CN109732582A - A device and method for carrying a camera of a software robot based on an outer pull wire - Google Patents
A device and method for carrying a camera of a software robot based on an outer pull wire Download PDFInfo
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- CN109732582A CN109732582A CN201910108453.9A CN201910108453A CN109732582A CN 109732582 A CN109732582 A CN 109732582A CN 201910108453 A CN201910108453 A CN 201910108453A CN 109732582 A CN109732582 A CN 109732582A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 239000000463 material Substances 0.000 claims description 31
- 238000007789 sealing Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
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- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
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Abstract
本发明涉及一种摄像头携带装置和方法，更具体的说是一种基于外部拉线的软体机器人摄像头携带装置和方法,包括机器人生长伸长主体、拉线、前端跟随运动摄像机和固定板，所述机器人生长伸长主体充气向前端膨胀，拉线穿过机器人生长伸长主体向后拉动固定板与机器人生长伸长主体的前端接触前端跟随运动摄像机连接在固定板上；可以解决在失重环境中的软体机器人探测环境的摄像机的安装跟随运动问题，通过简单的结构实现前端跟随运动摄像机的携带和完成前端跟随运动摄像机的工作，通过机器人生长伸长主体长度的改变实现前端跟随运动摄像机的运动距离并通过控制充气泵进行反馈控制，满足更多的使用需求。
The present invention relates to a camera carrying device and method, more particularly to a software robot camera carrying device and method based on an external pull wire, comprising a robot growing and extending body, a pulling wire, a front-end following motion camera and a fixing plate, the robot The growth and elongation body is inflated and inflated to the front end, and the pulling wire passes through the growth and elongation body of the robot and pulls the fixing plate backward and contacts the front end of the robot growing and elongating body. The installation of the camera that detects the environment follows the motion problem. The front-end following motion camera can be carried and the work of the front-end following motion camera can be realized through a simple structure. Feedback control of the air pump to meet more needs.
Description
Technical field
The present invention relates to a kind of camera carrying device and methods, are in particular a kind of softwares based on outer side guy
Robot camera carrying device and method.
Background technique
21 century is the epoch of information science technology high speed development, and robot is the one of this era development necessarily to become greatly
Gesture, including industrial robot, educational robot, household service robot, cooperate robot and military machine people etc., this is in original
Come on the basis of rigid machine people to optimize, breakthrough bottleneck.
With the development of robot technology, soft robot progresses into the visual field of people.Soft robot is by flexibility
Material completes, and can be a kind of Flexiable robot in a wide range of interior change own form.The driving side of soft robot
There are many formula, and one type robot can only be driven with gas.But since its structure is different from traditional robot, many tradition
Mechanical structure be not available.Soft robot is the application wound in changeable complex environment using outstanding features such as its flexibilities
Make one seat.Traditional robot is because there are all for structure size and Dynamical Cause in intricate and unknown narrow environment
More limitations, operation is not easy to carry out especially in weightlessness, is not easy to reach specified destination completion in environment in a limited space
Necessity instruction, and soft robot then has inherent advantage, can convert pose depending on the site environment, realizes predeterminated target.But mesh
Preceding " eyes " for soft robot detection site environment follow the no effectively design scheme of installation of video camera.
Summary of the invention
The object of the present invention is to provide a kind of soft robot camera carrying devices and method based on outer side guy, can
Motion problems are followed to solve the installation of the video camera of the soft robot detection environment in weightlessness.
The purpose of the present invention is achieved through the following technical solutions:
A kind of soft robot camera carrying device based on outer side guy, including robot growth elongation main body, drawing
Line, front end follow motion cameras and fixed plate, and the robot growth elongation main body inflation forward end expansion is drawstring through machine
The long elongation main body of device life pulls back the preceding end in contact of fixed plate and robot growth elongation main body, and front end follows Flying Camera
Machine is connected in fixed plate.
As advanced optimizing for the technical program, a kind of soft robot camera based on outer side guy of the present invention is taken
Band device, the robot growth elongation main body includes PE material cylindrical body and control inflator pump, controls inflator pump and PE material
Matter cylindrical body is realized in inflation direction side and is tightly connected.
As advanced optimizing for the technical program, a kind of soft robot camera based on outer side guy of the present invention is taken
Band device, the PE material cylindrical body form twoShape, fixed plate are located at two of PE material cylindrical body front endBetween shape.
As advanced optimizing for the technical program, a kind of soft robot camera based on outer side guy of the present invention is taken
Band device, the soft robot camera carrying device based on external bracing wire further include shrinking reel, PE material tubular master
Body forms twoThe inside of shape, which is contracted in, shrinks on reel.
As advanced optimizing for the technical program, a kind of soft robot camera based on outer side guy of the present invention is taken
Band device, the bracing wire are divided into four strands, and one end of four bracing wires both passes through the PE material cylindrical body and forms twoBetween shape, the other end of four bracing wires is each passed through the surrounding of fixed plate, and bracing wire pulls fixed plate to move backward and withstands on two
It is aIn shape.
A kind of soft robot camera carrying method based on outer side guy, should the soft robot based on outer side guy
Camera carry method the following steps are included:
Step 1: starting control inflator pump is inflated by controlling inflator pump into PE material cylindrical body；
Step 2: PE material cylindrical body forms twoShaped inflatable is expanded, due to the effect of air pressure, machine
Inverse inflation pushes the fixed plate being connected with bracing wire due to turning up for film " discharge " to the long elongation main body of life forward, fixed plate band
Dynamic front end follow motion cameras together by robot grow elongation main body forward inverse inflation due to turning up for film " discharge "；
Step 3: being provided with aperture in fixed plate, is drawstring through the aperture of fixed plate, will be drawn by the line of " discharge " at side rear
It returns, to guarantee the front end that front end follows motion cameras to grow elongation main body always situated in robot.
The present invention is a kind of based on the soft robot camera carrying device of outer side guy and having the beneficial effect that for method
A kind of soft robot camera carrying device and method based on outer side guy of the present invention, can solve in weightlessness
The installation of video camera of soft robot detection environment in environment follows motion problems, by simple structure realize front end with
The work that motion cameras is followed with the carrying and completion front end of motion cameras passes through robot and grows elongation principal length
Change and realize that front end follows the move distance of motion cameras and carries out feedback control by control inflator pump, satisfaction more makes
Use demand.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is present apparatus motion principle schematic diagram one of the invention；
Fig. 2 is present apparatus motion principle schematic diagram two of the invention；
Fig. 3 is present apparatus motion principle schematic diagram three of the invention.
In figure: robot growth elongation main body 1；Bracing wire 2；Front end follows motion cameras 3；Fixed plate 4；Shrink reel 5.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment, a kind of soft robot camera carrying dress based on outer side guy below with reference to Fig. 1-3
It sets, including robot growth elongation main body 1, bracing wire 2, front end follow motion cameras 3 and fixed plate 4, can solve in weightlessness
The installation of video camera of soft robot detection environment in environment follows motion problems, by simple structure realize front end with
The work that motion cameras 3 is followed with the carrying and completion front end of motion cameras 3 passes through robot and grows the elongation length of main body 1
The change of degree realizes that front end follows the move distance of motion cameras 3 and carries out feedback control by control inflator pump, meets more
More use demands；The robot growth elongation main body 1 inflates forward end expansion, and bracing wire 2 passes through robot growth elongation master
Body 1 pulls back the preceding end in contact of fixed plate 4 and robot growth elongation main body 1, and it is solid that front end follows motion cameras 3 to be connected to
On fixed board 4；It is the video camera that can be realized real-time image information transmission that front end, which follows motion cameras 3,.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-3, the machine
The long elongation main body 1 of device life includes PE material cylindrical body and control inflator pump, controls inflator pump and PE material cylindrical body exists
It inflates direction side and realizes sealed connection；Control inflator pump is accessed according to feedback information, controls inflator pump and apical growth main body
It realizes and is tightly connected in inflation direction side, prevent gas leakage from avoiding control deviation；Columnar main body PE plastics have compared with
Strong anti-pressure ability can limit the expansion in other directions, so that robot body can only travel forward.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1-3, the PE
Material cylindrical body forms twoShape, fixed plate 4 are located at two of PE material cylindrical body front endBetween shape.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment three below with reference to Fig. 1-3, the base
It further include shrinking reel 5 in the soft robot camera carrying device of external bracing wire, PE material cylindrical body forms twoThe inside of shape, which is contracted in, shrinks on reel 5；PE material cylindrical body forms two before inflationShape is rolled up
It shrinks on reel 5, robot body's material is PE plastics；After being inflated, air pressure can drive internal membrane in the outer of head
Turning over makes it travel forward, and shrinks the PE material cylindrical body rolled up on reel 5 and forms twoShape can provide material support；
Also, columnar main body PE plastics have stronger anti-pressure ability, the expansion in other directions can be limited, so that robot
Main body can only travel forward.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment are described further embodiment four below with reference to Fig. 1-3, the drawing
It is four strands that line 2, which divides, and one end of four bracing wires 2 both passes through the PE material cylindrical body and forms twoBetween shape, four drawings
The other end of line 2 is each passed through the surrounding of fixed plate 4, and bracing wire 2 pulls fixed plate 4 to move backward and withstands on twoIn shape；Make
Obtain the stress equalization of fixed plate 4.
A kind of soft robot camera carrying method based on outer side guy, should the soft robot based on outer side guy
Camera carry method the following steps are included:
Step 1: starting control inflator pump is inflated by controlling inflator pump into PE material cylindrical body；
Step 2: PE material cylindrical body forms twoShaped inflatable is expanded, due to the effect of air pressure, machine
Inverse inflation pushes the fixed plate 4 being connected with bracing wire 2 due to turning up for film " discharge " to the long elongation main body 1 of life forward, fixed
Plate 4 drive front end follow motion cameras 3 together by robot grow elongation main body 1 forward inverse inflation due to turning up for film
" discharge ".
Step 3: being provided with aperture in fixed plate 4, bracing wire 2 passes through the aperture of fixed plate 4, will be by " discharge " at side rear
Line retracts, to guarantee the front end that front end follows motion cameras 3 to grow elongation main body 1 always situated in robot.
A kind of soft robot camera based on outer side guy of the invention carries scheme, its working principle is that:
Starting control inflator pump, is inflated by controlling inflator pump into PE material cylindrical body；PE material cylindrical body shape
At twoShaped inflatable is expanded, and due to the effect of air pressure, inverse inflation pushes robot growth elongation main body 1 forward
With bracing wire 2 be connected fixed plate 4 due to turning up for film " discharges ", fixed plate 4 drive front end follow motion cameras 3 together by
Robot growth elongation main body 1 forward inverse inflation due to turning up for film " discharge "；Solve the software machine in weightlessness
The installation that device people detects the video camera of environment follows motion problems, realizes that front end follows motion cameras 3 by simple structure
Carrying and complete front end and follow the work of motion cameras 3, before being realized by the change that robot grows elongation 1 length of main body
End follows the move distance of motion cameras 3 and carries out feedback control by control inflator pump, meets more use demands；Institute
It states robot growth elongation main body 1 and inflates forward end expansion, bracing wire 2 passes through robot growth elongation main body 1 and pulls back fixation
The preceding end in contact of plate 4 and robot growth elongation main body 1, front end follows motion cameras 3 to be connected in fixed plate 4；Fixed plate 4
On be provided with aperture, bracing wire 2 passes through the aperture of fixed plate 4, will be retracted by the line of " discharge " at side rear so that fixed plate 4 by
Power is balanced, to guarantee the front end that front end follows motion cameras 3 to grow elongation main body 1 always situated in robot.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910108453.9A CN109732582B (en) | 2019-01-18 | 2019-01-18 | Soft robot camera carrying device and method based on outer side stay wire |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910108453.9A CN109732582B (en) | 2019-01-18 | 2019-01-18 | Soft robot camera carrying device and method based on outer side stay wire |
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| CN109732582A true CN109732582A (en) | 2019-05-10 |
| CN109732582B CN109732582B (en) | 2022-01-28 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294041A (en) * | 2019-07-15 | 2019-10-01 | 哈尔滨工业大学 | A kind of soft robot and adherency climbing method based on flexible bristle configurations |
| CN110450138A (en) * | 2019-08-22 | 2019-11-15 | 哈尔滨工业大学 | It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly |
| CN110509267A (en) * | 2019-08-21 | 2019-11-29 | 燕山大学 | A soft manipulator based on swallowing effect |
| CN112692810A (en) * | 2020-12-09 | 2021-04-23 | 杭州电子科技大学 | Soft mechanical arm and driving method thereof |
| CN113103212A (en) * | 2021-04-30 | 2021-07-13 | 哈尔滨工业大学 | A self-growing flexible arm gripper device |
| CN115179258A (en) * | 2022-07-06 | 2022-10-14 | 泉州中国兵器装备集团特种机器人研发中心 | Film flexible robot is aerifyd to formula of turning up |
| CN118386263A (en) * | 2024-05-31 | 2024-07-26 | 哈尔滨工业大学 | Control driving system and method for self-growing soft robot for target tracking |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294041A (en) * | 2019-07-15 | 2019-10-01 | 哈尔滨工业大学 | A kind of soft robot and adherency climbing method based on flexible bristle configurations |
| CN110509267A (en) * | 2019-08-21 | 2019-11-29 | 燕山大学 | A soft manipulator based on swallowing effect |
| CN110450138A (en) * | 2019-08-22 | 2019-11-15 | 哈尔滨工业大学 | It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly |
| CN112692810A (en) * | 2020-12-09 | 2021-04-23 | 杭州电子科技大学 | Soft mechanical arm and driving method thereof |
| CN113103212A (en) * | 2021-04-30 | 2021-07-13 | 哈尔滨工业大学 | A self-growing flexible arm gripper device |
| CN113103212B (en) * | 2021-04-30 | 2022-05-17 | 哈尔滨工业大学 | A self-growing flexible arm gripper device |
| CN115179258A (en) * | 2022-07-06 | 2022-10-14 | 泉州中国兵器装备集团特种机器人研发中心 | Film flexible robot is aerifyd to formula of turning up |
| CN118386263A (en) * | 2024-05-31 | 2024-07-26 | 哈尔滨工业大学 | Control driving system and method for self-growing soft robot for target tracking |
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| CN109732582B (en) | 2022-01-28 |
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