An intelligent service robot system capable of automatically opening a door comprises a medical care robot hardware platform and a door opening software platform. The medical care robot hardware platform comprises a robot intelligent mobile platform, a mechanical arm door opening device and a computer identification positioning device; the robot intelligent mobile platform comprises an AGV mobile chassis, a power supply system, an industrial personal computer, a router and a motion control device, and the door opening software platform is installed on the industrial personal computer of the medical care robot and comprises an object recognition and detection module, a coordinate system conversion module, a mechanical arm motion module, an object grabbing module, a motion module and a mechanical arm compliance control module; a speed-based controller and a position-based controller are combined to jointly act on the moving process of the mechanical arm, and finally the door opening task is completed. The door opening device can help a patient with mobility difficulty to complete door opening operation.
一种自动开门的智能服务机器人系统,包括医护机器人硬件平台以及开门软件平台;医护机器人硬件平台包括机器人智能移动平台、机械臂开门装置以及计算机识别定位装置;机器人智能移动平台包括AGV移动底盘、供电系统、工控机、路由器以及运动控制装置,开门软件平台安装在医护机器人的所述工控机上,包括物体识别检测模块、坐标系转换模块、机械臂运动模块、物体抓取模块、运动模块、机械臂柔顺控制模块;将基于速度的以及基于位置的控制器相结合共同作用于机械臂移动过程,最终完成开门任务。本发明能帮助行动不便的患者完成开门操作。
Intelligent service robot system capable of automatically opening door
一种自动开门的智能服务机器人系统
2022-05-13
Patent
Elektronische Ressource
Chinesisch
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