Force-sensing small robot system based on current intensity detection and teleoperation method thereof
A robot system and current intensity technology, applied in the signal transmission system, the measurement of the change force of the magnetic property of the material caused by the applied stress, and the instrument, etc., can solve the problem that the operator cannot effectively choose the road surface, the robot cannot move forward smoothly, and cannot Perceive the robot's terrain and other issues to achieve the effect of reducing the burden on the eyes, reducing energy, and avoiding damage
Active Publication Date: 2015-06-03
SOUTHEAST UNIV
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Problems solved by technology
However, the traditional teleoperation method can only simply realize the control of the robot's travel and steering, but it cannot perceive the terrain where the robot is in the process of travel, so that the operator cannot effectively select the road surface, and the control efficiency is low. When encountering complex road surfaces, even Cause the robot cannot move forward smoothly
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[0028] This embodiment provides a force-sensing small robot system based on current intensity detection, and its structural diagram is as follows figure 1 As shown, it includes a mobile robot body 1 , a force-sensing manipulator 8 and two Hall current sensors 6 .
[0029] The mobile robot car body 1 includes a left driving wheel 2, a right driving wheel 3, a left follower wheel, a right follower wheel, two drive motors 5 and two guide arms 4, and the front and rear wheels on both sides are covered by two crawler belts respectively. The front wheels drive the rear wheels to rotate, and the driving wheels on both sides rotate in the same direction when traveling in a straight line, and the left and right driving wheels turn in opposite directions when turning. Two driving motors 5 are electrically connected with the left driving wheel 2 and the right driving wheel 3 respectively, and drive the left driving wheel 2 and the right driving wheel 3 to rotate. The two guide arms 4 ar...
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The invention discloses a force-sensing small robot system based on current intensity detection and a teleoperation method of the force-sensing small robot system. The force-sensing small robot system based on the current intensity detection comprises a mobile robot body (1). The mobile robot body (1) comprises two driving wheels, two driven wheels and two drive motors (5), wherein the two drive motors (5) are connected with the two driving wheels respectively. The force-sensing small robot system based on current intensity detection further comprises a sensing operator (8) and two hall current sensors (6), wherein the two hall current sensors (6) are connected with the current input ends of drive motor (5) respectively and used for measuring the amplitude of driving current in real time, the force sensing operator (8) is wirelessly communicated with the mobile robot body (1) and used for receiving and processing current information transmitted by the mobile robot body (1), and feedback information is made to directly act on the hands of operating personnel in a vibration mode. The force sensing operator (8) feeds back the vibration intensity respectively. Due to the fact that an isolated current detection method is provided, the landform where a robot is located in the process of advancing can be effectively sensed, and the operating personnel can conveniently select a road surface.
Description
technical field [0001] The invention relates to a force-sensing small robot system and its remote operation control method, in particular to a force-sensing small robot system based on current intensity detection and its remote operation control method, belonging to the human-computer interaction technology and force-sensing remote control of mobile robots. Field of Operational Technology. Background technique [0002] In recent years, the number of international terrorist attacks has shown a clear upward trend. A considerable number of terrorist organizations have the ability to carry out nuclear, biological and chemical terrorist attacks, causing great harm and bad influence to human society. my country is a big country in nuclear industry and chemical industry. It is facing the severe challenges of nuclear hazards, chemical hazards and secondary hazards of nuclear, biological and chemical disasters. It is very necessary to research and develop a flexible environment detec...
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IPC IPC(8): G01L1/12G08C17/02G05D1/02
Inventor 宋爱国张立云
Owner SOUTHEAST UNIV
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