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Intelligent autonomous wheel type mobile robot

A mobile robot, intelligent and autonomous technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems that affect the application of robot vision system and the slow speed of computer image processing

Inactive Publication Date: 2004-07-21
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Due to the slow speed of computer image processing, it affects the application of robot vision system

Method used

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  • Intelligent autonomous wheel type mobile robot
  • Intelligent autonomous wheel type mobile robot
  • Intelligent autonomous wheel type mobile robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0030] The overall performance index of the intelligent autonomous wheeled mobile robot CASIA-I is:

[0031] Appearance: regular 16 prism

[0032] ·Motion platform diameter: 0.45m, wheelbase: 0.4m, height: 0.8m, weight: 45kg, load: 80kg

[0033] ·Maximum linear velocity: 0.8m / s, maximum angular velocity: 2.6rad / s, zero radius rotation

[0034] Motor: DC brushless motor, DC servo motor

[0035] ·Gear train structure: two main drive wheels and two balance wheels are arranged orthogonally

[0036] ·Sensing system: The three sensing rings of long-distance infrared, ultrasonic and short-distance infrared are distributed in the upper, middle and lower layers in turn. Each layer of the sensing ring is composed of 16 corresponding sensors, and evenly covers the 360° direction. In addition, a monocular vision sensing system is installed on the top of the robot. Each sensing ring and vision system is equipped with its own independent DSP processor, which can realize real-time proces...

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Abstract

An autonomous wheel type movable intelligent robot with such functions as dynamic target tracking, target recognization, and man-machine interaction by speed is composed of the camera for providing ambient information, industrial control computer able to communicate via CAN bus to motor driver / controller, ultrasonic ring and infrared ring, and the moving mechanism controlled by motor driver / controller. The ultrasonic, infrared and visual sensors are used.

Description

technical field [0001] The invention relates to a universal mobile robot platform in the field of mechatronics, in particular to an intelligent autonomous wheeled mobile robot. Background technique [0002] Since 1954, Dai Vol in the United States proposed the concept of industrial robots. In 1962, the American AMF Company developed the world's first industrial robot. The research on robotics has made great progress. The arm-type industrial robot technology has been perfected. At the same time, mobile robots can not only realize a large range of workpiece transportation in the industrial field, but also in the non-industrial field-service field, such as tour guide robots, rehabilitation care robots, entertainment robots, cleaning robots, Security robots, etc., have a wide range of application prospects and markets. Therefore, no matter in the field of research or in the field of development, mobile robots have become more and more research hotspots in many research institut...

Claims

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Application Information

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IPC IPC(8): B25J13/00
Inventor 谭民侯增广李磊陈细军叶涛延昊杨国胜
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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