that the autonomous operation of the robot is blind and programmed. Especially in EOD, high-risk and complex environments, it is necessary to study master-slave robots with the advantages of human thought control and a harmonious and convenient control structure.
所以，追求模块的精准化，控制的人性化，操作的实时化，交互的远程化，功能的创新化就成为了我们主要的研究方向。Therefore, the pursuit of precise modules, humanized control, real-time operation, remote interaction, and innovative functions have become our main research directions.
发明内容Contents of the invention
本发明的目的在于提供一种用人手臂及手部动作来直观、简单的用于高危作业的机器人，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide an intuitive and simple robot for high-risk operations by using human arm and hand movements, so as to solve the problems raised in the above-mentioned background technology.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种用于高危作业的机器人，包括机器人车体、机械臂与头盔；A robot for high-risk operations, including a robot body, a robot arm and a helmet;
机器人车体，包括机器人机械臂、履带底盘、太阳能帆板与摄像头装置，机器人机械臂、太阳能帆板均放置在履带底盘上，太阳能帆板的中部位置设有支撑杆，且支撑杆固定在履带底盘上，支撑杆顶端设有摄像头装置；The robot car body, including the robot arm, crawler chassis, solar sail and camera device, the robot arm and solar sail are placed on the crawler chassis, the middle of the solar sail is provided with a support rod, and the support rod is fixed on the track On the chassis, a camera device is arranged on the top of the support rod;
机器人机械臂包括大轴承、小斜杆、斜杆、横轴、机械手、电钻与舵机装置，舵机装置包括机械臂转动舵机、机械臂肘部舵机、手腕拍动舵机、功能转换舵机、机械手张合舵机与手腕转动舵机，小斜杆安装在大轴承上的转动台上，大轴承内部设有机械臂转动舵机，且机械臂转动舵机连接转动台；小斜杆上通过转动轴连接斜杆，小斜杆与斜杆的连接处还设有机械臂肘部舵机，斜杆的另一端通过转动轴连接横轴，斜杆与横轴的连接处设有手腕转动舵机，横轴的另一端设有机械手、电钻，横轴的另一端设有手腕拍动舵机、功能转换舵机，机械手的下方设有机械手张合舵机；The robot arm includes a large bearing, a small slanting rod, a slanting rod, a horizontal axis, a manipulator, an electric drill, and a steering gear. The steering gear includes a robotic arm rotation steering gear, a mechanical arm elbow steering gear, a wrist flapping steering gear, and a function conversion The steering gear, the opening and closing steering gear of the manipulator and the wrist turning steering gear, the small oblique rod is installed on the rotating table on the large bearing, the large bearing is equipped with a mechanical arm rotating steering gear, and the mechanical arm rotating steering gear is connected to the rotating table; the small inclined rod The rod is connected to the oblique rod through the rotating shaft. The connection between the small oblique rod and the oblique rod is also equipped with a mechanical arm elbow steering gear. The other end of the oblique rod is connected to the horizontal shaft through the rotating shaft. The wrist turns the steering gear, the other end of the horizontal axis is equipped with a manipulator and an electric drill, the other end of the horizontal axis is equipped with a wrist flapping steering gear and a function conversion steering gear, and the lower part of the manipulator is equipped with a manipulator opening and closing steering gear;
摄像头装置包括摄像头、第一天线、无线图传、第一舵机、第二舵机、二自由度舵机云台，二自由度舵机云台安装在支撑杆顶端，二自由度舵机云台的下方设有第一舵机，二自由度舵机云台的上方通过第二舵机连接无线图传，摄像头设置在无线图传上，无线图传的另一侧设有第一天线；The camera device includes a camera, the first antenna, wireless image transmission, the first steering gear, the second steering gear, and the two-degree-of-freedom steering gear pan-tilt. The two-degree-of-freedom steering gear pan-tilt is installed on the top of the support rod. The first steering gear is installed under the platform, and the top of the two-degree-of-freedom steering gear gimbal is connected to the wireless video transmission through the second steering gear. The camera is set on the wireless video transmission, and the other side of the wireless video transmission is provided with the first antenna;
机械臂包括右手机械臂与左手机械臂；右手机械臂包括右手套、右肘套与右控制装置；右手套与右肘套通过右控制装置连接；右控制装置由第一惯导模块、电位器、第一单片机控制板与第一电源组成；第一惯导模块、电位器、第一电源均与第一单片机控制板连接；第一惯导模块、电位器安装在右手套上，第一单片机控制板与第一电源安装在右肘套上；第一单片机控制板包括第二天线、第一无线模块、第二惯导模块、第一单片机、供电端子，第二天线、第一无线模块、第二惯导模块、供电端子均与第一单片机连接；左手机械臂包括左手套、左肘套与左控制装置；左控制装置包括第二单片机控制板、倾角传感器和无线串口模块、第二电源、单片机使能开关；第二单片机控制板分别与倾角传感器、无线串口模块、第二电源、单片机使能开关连接；左手套上设有倾角传感器与单片机使能开关；左肘套上安装第二单片机控制板、倾角传感器、无线串口模块；The robotic arm includes a right-hand robotic arm and a left-hand robotic arm; the right-hand robotic arm includes a right glove, a right elbow sleeve and a right control device; the right glove and the right elbow sleeve are connected through the right control device; the right control device is composed of the first inertial navigation module, the potentiometer , the first single-chip microcomputer control board and the first power supply; the first inertial navigation module, the potentiometer, and the first power supply are all connected to the first single-chip microcomputer control board; the first inertial navigation module and the potentiometer are installed on the right glove, and the first single-chip microcomputer The control board and the first power supply are installed on the right elbow sleeve; the first single-chip microcomputer control board includes the second antenna, the first wireless module, the second inertial navigation module, the first single-chip microcomputer, the power supply terminal, the second antenna, the first wireless module, The second inertial navigation module and the power supply terminal are all connected to the first single-chip microcomputer; the left-hand manipulator includes a left glove, a left elbow cover and a left control device; the left control device includes a second single-chip microcomputer control board, an inclination sensor and a wireless serial port module, and a second power supply , MCU enable switch; the second MCU control board is respectively connected with the inclination sensor, wireless serial port module, second power supply, and MCU enable switch; the left glove is provided with an inclination sensor and MCU enable switch; the left elbow is equipped with the second Single-chip microcomputer control board, inclination sensor, wireless serial port module;
右控制装置的控制利用第一惯导模块、第二惯导模块采集到的人的手、手臂不同姿势的角度信息，通过第一无线模块传输到机器人机械臂的舵机装置，使得机器人机械臂能够根据人手臂及手部的姿势，实现主从式同步动作；机械手利用第一单片机的AD功能，电位器用于遥控机械手张合舵机，电位器的转动能采集到其线性变化的数据，第一单片机将这些数据换算成舵机装置各角度的脉冲，使机械手的张合与人手同步；The control of the right control device utilizes the angle information of different postures of human hands and arms collected by the first inertial navigation module and the second inertial navigation module, and transmits the angle information to the steering gear of the robot manipulator through the first wireless module, so that the robot manipulator It can realize master-slave synchronous action according to the posture of the human arm and hand; the manipulator uses the AD function of the first single-chip microcomputer, and the potentiometer is used to remotely control the opening and closing of the manipulator. The rotation of the potentiometer can collect its linearly changing data. A single-chip microcomputer converts these data into pulses at various angles of the steering gear, so that the opening and closing of the manipulator is synchronized with the human hand;
头盔包括头盔本体、摄像头视频显示屏、电池、第三惯导模块、第三单片机、第二无线模块、第三舵机、工作状态指示灯，头盔本体上设有安装摄像头视频显示屏的面罩，摄像头视频显示屏的两侧设有工作状态指示灯，头盔本体内部设有电池、第三单片机、第二无线模块、第三舵机，头盔本体顶部设有第三惯导模块，用其采集操作者头部的姿态信息，第三单片机均与电池、第二无线模块、第三舵机、第三惯导模块连接；第三单片机将信息无线发送至摄像头装置的第一舵机、第二舵机，达到摄像头装置动作与操作者头部动作同步。The helmet includes a helmet body, a camera video display screen, a battery, a third inertial navigation module, a third single-chip microcomputer, a second wireless module, a third steering gear, and a working status indicator light. The helmet body is provided with a mask for installing a camera video display screen. There are working status indicators on both sides of the video display screen of the camera, a battery, a third single-chip microcomputer, a second wireless module, and a third steering gear are installed inside the helmet body, and a third inertial navigation module is installed on the top of the helmet body, which is used to collect and operate The attitude information of the person's head, the third single-chip microcomputer is connected with the battery, the second wireless module, the third steering gear, and the third inertial navigation module; the third single-chip microcomputer wirelessly sends the information to the first steering gear and the second steering gear of the camera device machine, so that the movement of the camera device is synchronized with the movement of the operator's head.
作为本发明进一步的方案：履带底盘上设有直流电机、倾角传感器，当机器人车体任意方向的角度倾斜超过30°便强制关闭太阳能帆板。As a further solution of the present invention: the crawler chassis is provided with a DC motor and an inclination sensor, and when the angle of the robot car body in any direction is tilted more than 30°, the solar panels are forcibly closed.
作为本发明进一步的方案：无线图传采用NRF24L01。As a further solution of the present invention: NRF24L01 is used for wireless image transmission.
作为本发明进一步的方案：第一惯导模块与第二惯导模块均采用GY-953。As a further solution of the present invention: both the first inertial navigation module and the second inertial navigation module use GY-953.
作为本发明进一步的方案：第一单片机采用IAP15F2K61S2。As a further solution of the present invention: the first single-chip microcomputer adopts IAP15F2K61S2.
作为本发明进一步的方案：第一无线模块采用NRF24L01。As a further solution of the present invention: the first wireless module adopts NRF24L01.
作为本发明进一步的方案：摄像头视频显示屏采用1602液晶屏。As a further solution of the present invention: the video display screen of the camera adopts a 1602 liquid crystal screen.
与现有技术相比，本发明的有益效果是：Compared with prior art, the beneficial effect of the present invention is:
本发明主要应用了高速单片机STC15控制技术、惯导模块GY-953控制技术、利用现有的无线通信技术以及图像传输技术。控制部分是本作品的核心部分，本作品提出了一种不同于以往的控制方式，抛弃了原有的键盘、摇杆等非直观控制方式，选择了用人手臂及手部动作来直观、简单的控制机器人。The invention mainly applies the high-speed single-chip microcomputer STC15 control technology, the inertial navigation module GY-953 control technology, and utilizes the existing wireless communication technology and image transmission technology. The control part is the core part of this work. This work proposes a control method different from the previous ones, abandoning the original non-intuitive control methods such as keyboards and joysticks, and choosing an intuitive and simple control method using human arm and hand movements. Control the robot.
机器人车体的机器人机械臂，利用惯导模块采集到的人手臂不同姿势的角度信息，通过无线模块传输到舵机装置，使得机械臂能够根据人手臂及手部的姿势，实现主从式同步动作。履带底盘的移动利用倾角传感器采取手势操控，便于穿戴和灵活控制。机器人行走机构采用履带结构，能跨越10cm高的障碍，转弯半径小于1m。The robot arm of the robot body uses the angular information of different postures of the human arm collected by the inertial navigation module, and transmits it to the steering gear device through the wireless module, so that the robotic arm can realize master-slave synchronization according to the posture of the human arm and hand action. The movement of the crawler chassis is controlled by gestures using inclination sensors, which is easy to wear and control flexibly. The walking mechanism of the robot adopts a crawler structure, which can cross obstacles with a height of 10cm, and the turning radius is less than 1m.
机器人的机械手部分利用单片机的AD功能，电位器的转动能采集到线性变化的数据，手指关节的动作比较简单，只有手值拍动这一个动作，采用电位器固定在手指处采集转动数据，在不影响精确性的情况下这是最经济、简单的方法。The manipulator part of the robot uses the AD function of the single-chip microcomputer. The rotation of the potentiometer can collect linearly changing data. The movement of the finger joints is relatively simple. This is the cheapest and easiest method without compromising accuracy.
机器人车体具有一只四自由度机械手，作业的最大高度达到30cm。机械臂最低可水平伸出距地面0.2m，可抓取可疑物品；机械臂纵向旋转180°，机械腕横向旋转360°，以适应不同位置、不同角度放置物体的抓取。抓取器最大开度达15cm。突出特点是具有遥控移动探测及抓取、销毁爆炸物多种作业功能，可根据使用要求装切割器、水炮枪、X光机等多种作业工具和装置。The robot body has a four-degree-of-freedom manipulator, and the maximum working height reaches 30cm. The robot arm can extend horizontally at least 0.2m from the ground, and can grab suspicious objects; the robot arm rotates 180° vertically, and the mechanical wrist rotates 360° horizontally, so as to adapt to grabbing objects placed at different positions and angles. The maximum opening of the grabber is 15cm. The outstanding feature is that it has multiple operating functions of remote control mobile detection, grabbing, and destroying explosives. It can be equipped with various operating tools and devices such as cutters, water cannons, and X-ray machines according to the requirements of use.
机器人车体装有具有摄像云台的摄像头装置，用于观察环境和控制作业，通过佩戴一个具有内置液晶显示器的头盔，操作者可观察机器人移动和作业状况。头盔顶部安装惯导模块采集操作者头部姿态信息，利用无线模块发送至机器人，使机器人摄像头16与操作者头部动作同步。这样，一个虚拟现实系统不仅提供给操作者远方工作现场的3D视图，还能够实时地操作远程系统，帮助操作者完成各种复杂的任务，保障使用者的安全。照明系统采用了硅晶体照明灯，具有体积小、重量轻、功耗低、亮度高、更为可靠的特点。The robot car body is equipped with a camera device with a camera pan-tilt for observing the environment and controlling operations. By wearing a helmet with a built-in liquid crystal display, the operator can observe the movement and operation status of the robot. The inertial navigation module installed on the top of the helmet collects the operator's head posture information, and sends it to the robot through the wireless module, so that the robot camera 16 is synchronized with the operator's head movement. In this way, a virtual reality system not only provides the operator with a 3D view of the remote work site, but also can operate the remote system in real time to help the operator complete various complex tasks and ensure the safety of the user. The lighting system uses silicon crystal lighting, which has the characteristics of small size, light weight, low power consumption, high brightness and more reliability.
为了提高续航能力，在作业机器人中增加太阳能帆板为电池充电。在光强达到可充电值时，太阳能帆板自动打开进行充电。这样的设计拓宽了机械手的使用范围，增强了机械手的操控性，使此机械手可以适用于比较危险、复杂的工业生产领域(如搬运对人体有害的化学物品)，军事领域(如战场巡逻)或者防爆(如拆除炸弹)等领域。In order to improve the battery life, a solar sail is added to the robot to charge the battery. When the light intensity reaches the rechargeable value, the solar panels are automatically turned on for charging. Such a design broadens the scope of use of the manipulator, enhances the manipulability of the manipulator, and makes the manipulator suitable for more dangerous and complex industrial production fields (such as handling chemicals harmful to the human body), military fields (such as battlefield patrols) or Explosion-proof (such as dismantling bombs) and other fields.
附图说明Description of drawings
图1是机器人车体的结构示意图；Fig. 1 is the structural representation of robot car body;
图2是无线图传的电路图；Figure 2 is a circuit diagram of wireless image transmission;
图3是右控制装置的电路图；Fig. 3 is the circuit diagram of right control device;
图中：1-机器人机械臂、2-履带底盘、3-太阳能帆板、4-摄像头装置、5-大轴承、6-小斜杆、7-斜杆、8-横轴、9-机械手、10-电钻、11-机械臂肘部舵机、12-手腕转动舵机、13-手腕拍动舵机、14-功能转换舵机、15-机械手张合舵机、16-摄像头、17-第一天线、18-无线图传、19-第一舵机、20-第二舵机、21-二自由度舵机云台。In the figure: 1-Robot mechanical arm, 2-Crawler chassis, 3-Solar sail panel, 4-Camera device, 5-Big bearing, 6-Small oblique rod, 7-Diagonal rod, 8-Horizontal axis, 9-Manipulator, 10-electric drill, 11-arm elbow servo, 12-wrist rotation servo, 13-wrist clapping servo, 14-function conversion servo, 15-manipulator opening and closing servo, 16-camera, 17-th One antenna, 18-wireless image transmission, 19-first steering gear, 20-second steering gear, 21-two-degree-of-freedom steering gear gimbal.
具体实施方式detailed description
下面将结合本发明实施例，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
实施例1Example 1
请参阅图1，本发明实施例中，一种用于高危作业的机器人，包括机器人车体、机械臂与头盔。Please refer to FIG. 1 , in an embodiment of the present invention, a robot for high-risk operations includes a robot body, a robot arm and a helmet.
一、机器人车体1. Robot body
机器人车体，包括机器人机械臂1、履带底盘2、太阳能帆板3与摄像头装置4，机器人机械臂1、太阳能帆板3均放置在履带底盘2上，太阳能帆板3的中部位置设有支撑杆，且支撑杆固定在履带底盘2上，支撑杆顶端设有摄像头装置4。The robot car body, including the robot arm 1, the crawler chassis 2, the solar sail panel 3 and the camera device 4, the robot arm 1 and the solar sail panel 3 are all placed on the crawler chassis 2, and the middle position of the solar sail panel 3 is provided with a support rod, and the support rod is fixed on the crawler chassis 2, and the top of the support rod is provided with a camera device 4.
机器人机械臂1包括大轴承5、小斜杆6、斜杆7、横轴8、机械手9、电钻10与舵机装置，舵机装置包括机械臂转动舵机、机械臂肘部舵机11、手腕拍动舵机13、功能转换舵机14、机械手张合舵机15与手腕转动舵机12，小斜杆6安装在大轴承5上的转动台上，大轴承5内部设有机械臂转动舵机，且机械臂转动舵机连接转动台，控制转动台的旋转。小斜杆6上通过转动轴连接斜杆7，小斜杆6与斜杆7的连接处还设有机械臂肘部舵机11，斜杆7的另一端通过转动轴连接横轴8，斜杆7与横轴8的连接处设有手腕转动舵机12，横轴8的另一端设有机械手9、电钻10，横轴8的另一端设有手腕拍动舵机13、功能转换舵机14，可以随时进行电钻功能与机械手功能的替换，且机械手9与电钻10相对设置，机械手9的下方设有机械手张合舵机15。The robotic arm 1 includes a large bearing 5, a small slanting rod 6, a slanting rod 7, a horizontal axis 8, a manipulator 9, an electric drill 10 and a steering gear. The steering gear includes a mechanical arm turning steering gear, a mechanical arm elbow steering gear 11, Wrist clapping steering gear 13, function switching steering gear 14, manipulator opening and closing steering gear 15 and wrist turning steering gear 12, small inclined rod 6 is installed on the rotating platform on the large bearing 5, and the inside of the large bearing 5 is provided with a mechanical arm to rotate A steering gear, and the mechanical arm rotates the steering gear to connect the turntable to control the rotation of the turntable. The small oblique rod 6 is connected with the oblique rod 7 through the rotating shaft, and the connection between the small oblique rod 6 and the oblique rod 7 is also provided with a mechanical arm elbow steering gear 11, and the other end of the oblique rod 7 is connected with the horizontal shaft 8 through the rotating shaft, and the oblique The junction of the rod 7 and the horizontal axis 8 is provided with a wrist rotating steering gear 12, the other end of the horizontal axis 8 is provided with a manipulator 9 and an electric drill 10, and the other end of the horizontal axis 8 is provided with a wrist flapping steering gear 13 and a function conversion steering gear. 14. The electric drill function and the manipulator function can be replaced at any time, and the manipulator 9 is set opposite to the electric drill 10, and the manipulator 9 is provided with a manipulator opening and closing steering gear 15.
履带底盘2上设有直流电机，机器人车体由四个直流电机驱动，采用差速转向。履带底盘2的结构易于翻越障碍，同时具有减震功能。为了提高机器人本体的续航能力，为机器人车体增加了太阳能帆板3。在光强值足够达到电池充电要求时，自动打开太阳能帆板3。同时考虑到路况崎岖复杂时太阳能帆板3会受到磕碰，在履带底盘2上增加了倾角传感器，当机器人车体任意方向的角度倾斜超过30度便强制关闭太阳能帆板3。The crawler chassis 2 is provided with a DC motor, and the robot car body is driven by four DC motors and adopts differential steering. The structure of the crawler chassis 2 is easy to climb over obstacles, and has shock absorption function simultaneously. In order to improve the battery life of the robot body, a solar sail panel 3 is added to the robot car body. When the light intensity value is enough to meet the battery charging requirement, the solar panel 3 is automatically turned on. Considering that the solar panel 3 will be bumped when the road conditions are rough and complicated, an inclination sensor is added on the crawler chassis 2, and the solar panel 3 is forced to be closed when the angle of the robot body in any direction is tilted more than 30 degrees.
摄像头装置4包括摄像头16、第一天线17、无线图传18、第一舵机19、第二舵机20、二自由度舵机云台21，二自由度舵机云台21安装在支撑杆顶端，二自由度舵机云台21的下方设有第一舵机19，二自由度舵机云台21的上方通过第二舵机20连接无线图传18，摄像头16设置在无线图传18上，无线图传18的另一侧设有第一天线17。无线图传18将摄像头16采集的图像无线传输至头盔的显示屏上。二自由度舵机云台21使摄像头16灵活转动，全方位呈现机器人操作现场画面。无线图传18采用NRF24L01，其输出功率频道选择和协议的设置可以通过SPI接口进行设置。几乎可以连接到各种单片机芯片，并完成无线数据传送工作。具体的连接关系如图2所示。The camera device 4 includes a camera 16, a first antenna 17, a wireless image transmission 18, a first steering gear 19, a second steering gear 20, a two-degree-of-freedom steering gear pan-tilt 21, and the two-degree-of-freedom steering gear pan-tilt 21 is installed on a support rod At the top, the first steering gear 19 is arranged below the two-degree-of-freedom steering gear pan-tilt 21, and the top of the two-degree-of-freedom steering gear pan-tilt 21 is connected to the wireless video transmission 18 through the second steering gear 20, and the camera 16 is set on the wireless video transmission 18. On the other side of the wireless video transmission 18 is provided a first antenna 17 . The wireless video transmission 18 wirelessly transmits the images collected by the camera 16 to the display screen of the helmet. The two-degree-of-freedom steering gear pan-tilt 21 enables the camera 16 to rotate flexibly, presenting the on-site picture of the robot operation in an all-round way. The wireless image transmission 18 adopts NRF24L01, and its output power channel selection and protocol settings can be set through the SPI interface. It can be connected to almost all kinds of single-chip microcomputer chips and complete wireless data transmission. The specific connection relationship is shown in Fig. 2 .
机器人两侧的太阳能帆板3可根据光的强度开合进行充电。当遇到斜坡等不平路面等复杂路况导致机器人车体倾斜时，机器人车体可自动关合太阳能帆板3以保证机器人车体的稳定。The solar panels 3 on both sides of the robot can be opened and closed according to the intensity of light for charging. When complex road conditions such as slopes and other uneven roads cause the robot car body to tilt, the robot car body can automatically close the solar panel 3 to ensure the stability of the robot car body.
二、机械臂2. Mechanical arm
机械臂包括右手机械臂与左手机械臂。右手机械臂用于控制机器人机械臂1的动作，左手机械臂用于控制履带底盘2的动作。The robotic arm includes a right-handed robotic arm and a left-handed robotic arm. The right-hand mechanical arm is used to control the action of the robotic arm 1, and the left-hand mechanical arm is used to control the action of the crawler chassis 2.
1.右手机械臂包括右手套、右肘套与右控制装置。右手套与右肘套通过右控制装置连接。1. The right-hand robotic arm includes a right glove, a right elbow sleeve and a right control device. The right glove is connected with the right elbow sleeve through the right control device.
右控制装置由第一惯导模块、电位器、第一单片机控制板与第一电源组成。第一惯导模块、电位器、第一电源均与第一单片机控制板连接。第一惯导模块、电位器安装在右手套上，第一单片机控制板与第一电源安装在右肘套上。第一单片机控制板包括第二天线、第一无线模块、第二惯导模块、第一单片机、供电端子。具体的电路连接关系如图3所示。The right control device is composed of a first inertial navigation module, a potentiometer, a first single-chip microcomputer control board and a first power supply. The first inertial navigation module, the potentiometer, and the first power supply are all connected to the first single-chip microcomputer control board. The first inertial navigation module and the potentiometer are installed on the right glove, and the first single-chip microcomputer control board and the first power supply are installed on the right elbow sleeve. The first single-chip microcomputer control board includes a second antenna, a first wireless module, a second inertial navigation module, a first single-chip microcomputer, and a power supply terminal. The specific circuit connection relationship is shown in Figure 3.
第一惯导模块与第二惯导模块均采用GY-953。Both the first inertial navigation module and the second inertial navigation module use GY-953.
第一单片机采用IAP15F2K61S2。第一无线模块采用NRF24L01。The first microcontroller uses IAP15F2K61S2. The first wireless module adopts NRF24L01.
其中电位器用于遥控机械手张合舵机15：右控制装置的控制利用第一惯导模块、第二惯导模块采集到的人的手、手臂不同姿势的角度信息，通过第一无线模块传输到机器人机械臂1的舵机装置，使得机器人机械臂1能够根据人手臂及手部的姿势，实现主从式同步动作。机械手9部分利用第一单片机的AD功能，电位器的转动能采集到其线性变化的数据，第一单片机将这些数据换算成舵机装置各角度的脉冲，另机械手9的张合与人手同步。Wherein the potentiometer is used for the remote control manipulator opening and closing steering gear 15: the control of the right control device utilizes the angle information of the people's hand and arm different postures collected by the first inertial navigation module and the second inertial navigation module, and is transmitted to The steering gear device of the robot arm 1 enables the robot arm 1 to realize master-slave synchronous action according to the posture of the human arm and hand. Manipulator 9 uses the AD function of the first single-chip microcomputer, and the rotation of the potentiometer can collect its linearly changing data. The first single-chip computer converts these data into pulses at various angles of the steering gear, and the opening and closing of the manipulator 9 is synchronized with human hands.
在机器人机械臂1的前端有一个机械手9和电钻10，二者在一个功能转换舵机14控制下可自由切换，用来抓取炸弹和破拆障碍物。(a)通过执行转换器进行抓手与电钻功能的切换。(b)电钻10高速旋转，进行障碍破除。(c)电钻10穿透障碍物。(d)行驶路线上障碍破除完成，机器人可顺利通过。There is a manipulator 9 and electric drill 10 at the front end of robot arm 1, and the two can switch freely under the control of a function conversion steering gear 14, and are used for grabbing bombs and breaking down obstacles. (a) Switch between the function of the gripper and the electric drill by executing the converter. (b) The electric drill 10 rotates at a high speed to remove obstacles. (c) The electric drill 10 penetrates the obstacle. (d) The obstacles on the driving route are removed and the robot can pass through smoothly.
由于人的小臂和手腕，手腕和手掌均在直线上保持相对静止，手腕拍动的角度是以手臂拍动角度为参考的。所以，为机械臂手腕的拍动增加了一个运动补偿：在小臂佩带一个第二惯导模块，手腕上佩带的第一惯导模块以小臂为参考，两个惯导模块在手腕进行拍动时角度进行角度相减。Because people's forearm and wrist, wrist and palm all keep relatively static on straight line, the angle of wrist clapping is with the arm clapping angle as a reference. Therefore, a motion compensation is added for the clapping of the wrist of the robotic arm: a second inertial navigation module is worn on the forearm, the first inertial navigation module on the wrist takes the forearm as a reference, and the two inertial navigation modules perform clapping on the wrist. The angle is subtracted when moving.
其中右手套的手掌处的控制器由3D打印成型，巧妙地将各个功能控制键植入其中。Among them, the controller at the palm of the right glove is formed by 3D printing, and various function control keys are cleverly implanted in it.
2.左手机械臂包括左手套、左肘套与左控制装置。左控制装置由第二单片机控制板、倾角传感器和无线串口模块组成。左控制装置还包括第二电源、单片机使能开关。第二单片机控制板分别与倾角传感器、无线串口模块、第二电源、单片机使能开关连接。2. The left-hand robotic arm includes a left glove, a left elbow sleeve and a left control device. The left control device is composed of a second single-chip microcomputer control board, an inclination sensor and a wireless serial port module. The left control device also includes a second power supply and an enable switch of the single-chip microcomputer. The second single-chip microcomputer control board is respectively connected with the inclination sensor, the wireless serial port module, the second power supply, and the single-chip microcomputer enabling switch.
左手套上设有倾角传感器与单片机使能开关。左肘套上安装第二单片机控制板、倾角传感器、无线串口模块。The left glove is provided with an inclination sensor and a microcontroller enable switch. The second single-chip microcomputer control board, inclination sensor, and wireless serial port module are installed on the left elbow sleeve.
左控制装置的控制利用倾角传感器采集人手的倾斜角度，当某一方向的倾斜角度大于设定值时，机器人便会向该方向移动。达到手势操作的目的，如(a)手腕下倾，机器人向前移动；(b)手腕上倾，机器人向后移动；(c)手腕左旋，机器人向左转弯；(d)手腕右旋，机器人向右转弯。The control of the left control device uses the inclination sensor to collect the inclination angle of the human hand. When the inclination angle in a certain direction is greater than the set value, the robot will move in that direction. To achieve the purpose of gesture operation, such as (a) tilting the wrist down, the robot moves forward; (b) tilting the wrist up, the robot moves backward; (c) turning the wrist left, the robot turns left; (d) turning the wrist right, the robot Turn right.
三、头盔3. Helmets
头盔包括头盔本体、摄像头视频显示屏、电池、第三惯导模块、第三单片机、第二无线模块、第三舵机、工作状态指示灯，头盔本体上设有安装摄像头视频显示屏的面罩，摄像头视频显示屏的两侧设有工作状态指示灯，头盔本体内部设有电池、第三单片机、第二无线模块、第三舵机。头盔本体顶部设有第三惯导模块。摄像头视频显示屏采用1602液晶屏。The helmet includes a helmet body, a camera video display screen, a battery, a third inertial navigation module, a third single-chip microcomputer, a second wireless module, a third steering gear, and a working status indicator light. The helmet body is provided with a mask for installing a camera video display screen. Both sides of the video display screen of the camera are provided with working status indicators, and the interior of the helmet body is provided with a battery, a third single-chip microcomputer, a second wireless module, and a third steering gear. The top of the helmet body is provided with a third inertial navigation module. The camera video display uses a 1602 LCD screen.
第三惯导模块：采集操控者头部姿态信息。The third inertial navigation module: collect the operator's head posture information.
第二无线模块：将第三惯导模块的姿态信息传输给操控者右控制装置，再由其中继至机器人车体接收端。The second wireless module: transmits the attitude information of the third inertial navigation module to the operator's right control device, and then relays it to the receiving end of the robot car body.
第三单片机：发送PWM脉冲至第三舵机，控制第三舵机转动使面罩升降。点亮工作状态指示灯，显示工作状态。The third single-chip microcomputer: send PWM pulses to the third servo to control the rotation of the third servo to raise and lower the mask. Light up the working status indicator to display the working status.
工作状态指示灯：当面罩降下，操控者开始工作时工作状态指示灯亮以示工作。面罩升起工作状态指示灯灭。Working status indicator light: When the mask is lowered and the operator starts working, the working status indicator light is on to show the work. The working status indicator light goes out when the mask is raised.
摄像头视频显示屏：接收机器人的无线车体图传发送的摄像头画面并利用VR(虚拟现实)技术3D显示。Camera video display screen: Receive the camera screen sent by the robot's wireless car body image transmission and display it in 3D using VR (virtual reality) technology.
显示头盔顶部装有第三惯导模块，用其采集操作者头部的姿态信息，第三单片机将信息无线发送至摄像头装置4的第一舵机19、第二舵机20，达到摄像头装置动作与操作者头部动作同步的效果。It shows that the top of the helmet is equipped with a third inertial navigation module, which is used to collect the posture information of the operator's head, and the third single-chip microcomputer wirelessly sends the information to the first steering gear 19 and the second steering gear 20 of the camera device 4, so as to achieve the movement of the camera device. The effect is synchronized with the operator's head movement.
显示头盔的摄像头视频显示屏的成像是利用了VR(虚拟现实)技术，将摄像头16采集到的信息转化为可成像的虚拟三维操作界面，提供使用者关于视觉、听觉、触觉等感官的模拟，让使用者如同身历其境一般，可以及时、没有限制地观察三度空间内的事物，更加直观的完成控制机器人完成高危作业的任务。其中由于虚拟现实是的所呈现出的图像是是一个三维的图像，照片无法捕捉到，这里就将只给出摄像头16采集到未经头盔VR技术处理的图像。The imaging of the camera video display screen of the display helmet utilizes VR (virtual reality) technology to convert the information collected by the camera 16 into an imageable virtual three-dimensional operation interface, providing the user with a simulation of the senses such as vision, hearing, and touch. It allows users to observe things in the three-dimensional space in a timely and unlimited manner as if they were in the scene, and complete the task of controlling the robot to complete high-risk operations more intuitively. Wherein because the image presented by the virtual reality is a three-dimensional image, which cannot be captured by photos, only the images collected by the camera 16 and not processed by the helmet VR technology will be given here.
本发明核心控制芯片采用了IAP15f2k61s2-SKDIP28(STC15系列)单片机和STC15F104E-DIP8单片机。The core control chip of the present invention has adopted IAP15f2k61s2-SKDIP28 (STC15 series) single-chip microcomputer and STC15F104E-DIP8 single-chip microcomputer.
STC15系列单片机是STC生产的单时钟/机器周期(1T)的单片机，是高速/高可靠/低功耗/超强抗干扰的新一代8051单片机，用第八代加密技术，加密性超强，指令代码完全指令代码完全兼容传统8051，但速度快8-12倍。内部集成高精度R/C时钟(0.03％)，±1％温飘(-40℃～+85℃)，常温下温飘±0.6％(-20℃～+65℃)，5MHz～35MHz宽范围可设置，可彻底省掉外部昂贵的晶振和外部复位电路(内部已集成高可靠复位电路，ISP编程时8级复位门槛电压可选)。3路CCP/PWM/PCA，8路高速10位A/D转换(30万次/秒)，内置2K字节大容量SRAM，2组高速异步串行通信端口(UART1/UART2，可在5组管脚之间进行切换，分时复用可作5组串口使用)，1组高速同步串行通信端口SPI，针对多串行口通信针对多串行口通信多串行口通信/电机控制/强干扰场合。STC15 series single-chip microcomputer is a single clock/machine cycle (1T) single-chip microcomputer produced by STC. It is a new generation of 8051 single-chip microcomputer with high speed/high reliability/low power consumption/super anti-interference. It uses the eighth generation encryption technology and has super encryption. The instruction code is completely compatible with the traditional 8051, but the speed is 8-12 times faster. Internally integrated high-precision R/C clock (0.03%), ±1% temperature drift (-40°C～+85°C), temperature drift ±0.6% at room temperature (-20°C～+65°C), 5MHz～35MHz wide range It can be set, which can completely save the external expensive crystal oscillator and external reset circuit (the internal high-reliability reset circuit has been integrated, and the 8-level reset threshold voltage is optional during ISP programming). 3-way CCP/PWM/PCA, 8-way high-speed 10-bit A/D conversion (300,000 times/s), built-in 2K bytes of large-capacity SRAM, 2 sets of high-speed asynchronous serial communication ports (UART1/UART2, can be used in 5 sets Switch between pins, time-division multiplexing can be used as 5 groups of serial ports), 1 group of high-speed synchronous serial communication port SPI, for multi-serial port communication multi-serial port communication/motor control/ Strong interference occasions.
惯导模块的选用Selection of inertial navigation module
惯导模块(AHRS)采用三轴陀螺仪、三轴加速度计与三轴磁力计进行惯性测量单元的组建。使用者带上装有此模块的手臂组件，将手臂运动的信息转换成可被其他模块识别的姿态数据。考虑到精度和干扰以及运动补偿，采用了两块GY953模块，相关参数如下：The inertial navigation module (AHRS) uses a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer to form an inertial measurement unit. The user wears the arm assembly equipped with this module, which converts the information of arm movement into posture data that can be recognized by other modules. Considering the accuracy, interference and motion compensation, two GY953 modules are used, and the relevant parameters are as follows:
模块尺寸：15.5mm*15.5mmModule size: 15.5mm*15.5mm
通信方式：1.串口(9600，115200)，2.SPI通信(4线)Communication method: 1. Serial port (9600, 115200), 2. SPI communication (4 wires)
供电电源：3v-5v 15maPower supply: 3v-5v 15ma
输出更新频率：100HZ，Output update frequency: 100HZ,
分辨率：0.1度Resolution: 0.1 degrees
直接输出：Direct output:
1.欧拉角(YAW ROLL PITCH)；1. Euler angle (YAW ROLL PITCH);
2.九轴传感器原始数据(加速度，陀螺仪，磁力计)；2. Nine-axis sensor raw data (acceleration, gyroscope, magnetometer);
3.四元素输出。3. Four-element output.
本发明的控制模块的主要控制芯片为GY953，实质是电子罗盘带倾斜补偿模块。The main control chip of the control module of the present invention is GY953, which is essentially an electronic compass belt tilt compensation module.
GY953是一款低成本AHRS模块。工作电压3-5v功耗小，体积小。其工作原理是通过陀螺仪与加速度传，磁场感器经过数据融合算法最后得到直接的角度数据。此模块，有两种方式读取数据，即串口(TTL电平)或者SPI(4线)通信方式。该产品精度高，稳定性高。能够在任意位置得到准确的角度，GY953 is a low cost AHRS module. The working voltage is 3-5v, the power consumption is small, and the volume is small. Its working principle is through the gyroscope and acceleration transmission, and the magnetic field sensor obtains direct angle data through data fusion algorithm. This module has two ways to read data, that is, serial port (TTL level) or SPI (4-wire) communication mode. The product has high precision and high stability. Can get accurate angle at any position,
数据计算方法：Data calculation method:
欧拉角计算方法：角度＝高8位<<8|低8位(结果为实际角度乘以100)Euler angle calculation method: angle = high 8 bits << 8 | low 8 bits (the result is the actual angle multiplied by 100)
例：一帧数据Example: a frame of data
<0x5A -0x5A -0x45-0x06 -0x00-0x64-0x03-0XE8-0x27-0x10-0x85><0x5A -0x5A -0x45-0x06 -0x00-0x64-0x03-0XE8-0x27-0x10-0x85>
表示欧拉角：Roll＝1.00度，Pitch＝10.00度，Yaw＝100.00度Indicates the Euler angle: Roll=1.00 degrees, Pitch=10.00 degrees, Yaw=100.00 degrees
陀螺仪磁场加速度原始数据计算方法：原始数据＝高8位<<8|低8位Calculation method of raw data of gyroscope magnetic field acceleration: raw data = high 8 bits << 8 | low 8 bits
例：一帧数据Example: a frame of data
<0x5A -0x5A -0x15-0x06 -0x00-0x64-0x03-0xE8-0x27-0x10-0x55><0x5A -0x5A -0x15-0x06 -0x00-0x64-0x03-0xE8-0x27-0x10-0x55>
表示加速度原始数据：Represents the raw acceleration data:
X＝0x0064，Y＝0x03E8，Z＝0x2710X=0x0064, Y=0x03E8, Z=0x2710
四元素计算方法：数据＝高8位<<8|低8位(结果为实际乘以10000)Four-element calculation method: data = high 8 bits << 8 | low 8 bits (the result is actually multiplied by 10000)
例：一帧数据Example: a frame of data
<0x5A -0x5A -0x15-0x08 -0x00-0x64-0x03-0xE8-0x03-0xE8-0x03-0xE8-0xF6><0x5A -0x5A -0x15-0x08 -0x00-0x64-0x03-0xE8-0x03-0xE8-0x03-0xE8-0xF6>
表示四元素数据：Represent four-element data:
q0＝0.01，q1＝0.1，q2＝0.1，q3＝0.1。q0=0.01, q1=0.1, q2=0.1, q3=0.1.
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention.
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。In addition, it should be understood that although this specification is described according to implementation modes, not each implementation mode only contains an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510490780.7ACN106393049B (en) | 2015-08-12 | 2015-08-12 | A robot for high-risk operations |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510490780.7ACN106393049B (en) | 2015-08-12 | 2015-08-12 | A robot for high-risk operations |
| Publication Number | Publication Date |
|---|---|
| CN106393049Atrue CN106393049A (en) | 2017-02-15 |
| CN106393049B CN106393049B (en) | 2019-03-12 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510490780.7AExpired - Fee RelatedCN106393049B (en) | 2015-08-12 | 2015-08-12 | A robot for high-risk operations |
| Country | Link |
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| CN (1) | CN106393049B (en) |
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