CN206140525U - VR robot - Google Patents

Abstract

The utility model is suitable for a robotechnology field provides a VR robot for realize the remote interaction of user and scene, the VR robot includes: the robot comprises a robot main body, VR glasses and a control interaction platform; the robot main body comprises an omnidirectional mobile platform, a double-arm mechanism, a left camera, a right camera, a first sound acquisition device, a scene display device and a first sound player; VR glasses include left side display screen, right side display screen, second sound player, second sound acquisition device and user's camera. The VR robot greatly enhances the immersion feeling of the user by wearing VR glasses which are in network communication with the robot main body by the user; simultaneously, this robot main part can the omnidirectional movement platform through setting up in order to be synchronous with the user action completely to through setting up many free robot main parts and setting up left side camera and right side camera and carry out the scene picture with the vision about the simulation user and shoot, improved user's immersive experience greatly.

Description

A VR robot

technical field

The utility model belongs to the technical field of robots, in particular to a VR robot.

Background technique

In recent years, robot technology has been widely used, and has played a huge role in industrial production, high-risk operations and other fields, and has brought better market returns. In the foreseeable future, robots will gradually enter people's personal life, acting as personal assistants, remote operations, housework, and daily repetitive business in the office. However, under the current conditions, the degree of intelligence of robots is not enough to understand human intentions and complete various daily tasks independently. In addition, most robots need to be trained by professionals before they can be operated. Meet people's individual and diverse needs.

With the wide application of robots, human-computer interaction technology has attracted more and more attention from robot researchers and users. The universality of its interaction technology will affect the efficiency of robots in production and participation in people's lives. Usually, the interaction between human and robot realizes the control of robot position, speed and other parameters through the handle or the rapid programming of the robot through the graphical programming interface. Although with the help of vision, humans and robots can interact naturally, but the sense of immersion is not strong, and a good sense of presence cannot be obtained, especially during teleoperation operations, due to space constraints, human activities and robot activity spaces cannot be well matched. , so there will be visual errors, and the situation of "more than enough heart but not enough energy" will appear. Therefore, the human activity space matches that of the robot, and integration is crucial for humans and robots to be in the same space-time environment.

Utility model content

The purpose of the utility model is to provide a VR robot, aiming at solving the technical problem of how to enhance the immersive experience of the VR robot in the prior art.

The utility model is realized in this way. A VR robot is used to realize the remote interaction between the user and the scene. VR glasses connected to the robot body through network communication, wherein,

The VR glasses are connected to the control interaction platform through network communication, and the scene where the main body of the robot is located changes with the user's line of sight. The control interaction platform acquires user data and actions in real time and transmits the user data and actions to the robot synchronously. on the subject;

The control interaction platform includes a first controller arranged in the robot body and controlling the robot body, a first network communication device connected to the first controller signal, and a communication connection with the first network communication device and a second network communication device installed in the VR glasses and a second controller that is signally connected to the second network communication device and controls the VR glasses;

The main body of the robot includes an omnidirectional mobile platform electrically connected to the first controller, a double-arm mechanism with multiple degrees of freedom arranged on the omnidirectional mobile platform, and used to simulate the left and right vision of the human eye for on-site The left camera and the right camera for picture shooting, the first sound acquisition device for real-time acquisition of on-site sound, the scene display screen for displaying the user picture on the robot body, and the first sound for playing the user's voice player;

The VR glasses include a left display screen and a right display screen for playing the pictures taken by the left camera and the right camera so as to simulate the left and right vision of the human eye and make the user feel the effect of being on the scene. A second sound player for playing the sound of the first sound acquisition device, a second sound acquisition device for acquiring the user's voice, and a user camera for taking pictures of the user.

Further, the VR robot also includes a wireless communication device electrically connected to the second controller, and a wireless remote controller that communicates with the VR glasses through the wireless communication device and is used to adjust the state of the robot body.

Further, the wireless remote controller is a mobile terminal.

Further, the main body of the robot further includes a drive mechanism electrically connected to the first controller and used to drive the movement of the omnidirectional mobile platform, and a power supply device for providing power.

Further, the dual-arm mechanism includes a mechanical waist with 1 degree of freedom, a mechanical head with 2 degrees of freedom, and a pair of mechanical arms with 4 degrees of freedom. The left camera and the right camera that simulate the user's left and right vision to capture live images.

Further, the omnidirectional mobile platform includes four Mecanum wheels driven by the driving mechanism.

Further, the user wears a somatosensory control device that is connected to the robot body through network communication and operates synchronously with each joint of the robot body.

Compared with the prior art, the technical effect of the present utility model is: the VR robot uses the user data and actions acquired by the control interaction platform in real time and transmits the user data and actions to the robot main body through network communication to realize data transmission synchronization, and the user wears VR glasses that communicate with the robot main body network to display the user screen on the robot main body, which greatly enhances the user's sense of immersion; at the same time, the robot main body can be set to move the platform omnidirectionally to completely communicate The user's movements are synchronized, and by setting a multi-degree-of-freedom dual-arm mechanism to ensure that the movement of the robot body is consistent and flexible with the user's movements, and by setting the left camera and the right camera to simulate the user's left and right vision for on-site picture shooting, Greatly improve the user's immersive experience.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the following will briefly introduce the accompanying drawings that need to be used in the embodiments of the utility model or the description of the prior art. Obviously, the accompanying drawings described below are only the present invention. For some embodiments of the utility model, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a structural schematic diagram of the wireless communication between the VR glasses and the robot body provided by the embodiment of the utility model;

Fig. 2 is a structural block diagram of the VR robot provided by the embodiment of the present invention.

Explanation of reference signs:

detailed description

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the figures are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" , "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present utility model, "plurality" means two or more, unless otherwise specifically defined.

In this utility model, unless otherwise specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection, or integration; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Please refer to Fig. 1 and Fig. 2, the VR robot provided by the embodiment of the utility model is used to realize the remote interaction between the user and the scene, the VR robot includes a robot body 10, and a control interaction platform 20 connected to the robot body 10 through network communication and VR glasses 30 for wearing by the user and connecting with the robot main body 10 through network communication, wherein,

The VR glasses 30 are connected to the control interaction platform 20 through network communication and make the scene where the robot body 10 is located change correspondingly with the user's line of sight. The control interaction platform 20 acquires user data and actions in real time and transmits the user data and actions synchronously onto the robot main body 10;

The control interaction platform 20 includes a first controller 22 arranged in the robot body 10 and controlling the robot body 10, a first network communication device 24 connected to the first controller 22, and a A network communication device 24 is communicatively connected to a second network communication device 26 disposed in the VR glasses 30 and a second controller 28 that is signal-connected to the second network communication device 26 and controls the VR glasses 30;

The robot main body 10 includes an omnidirectional mobile platform 11 electrically connected to the first controller 22, a double-arm mechanism 12 with multiple degrees of freedom arranged on the omnidirectional mobile platform 11, used to simulate human The left side camera 13 and the right side camera 14 that carry out the scene picture shooting with the left and right eyes, the first sound acquisition device 15 for real-time acquisition of live sound, the scene display screen 16 for displaying the user picture on the robot body, and A first sound player 17 for playing the user's voice;

The VR glasses 30 include a left display screen 32 and a right display screen 32 for playing images taken by the left camera 13 and the right camera 14 so as to simulate the left and right vision of the human eye so that the user can experience the effect of being on the scene. screen 34, a second sound player 36 for playing the sound of the first sound acquisition device 15, a second sound acquisition device 38 for implementing user voice acquisition, and a user camera 39 for capturing user pictures.

The VR robot provided by the embodiment of the present utility model utilizes the user data and actions acquired by the control interaction platform 20 in real time and transmits the user data and actions to the robot main body 10 through network communication, so as to realize the synchronization of data transmission, and the user Wearing VR glasses 30 for network communication with the robot body 10 to display the user's picture on the robot body 10 greatly enhances the user's sense of immersion; at the same time, the robot body 10 can move the platform 11 in all directions by setting it to completely communicate with the robot body. The user's actions are synchronized, and by setting a multi-degree-of-freedom dual-arm mechanism 12 to ensure that the action of the robot body 10 is consistent and flexible with the user's actions, and by setting the left camera 13 and the right camera 14 to simulate the user's left and right vision On-site picture shooting greatly improves the user's immersive experience.

In this embodiment, the left camera 13, the right camera 14 and the user camera 34 all adopt high-definition cameras and perform high-definition image transmission, and their resolutions are as follows: 720P (1280*720), 960P ( 1280*960) or 1080P (1920*1080), etc.

In this embodiment, the first sound player 17 is a speaker, and the second sound player 38 is an earphone.

Please refer to FIG. 1 and FIG. 2 , further, the VR robot further includes a wireless communication device 40 electrically connected to the second controller 28 and communicates with the VR glasses 30 through the wireless communication device 40 and is used to adjust the Describe the wireless remote controller 50 of the state of the robot body. By setting the wireless communication device 40 and the wireless remote controller 50, the wireless communication with the VR glasses 30 can be realized, and thus the state of the robot body can be adjusted.

In this embodiment, for the first network communication device 24, the second network communication device 26 and the wireless communication device 40, they are connected to each other through a wireless network, such as WI-FI or ZigBee etc. Of course, without considering the size of the moving range, a wired network connection can also be used, and it is not limited thereto.

Preferably, the wireless remote controller 50 is a mobile terminal. The control program for receiving the visual image of the robot body 10 and controlling the left camera 13 and the right camera 14 is installed in the mobile terminal, and an immersive experience is realized by wearing the VR glasses 30 .

In other embodiments, the wireless remote controller 50 may also be of other types, for example, a remote controller equipped with the VR glasses 30, etc., which are not limited thereto.

Please refer to Fig. 1 and Fig. 2, further, the robot main body 10 also includes a driving mechanism (not shown) electrically connected to the first controller 22 and used to drive the movement of the omnidirectional mobile platform 11 and providing Power supply unit (not shown) for power supply. The driving mechanism is a driving motor, and both the driving mechanism and the power supply device are arranged in the omnidirectional mobile platform 11 .

Please refer to Figure 1 and Figure 2, further, the double-arm mechanism 12 includes a mechanical waist 120 with 1 degree of freedom, a mechanical head 122 with 2 degrees of freedom, a pair of mechanical arms 124 with 4 degrees of freedom, The mechanical head is provided with the left camera 13 and the right camera 14 which rotate accordingly and are used to simulate the user's left and right vision to take live pictures.

Please refer to FIG. 1 and FIG. 2 , further, the omnidirectional mobile platform 11 includes four Mecanum wheels (not shown) driven by the driving mechanism. The use of the Mecanum wheel enables the omnidirectional mobile platform 11 to move in any direction, which improves the flexibility of the movement of the robot body 10 .

In other embodiments, the mecanum wheel may also be replaced by other mechanisms to realize omnidirectional movement, but is not limited thereto.

Please refer to FIG. 1 and FIG. 2 , further, the user wears a somatosensory control device (not shown) that is connected to the robot body 10 through network communication and moves synchronously with the joints of the robot body 10 . By wearing the somatosensory control device, the joints of the robot main body 10 can move synchronously. In other embodiments, human body sensing devices can be used to collect human body movements and states in real time, and transmit them to the robot main body 10 through network communication, so as to realize synchronous completion of movements.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (7)

1. A VR robot, used to realize the remote interaction between the user and the scene, characterized in that, the VR robot includes a robot body, a control interaction platform connected to the robot body through network communication and is used for the user to wear and interact with the robot body. The VR glasses that the main body of the robot performs network communication connection, wherein, The VR glasses are connected to the control interaction platform through network communication, and the scene where the main body of the robot is located changes with the user's line of sight. The control interaction platform acquires user data and actions in real time and transmits the user data and actions to the robot synchronously. on the subject; The control interaction platform includes a first controller arranged in the robot body and controlling the robot body, a first network communication device connected to the first controller signal, and a communication connection with the first network communication device and a second network communication device installed in the VR glasses and a second controller that is signally connected to the second network communication device and controls the VR glasses; The main body of the robot includes an omnidirectional mobile platform electrically connected to the first controller, a double-arm mechanism with multiple degrees of freedom arranged on the omnidirectional mobile platform, and used to simulate the left and right vision of the human eye for on-site The left camera and the right camera for picture shooting, the first sound acquisition device for real-time acquisition of on-site sound, the scene display screen for displaying the user picture on the robot body, and the first sound for playing the user's voice player; The VR glasses include a left display screen and a right display screen for playing the pictures taken by the left camera and the right camera so as to simulate the left and right vision of the human eye and make the user feel the effect of being on the scene. A second sound player for playing the sound of the first sound acquisition device, a second sound acquisition device for acquiring the user's voice, and a user camera for taking pictures of the user. 2. The VR robot according to claim 1, further comprising a wireless communication device electrically connected to the second controller and communicating with the VR glasses through the wireless communication device for adjusting the robot body Status wireless remote control. 3. The VR robot according to claim 2, wherein the wireless remote controller is a mobile terminal. 4. The VR robot according to claim 1, wherein the robot main body further comprises a drive mechanism electrically connected to the first controller and used to drive the movement of the omnidirectional mobile platform and a power supply for providing power device. 5. The VR robot according to claim 1, wherein the dual-arm mechanism includes a mechanical waist with 1 degree of freedom, a mechanical head with 2 degrees of freedom, and a pair of mechanical arms with 4 degrees of freedom , the mechanical head is provided with the left camera and the right camera that rotate accordingly and are used to simulate the user's left and right vision to capture live images. 6. The VR robot according to claim 4, wherein the omnidirectional mobile platform comprises four Mecanum wheels driven by the driving mechanism. 7. The VR robot according to claim 1, wherein the user wears a somatosensory control device that is connected to the robot body through network communication and moves synchronously with each joint of the robot body.