Service-oriented movable manipulator system

Abstract

The invention discloses a service-oriented movable manipulator system. The hand-eye coordinated movement of human vision and a movable manipulator is achieved for the target discovery and orientation of human contact movement and the process that arms approach a target and the target is aimed. The service-oriented movable manipulator system mainly comprises a head information collecting system 3, a man-machine interactive system 8, a movable manipulator decision control system 9, a human visual special orientation and position estimation system 10 and the like, wherein the man-machine interactive system 8 is composed of a picture signal collecting and processing module 8a, an electroencephalogram collecting and processing module 8b, an electro-oculogram collecting and processing module 8c and a head gesture signal collecting and processing module 8d. According to the human visual special orientation and position estimation system 10, the target discovery is formed with the characteristics of eye fixation points, the special orientation and position of a target object are estimated on the basis of electro-oculogram and head motion information, and accordingly motion planning and motion control of the movable manipulator are achieved, and the hand-eye coordinated movement of a human body and the movable manipulator is achieved.

Description

technical field [0001] The invention relates to the fields of mobile manipulators and informatics, in particular to the field of service-type mobile manipulators for helping the elderly and the disabled. Background technique [0002] As an auxiliary technology and product, robots for the elderly and the disabled have been extended to all areas of life of the disabled and the elderly to solve some difficulties in their lives. The service-type mobile manipulator (or wheelchair manipulator) composed of a wheelchair mobile platform and a robotic arm installed on the wheelchair is an important branch of the robot for helping the elderly and the disabled, because it has the ability to walk in an unstructured home environment, and any object Grasping ability and multi-channel human-computer interaction ability can replace human beings to complete various tasks of serving the elderly and the disabled and become one of the research hotspots in the field of rehabilitation. At present...

AI Technical Summary

Problems solved by technology

Judging from the existing research results, human-computer interaction methods still mostly use "machine-led" body control methods, such as mouse, keyboard, voice, etc., but for patients with damaged brain and peripheral neuromuscular pathways, it is impossible to drive The above-mentioned mobile manipulators pose new challenges to the research of service-oriented mobile manipulators; and the motion planning is mostly based on the traditional binary control method of completing predetermined operations, which is difficult to meet the actual needs of specific environments and specific groups of people.

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