Manned armor and mechanical arm control system thereof

Abstract

The invention discloses a manned armour and a mechanical arm control system thereof, and belongs to the field of manned armours.The manned armour comprises an armour body, mechanical arms are arranged on the left side and the right side of the armour body, a bottom plate is fixed to the bottom of the armour body, a chassis is detachably connected to the lower portion of the bottom plate, and a hydraulic rod is embedded in the center of the interior of the chassis; a hydraulic rod is fixed to the bottom end of the chassis, a lifting frame is fixed to the position, located in the chassis, of the bottom end of the hydraulic rod, a crawler mechanism is arranged in the lifting frame, and first fixing frames are fixed to the left side and the right side of the chassis correspondingly. According to the invention, rapid switching between a wheel type and a crawler type of the mechanical armor is realized, the adaptive capacity of the mechanical armor is improved, operation requirements under different terrains and complex environments can be met, the system supports multi-mode interaction of gestures, voice, touch and the like, the operation flexibility of a driver is improved, and the system response speed is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of manned mechas, and particularly to a manned mecha and its robotic arm control system. Background Art

[0002] With the progress of technology, manned mechas, as an efficient and flexible operation platform, have been widely used in multiple fields such as military, rescue, and exploration. Traditional robotic arm control systems have problems such as insufficient operation accuracy, complex operation, and poor adaptability. Especially when facing different terrains and environments, traditional wheeled or tracked mechas often require high manual adjustment, resulting in low efficiency. Therefore, improving the operation flexibility and movement adaptability of mechas while optimizing their control systems has become a technical problem to be solved urgently.

[0003] At the same time, virtual reality (VR) and augmented reality (AR) technologies have been widely used in simulation training and the optimization of human-machine interaction. A robotic arm control system combining VR and AR technologies can improve the operation accuracy and interaction experience of drivers. Especially in a complex task environment, it can provide more accurate real-time feedback and control support. Through multi-modal interaction and remote collaboration functions, more efficient task collaboration can be achieved, further improving the performance of manned mechas when performing tasks. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a manned mecha and its robotic arm control system, which solves the problems proposed in the above background art.

[0005] Technical Solution: To solve the above technical problems, according to one aspect of the present invention, more specifically, a manned mecha is provided, including a mecha main body. Robotic arms are provided on both the left and right sides of the mecha main body. A bottom plate is fixed to the bottom of the mecha main body. A chassis is detachably connected below the bottom plate. A hydraulic rod is embedded at the center of the chassis interior. A lifting frame is fixed to the bottom end of the hydraulic rod within the chassis interior. A track mechanism is provided within the lifting frame. Fixing frames one are fixed to both the left and right sides of the chassis. The chassis is rotatably connected to side plates through the fixing frames one. Two omnidirectional wheels are provided on the side of the side plate away from the chassis. Fixing frames two are fixed to both the left and right sides of the lifting frame. A connecting frame is rotatably connected to the outer surface of the fixing frame two. One end of the connecting frame away from the fixing frame two is rotatably connected to the interior of the side plate. An activity slot is formed through the interior of the connecting frame. A support rod is movably connected within the activity slot. The support rod is fixedly connected to the interior of the chassis.

[0006] Further, four jacks are penetrated through the upper surface of the bottom plate, and inserting rods are inserted into the jacks. The bottom ends of the four inserting rods are fixedly connected to the chassis. A screw rod is rotatably connected inside the inserting rod. A screw block is threadedly connected to the outer surface of the screw rod. Connecting rods are rotatably connected to the left and right sides of the screw block. One end of the connecting rod away from the screw block is rotatably connected to a clamping block. The opposite ends of the two clamping blocks penetrate to the outside of the inserting rod, and the two clamping blocks are slidably connected to the inserting rod.

[0007] Further, the top end of the screw rod penetrates to the upper surface of the inserting rod and is fixed with a rotating block. The lower surface of the clamping block is attached to the upper surface of the bottom plate.

[0008] Further, an annular rotating groove is formed inside the chassis. A toothed ring is rotatably connected inside the rotating groove. A driving gear is meshed and connected to the left side of the toothed ring. A motor is fixed to the left side of the upper surface of the chassis. The bottom end of the output shaft of the motor penetrates to the inside of the rotating groove and is fixedly connected to the center of the upper surface of the driving gear. Four transmission gears are meshed and connected to the outer surface of the toothed ring. The four transmission gears are distributed in a circumferential array. A driven gear is meshed and connected to the outer surface of the transmission gear. A screw cylinder is fixed in the middle of the driven gear. The bottom end of the screw cylinder penetrates to the lower surface of the chassis. A screw rod is threadedly connected inside the screw cylinder. A support foot is fixed to the bottom end of the screw rod. A sliding rod is fixed to the upper surface of the support foot. All four sliding rods are slidably connected to the chassis.

[0009] According to another aspect of the present invention, more specifically, it is a robotic arm control system for a manned mecha, including a virtual reality training platform, an augmented reality real-time feedback system, a multi-modal human-computer interaction device and a remote collaboration platform. The virtual reality training platform is used to provide a virtual operation environment for the robotic arm. The virtual reality training platform also includes an intelligent evaluation system, which can comprehensively analyze the operation process of the driver, including operation fluency, decision-making accuracy, task completion time, etc., and give targeted improvement suggestions to help the driver quickly improve his control skills;

[0010] The augmented reality real-time feedback system is used to display the state information of the robotic arm in the driver's field of vision in real time;

[0011] The multi-modal human-computer interaction device is used to support gesture recognition, voice control and tactile feedback; the multi-modal human-computer interaction device includes a brain-computer interface module, which collects the electroencephalogram signals of the driver through non-invasive electroencephalogram sensors. After complex algorithm processing, it can recognize the driver's intentions, such as starting the robotic arm, switching the operation mode, executing a specific action sequence, etc.;

[0012] The remote collaboration platform is used to support task collaboration among multiple drivers. The remote collaboration platform also includes an intelligent task planning and resource allocation module, which, based on artificial intelligence algorithms, can automatically generate an optimal task execution plan and reasonably allocate resources according to the task objectives, environmental information, driver skills, and the status of the manned mecha.

[0013] Furthermore, the augmented reality real-time feedback system includes AR glasses and a projection device, which are used to present the status information of the robotic arm and environmental data to the driver in real time.

[0014] The augmented reality real-time feedback system also includes a spatial positioning and tracking module. The spatial positioning and tracking module can accurately track the precise position of the robotic arm in three-dimensional space in real time through multiple groups of high-precision ultrasonic sensors and infrared emitters, with the error controlled within millimeters. Combining advanced image recognition algorithms and data fusion technologies, the system can quickly identify and classify objects in the complex environment around the robotic arm and deeply fuse them with the status data of the robotic arm itself, such as joint angles, extension lengths, load weights, etc.

[0015] Furthermore, the system scans the environment in real time through multiple sensors and cameras and transmits the environmental data and the motion information of the robotic arm to the AR display device.

[0016] Furthermore, the system supports remote control and collaborative operations. Multiple drivers can share information and complete tasks collaboratively through the virtual reality platform.

[0017] The beneficial effects of a manned mecha and its robotic arm control system of the present invention are as follows:

[0018] (1) The mecha of the present invention can quickly switch the moving mode between different terrains. Through the combination of hydraulic rods, lifting frames, and track mechanisms, the mecha can quickly switch between wheeled and tracked modes, improving the adaptability of the mecha and enabling it to meet the operation requirements in different terrains and complex environments.

[0019] And through the connection structure of sockets and plugs, it is convenient to quickly replace the mecha chassis and moving mode, realizing the modularization of the mecha.

[0020] (2) The system of the present invention supports multi-modal interactions such as gestures, voice, and touch, improving the operation flexibility of the driver and the system response speed. At the same time, the remote collaboration platform supports information sharing and collaborative operations among multiple drivers, which can improve the completion efficiency of complex tasks; through the virtual reality platform, the driver can conduct task training in a simulated environment, improving the proficiency of actual operations, and can simulate different task scenarios to cope with challenges in the real environment in advance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0022] Figure 1 is a schematic structural diagram of the present invention;

[0023] Figure 2 is a schematic structural diagram of the chassis in the present invention;

[0024] Figure 3 is a schematic sectional view of the chassis in the present invention;

[0025] Figure 4 is a schematic structural diagram of the mecha main body and the bottom plate in the present invention;

[0026] Figure 5 is a schematic structural diagram of the insertion rod in the present invention;

[0027] Figure 6 is a schematic sectional view of the insertion rod in the present invention;

[0028] Figure 7 is a schematic structural diagram of the toothed ring and the support leg in the present invention.

[0029] In the figure: 1. Mecha main body; 2. Bottom plate; 3. Robot arm; 4. Chassis; 5. Hydraulic rod; 6. Lifting frame; 7. Crawler mechanism; 8. Fixing frame one; 9. Side plate; 10. Omnidirectional wheel; 11. Fixing frame two; 12. Connecting frame; 13. Movable slot; 14. Support rod; 15. Insertion hole; 16. Insertion rod; 17. Screw rod; 18. Screw block; 19. Clamping block; 20. Connecting rod; 21. Rotating block; 22. Rotating slot; 23. Toothed ring; 24. Driving gear; 25. Motor; 26. Transmission gear; 27. Driven gear; 28. Screw barrel; 29. Lead screw; 30. Support leg; 31. Slide bar. Specific implementation method

[0030] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0031] To make the technical solution of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Refer to Figures 1-7, a manned mecha, including a mecha main body 1, robotic arms 3 are arranged on both the left and right sides of the mecha main body 1, a bottom plate 2 is fixed to the bottom of the mecha main body 1, a chassis 4 is detachably connected below the bottom plate 2, a hydraulic rod 5 is embedded at the center inside the chassis 4, a lifting frame 6 is fixed to the bottom end of the hydraulic rod 5 inside the chassis 4, a crawler mechanism 7 is arranged inside the lifting frame 6, fixing frames one 8 are fixed on both the left and right sides of the chassis 4, the chassis 4 is rotationally connected to a side plate 9 through the fixing frames one 8, two omnidirectional wheels 10 are arranged on the side of the side plate 9 away from the chassis 4, fixing frames two 11 are fixed on both the left and right sides of the lifting frame 6, a connecting frame 12 is rotationally connected to the outer surface of the fixing frame two 11, one end of the connecting frame 12 away from the fixing frame two 11 is rotationally connected to the inside of the side plate 9, a movable groove 13 is penetrated and opened inside the connecting frame 12, a support rod 14 is movably connected inside the movable groove 13, when the lifting frame 6 descends and the connecting frame 12 rotates, the connecting frame 12 moves outside the support rod 14 through the movable groove 13 and provides a support point through the support rod 14, so that the side plate 9 can move and support stably, and the support rod 14 is fixedly connected to the inside of the chassis 4;

[0033] When in use, by controlling the hydraulic rod 5 to extend, it pushes against the lifting frame 6 and the crawler mechanism 7 to descend, so that under the pushing of the connecting frame 12, the side plate 9 drives the omnidirectional wheels 10 to rotate and turn outwards, so that the omnidirectional wheels 10 no longer contact the ground, and the mecha is supported by the crawler mechanism 7 contacting the ground, realizing a quick change of the moving mode, and according to the use needs of different terrains, replacing the crawler or the wheel type for moving.

[0034] Refer to Figures 3-6 , four jack holes 15 are penetrated and opened on the upper surface of the bottom plate 2, inserting rods 16 are penetrated inside the jack holes 15, the bottom ends of the four inserting rods 16 are fixedly connected to the chassis 4, a screw rod 17 is rotationally connected inside the inserting rod 16, a screw block 18 is threadedly connected to the outer surface of the screw rod 17, connecting rods 20 are rotationally connected to both the left and right sides of the screw block 18, one ends of the connecting rods 20 away from the screw block 18 are rotationally connected to a clamping block 19, the opposite ends of the two clamping blocks 19 penetrate to the outside of the inserting rod 16, and the two clamping blocks 19 are slidably connected to the inserting rod 16, the top end of the screw rod 17 penetrates to the upper surface of the inserting rod 16 and is fixed with a rotating block 21, and the lower surface of the clamping block 19 is attached to the upper surface of the bottom plate 2; by turning the rotating block 21 with a tool to rotate the screw rod 17, the screw block 18 descends, and under the pulling of the connecting rod 20, the two clamping blocks 19 move away from each other and are received inside the inserting rod 16, so that they no longer contact the bottom plate 2, and at this time, the mecha main body 1 can be lifted to be separated from the chassis 4, so as to be replaced.

[0035] Refer to Figure 3 、 Figure 7, a ring-shaped rotating groove 22 is provided inside the chassis 4. A toothed ring 23 is rotatably connected inside the rotating groove 22. A driving gear 24 is meshed and connected to the left side of the toothed ring 23. A motor 25 is fixed to the left side of the upper surface of the chassis 4. The bottom end of the output shaft of the motor 25 penetrates into the inside of the rotating groove 22 and is fixedly connected to the center of the upper surface of the driving gear 24. Four transmission gears 26 are meshed and connected to the outer surface of the toothed ring 23. The four transmission gears 26 are distributed in a circular array. A driven gear 27 is meshed and connected to the outer surface of the transmission gear 26. A screw barrel 28 is fixed in the middle of the driven gear 27. The bottom end of the screw barrel 28 penetrates to the lower surface of the chassis 4. A lead screw 29 is threadedly connected inside the screw barrel 28. A support leg 30 is fixed to the bottom end of the lead screw 29. A slide bar 31 is fixed to the upper surface of the support leg 30. All four slide bars 31 are slidably connected to the chassis 4;

[0036] Before the hydraulic rod 5 changes its telescopic movement mode, by controlling the operation of the motor 25, the driving gear 24 rotates, driving the toothed ring 23 to rotate. Driven by the four transmission gears 26, the corresponding driven gears 27 and the screw barrel 28 rotate. Since the lead screw 29 inside the screw barrel 28 and the lower support leg 30 can only move up and down under the limitation of the slide bar 31 and the chassis 4, when the screw barrel 28 rotates, the lead screw 29 inside it is under the action of threaded connection, causing the lead screw 29 and the support leg 30 to descend, so that the four support legs 30 contact the ground to support the whole mecha, thus avoiding the side plates 9, connecting frames 12, etc. from supporting the weight of the whole mecha during movement when changing the movement mode, thereby reducing the probability of damage to the side plates 9 and other structures, improving the overall service life and reducing the maintenance cost.

[0037] According to another aspect of the present invention, more specifically, it is a robotic arm control system for a manned mecha, including a virtual reality training platform, an augmented reality real-time feedback system, a multi-modal human-computer interaction device and a remote collaboration platform. The virtual reality training platform is used to provide a virtual operation environment for the robotic arm. The virtual reality training platform further includes an intelligent evaluation system, which can comprehensively analyze the operation process of the driver, including operation fluency, decision-making accuracy, task completion time, etc., and give targeted improvement suggestions to help the driver quickly improve their control skills;

[0038] The augmented reality real-time feedback system is used to display the state information of the robotic arm in the driver's field of vision in real time;

[0039] The multi-modal human-computer interaction device is used to support gesture recognition, voice control, and tactile feedback. The multi-modal human-computer interaction device includes a brain-computer interface module that collects the electroencephalogram (EEG) signals of the driver through non-invasive EEG sensors. After being processed by complex algorithms, it can recognize the driver's intentions, such as starting the robotic arm, switching operation modes, executing specific action sequences, etc. It provides a more natural and efficient interaction method for the driver, especially in emergency situations, enabling rapid response. At the same time, the tactile feedback device is further optimized by adopting a new type of piezoelectric material, which can provide more delicate and realistic tactile feedback for the driver according to the operating state of the robotic arm, such as contacting an object, being impacted by an external force, completing precise operations, etc., enhancing the immersion of the operation.

[0040] The remote collaboration platform is used to support task collaboration among multiple drivers. The remote collaboration platform also includes an intelligent task planning and resource allocation module. Based on artificial intelligence algorithms, it can automatically generate the optimal task execution plan and reasonably allocate resources according to the task objectives, environmental information, driver skills, and the status of the manned mecha. For example, when multiple manned mechas cooperate to complete a large-scale engineering task, the system can intelligently plan the specific work tasks and action paths of each mecha according to factors such as the position, load capacity, and robotic arm performance of each mecha, avoiding resource waste and task conflicts. At the same time, the platform introduces blockchain technology to ensure the security, immutability, and traceability of data during transmission and storage, ensuring reliable information interaction during the remote collaboration process. In addition, the platform supports real-time video conferencing functions, enabling drivers to communicate face-to-face through high-definition video to more intuitively communicate task details and collaboration strategies.

[0041] Preferably, the augmented reality real-time feedback system includes AR glasses and a projection device for presenting the status information of the robotic arm and environmental data to the driver in real time.

[0042] The augmented reality real-time feedback system also includes a spatial positioning and tracking module. The spatial positioning and tracking module can accurately track the precise position of the robotic arm in three-dimensional space through multiple groups of high-precision ultrasonic sensors and infrared emitters, with the error controlled within millimeters. Combining advanced image recognition algorithms and data fusion technologies, the system can quickly identify and classify objects in the complex environment around the robotic arm, and deeply fuse them with the state data of the robotic arm itself, such as joint angles, extension lengths, load weights, etc. Subsequently, it is presented in an intuitive and clear visual form on the AR glasses and the projection device, not only showing the position, movement trajectory, and contact points of the robotic arm, but also marking potential dangerous areas and key operation targets, enabling the driver to more comprehensively and accurately grasp the working conditions of the robotic arm and the surrounding environmental situation.

[0043] Preferably, the system scans the environment in real time through multiple sensors and cameras, and transmits the environmental data and the motion information of the robotic arm to the AR display device.

[0044] Preferably, the system supports remote control and collaborative operations. Multiple drivers can share information and complete tasks collaboratively through the virtual reality platform;

[0045] The virtual reality training platform mainly provides an immersive training environment through VR head-mounted devices. Drivers can simulate different task scenarios in this environment and conduct repeated training. The augmented reality real-time feedback system includes AR glasses and gesture control devices, which can present the position, motion trajectory, contact points, and other key information of the robotic arm in real time into the driver's field of vision; provide real-time operation feedback through AR, and improve the manipulation accuracy and operation flexibility through multi-modal interaction design. This system supports remote collaboration and task simulation, and is suitable for the control of manned mechas in complex environments.

[0046] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent for the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be subject to the appended claims.

Claims

1. A manned mecha, comprising a mecha body (1), characterized in that: Mechanical arms (3) are arranged on both sides of the mecha body (1); a bottom plate (2) is fixed at the bottom of the mecha body (1); a chassis (4) is detachably connected to the bottom of the bottom plate (2); a hydraulic rod (5) is embedded at the center of the chassis (4); a lifting frame (6) is fixed at the bottom end of the hydraulic rod (5) inside the chassis (4); a crawler mechanism (7) is arranged inside the lifting frame (6); a fixing frame (8) is fixed on both sides of the chassis (4); and the chassis (4) is rotatably connected to a side plate (9) through the fixing frame (8). Two omnidirectional wheels (10) are arranged on the side of the side plate (9) away from the chassis (4); a second fixing frame (11) is fixed to the left and right sides of the lifting frame (6); a connecting frame (12) is rotatably connected to the outer surface of the second fixing frame (11); an end of the connecting frame (12) away from the second fixing frame (11) is rotatably connected to the inside of the side plate (9); a movable groove (13) is formed through the inside of the connecting frame (12); a support rod (14) is movably connected to the inside of the movable groove (13); and the support rod (14) is fixedly connected to the inside of the chassis (4).

2. A manned mecha according to claim 1, characterized in that: Four insertion holes (15) are formed through the upper surface of the bottom plate (2), and an insertion rod (16) is inserted into the insertion hole (15). The bottom ends of the four insertion rods (16) are fixedly connected to the bottom plate (4). A screw rod (17) is rotatably connected to the inside of the insertion rod (16). A screw block (18) is threadedly connected to the outer surface of the screw rod (17). The left and right sides of the screw block (18) are rotatably connected to connecting rods (20). One end of the connecting rod (20) away from the screw block (18) is rotatably connected to a clamping block (19). The opposite ends of the two clamping blocks (19) are inserted into the outside of the insertion rod (16), and the two clamping blocks (19) are slidably connected to the insertion rod (16).

3. A manned mecha according to claim 2, characterized in that: The top end of the screw rod (17) penetrates through the upper surface of the insertion rod (16) and is fixed with a rotating block (21); the lower surface of the clamping block (19) is in contact with the upper surface of the bottom plate (2).

4. The manned mecha according to claim 3, characterized in that: An annular rotating groove (22) is provided inside the chassis (4), a gear ring (23) is rotatably connected inside the rotating groove (22), a driving gear (24) is meshedly connected on the left side of the gear ring (23), a motor (25) is fixed on the left side of the upper surface of the chassis (4), the bottom end of the output shaft of the motor (25) passes through the inside of the rotating groove (22) and is fixedly connected to the center of the upper surface of the driving gear (24), and four transmission gears (26) are meshedly connected on the outer surface of the gear ring (23), and the four transmission gears (26) are meshedly connected to the outer surface of the gear ring (23). The gears (26) are distributed in a circular array. The outer surface of the transmission gear (26) is meshingly connected with a driven gear (27). A screw barrel (28) is fixed in the middle of the driven gear (27). The bottom end of the screw barrel (28) penetrates the lower surface of the chassis (4). The inner thread of the screw barrel (28) is connected with a screw rod (29). A support foot (30) is fixed at the bottom end of the screw rod (29). A sliding rod (31) is fixed on the upper surface of the support foot (30). The four sliding rods (31) are all slidably connected to the chassis (4).

5. A manned mecha robotic arm control system, comprising a virtual reality training platform, an augmented reality real-time feedback system, a multi-modal human-computer interaction device and a remote collaboration platform, characterized in that: The virtual reality training platform is used to provide a virtual operating environment for the robot arm. The virtual reality training platform also includes an intelligent evaluation system that can conduct a comprehensive analysis of the driver's operating process, including operating fluency, decision accuracy, task completion time, etc., and give targeted improvement suggestions to help the driver quickly improve his control skills; The augmented reality real-time feedback system is used to display the status information of the robot arm in the driver's field of view in real time; The multimodal human-computer interaction device is used to support gesture recognition, voice control and tactile feedback; the multimodal human-computer interaction device includes a brain-computer interface module, which collects the driver's EEG signals through a non-invasive EEG sensor, and after complex algorithm processing, can identify the driver's intention, such as starting the robotic arm, switching the operation mode, executing a specific action sequence, etc.; The remote collaboration platform is used to support task collaboration among multiple drivers. The remote collaboration platform also includes an intelligent task planning and resource allocation module. Based on an artificial intelligence algorithm, it can automatically generate the optimal task execution plan and reasonably allocate resources according to task objectives, environmental information, driver skills and the status of manned mecha.

6. The manipulator arm control system of a manned mecha according to claim 5, characterized in that: The augmented reality real-time feedback system includes AR glasses and projection equipment, which are used to present the status information and environmental data of the robot arm to the driver in real time; The augmented reality real-time feedback system also includes a spatial positioning tracking module, which can track the precise position of the robot arm in three-dimensional space in real time through multiple sets of high-precision ultrasonic sensors and infrared transmitters, with the error controlled at the millimeter level. Combined with advanced image recognition algorithms and data fusion technology, the system can quickly identify and classify objects in the complex environment around the robot arm, and deeply integrate them with the robot arm's own status data, such as joint angles, extension length, load weight, etc.

7. The manipulator arm control system of a manned mecha according to claim 5, characterized in that: The system uses multiple sensors and cameras to scan the environment in real time, and transmits environmental data and the motion information of the robotic arm to the AR display device.

8. The manipulator arm control system of a manned mecha according to claim 5, characterized in that: The system supports remote control and collaborative work, and multiple drivers can share information and complete tasks together through a virtual reality platform.

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