Seeing that there are so many different kinds of robots in the world, you may ask who invented the first real robot in the world? The first robot was invented by Mr. Engelberg, who is known as the "Father of Robotics".
Engelberg is one of the world's most famous robotics experts, in 1958 he established the Unimation Corporation, and in 1959 developed the world's first industrial robot, he made an outstanding contribution to the creation of the robotics industry. 1983, in the industrial robots sales are becoming more and more popular, Engelberg and his colleagues resolutely to buy Unimation to the company. Unimation to Westinghouse and created TRC, Inc. to begin developing service robots.
Engelberg believes that service robots are closely related to people's lives, and that the application of service robots will continue to improve people's quality of life, which is exactly what people are looking for. Once service robots are accepted like other electromechanical products and enter thousands of households, their market will be unlimited.
Engelberg created the TRC company's first service robotics products are hospitals, "nurse's aide" robot, which began development in 1985, began selling in 1990, has been put into use in dozens of hospitals around the world. "In addition to being sold, the Nurse's Aide is also rented out. Because of the "nurse's aide" market prospects, has set up a "nurse's aide" robot company, Engelberg as chairman.
"Nurse's aide" is an autonomous robot, it does not need wired guidance, and do not need to plan in advance, once programmed, it is ready to complete the following tasks: delivery of medical equipment and equipment, for the patient's meal delivery, delivery of medical records, statements and letters, delivery of medicines, delivery of test samples and results of the test in the hospital to deliver mail and parcels. hospitals, and delivering mail and packages within the hospital.
The robot consists of a walking part, a travel controller and a large number of sensors. The robot can move freely in the hospital with a speed of about 0.7 meters per second. The robot is equipped with a map of the hospital's buildings, and after determining its destination the robot autonomously navigates along the corridors using a course projection method, which consists of a structured light vision sensor and an omni-directional ultrasonic sensor that can detect stationary or moving objects and make course corrections. Its omni-directional tactile sensors ensure that the robot does not come into contact with people or objects. Encoders on the wheels measure the distance it has traveled. In corridors, the robot uses the corners of walls to determine its position, while when in larger spaces such as wards, it can use reflective strips on the ceiling to help localize itself with the help of sensors that look upwards. It can also open doors when needed. In multi-story buildings, it can call a manned elevator and enter it to the floor it is going to. In an emergency, such as when a surgeon and his patient use the elevator, the robot can stop, get out of the way, and then restart two minutes later to continue on its way. Multiple destinations can be selected through menus on the Nurse's Aide, and the robot has a large fluorescent screen and user-friendly sound system, making it quick and easy for users to use. In the early spring of 2000, a student from a university in Heilongjiang was lying calmly on the operating table at the People's Liberation Army Navy General Hospital. She suffers from craniopharyngioma, 4 years ago had a craniotomy, unfortunately now the tumor has recurred, the tumor compression of the optic nerve so that she has lost vision in both eyes, the vision of the left eye 0.02, the right eye only the sense of light. At this moment, doctors are using advanced brain surgery robotic system for her to implement surgery positioning. There are 4 marking points attached to her head, from which a spatial coordinate system is established. The CT machine scans her at different angles, after which the doctors input 9 CT pictures into the computer, and a 3D lesion site is displayed on the screen. The doctor determines the puncture point and puncture trajectory of the surgery on the screen, the 5-degree-of-freedom robot aligns with the puncture point, and then locks itself to this position, building a solid operating platform for the doctor, who enters the needle and performs the corresponding surgery according to the puncture point that has already been calibrated. The entire procedure takes 20 minutes. After the surgery, the patient got out of bed, put on his shoes and walked out of the operating room by himself. Three days later, the patient was discharged from the hospital, with vision restored to 0.9 in both eyes.
Brain Surgery Robotic Assisted System
The Brain Surgery Robotic Assisted System (BSRAS) was developed by Beijing University of Aeronautics and Astronautics (BUAA), Tsinghua University (TWU), and the Naval Academy (NAVA)***. In November 2000 in Beijing organized "China and the United States of America medical robot clinical application of academic exchanges". 15 morning, the United States of America cardiac surgery robot and China's brain surgery robot were implemented clinical surgery. Sterilization, three small holes in the chest, robotic hand into the chest cavity, the fourth floor of the operating room, the robot from the United States began to 59-year-old patient coronary artery bypass surgery. The robotic arm, named Iso, reaches into the chest cavity and moves within a range of 0.2 to 1 centimeter with the doctor's commands of "up, down, left, and right," looking for the internal mammary artery to be used for the bypass. Mr. Zhang, vice president of the U.S. robotic arm development company, said that the traditional surgery to take the internal mammary artery to use 45 minutes, while the use of robotic arms as long as 15 minutes or so can be completed. Without this procedure, the patient would be left with a 20-centimeter-long incision. With the help of the endoscope on the robotic arm, the surgeon's vision is clearer and he can operate directly on the surgical image, and this time, the incision in the patient's chest is only 5 centimeters. On the second floor of the operating room, the Chinese robot is carrying out a brain "biopsy" for 61-year-old Ms. Wang. Mr. Zhao, the surgeon in charge, said, like Ms. Wang, a deeper lesion of extracerebral surgery, the previous four nails to the skull, wearing a large metal frame, go around to do CT, MRI scans. With the help of a robotic arm, the patient will be able to throw off the big frame and use the robotic arm to locate and provide a surgical platform for the doctor. Doctors through the operating table next to the computer screen, you can determine the focal point for the operation, the original at least half a day to complete the operation, now 30 minutes to complete. 9 o'clock to start the operation, less than 10 o'clock, Ms. Wang easily walked off the operating table, "brain inside the loose more", Ms. Wang said with a smile. One of the developers of the assisted surgical robot, Professor Tian Zengmin of the All-Military Neurosurgery Center of the Naval General Hospital, said that the development trend of neurosurgery is to pursue safety, minimally invasive and precision, and the use of the robotic system meets these requirements, and in terms of minimally traumatized to obtain the good results of the traditional treatments can not be compared. Prior to the use of robotic systems, framed brain stereotactic surgery, in which four small holes are drilled into the patient's skull and a metal frame is fixed, was commonly used at home and abroad. The surgeon uses this frame (which is also a coordinate system) to determine the exact location of the lesion and decide where to operate. The use of a robotic system not only eliminates the pain caused to patients by the fixed frame and the inconvenience of operation for doctors, but also improves positioning accuracy and visibility of the operation, minimizing surgical trauma for patients.
The application of robots in medical treatment is increasing, such as the replacement of hip bones with robots and chest surgery with robots. This is mainly because the use of robots to do surgery with high precision, less traumatic, greatly reducing the patient's pain. From the development trend of the world's robots, robot-assisted surgery will become an inevitable trend. Teeth are the protector of human health, with a strong, intact teeth is a guarantee of good health. However, with the growth of human age, teeth will be loosened and fall off. Currently, most of the developed countries in the world have entered an aging society, and many elderly people have lost all their teeth. Patients who have lost all of their teeth are called edentulous, and need to be restored with a full denture. There are nearly 12 million edentulous patients in our country. Artificial teeth is the key to restore the chewing, speech function and facial aesthetics of edentulous patients, and it is also the technical core and difficulty of making complete denture. The traditional way of making full dentures is by doctors and technicians relying on experience according to the patient's jaw shape and making them by hand, which cannot meet the increasing social demand. Peking University Stomatology Hospital, Beijing Institute of Technology and other organizations have jointly successfully developed an oral restoration robot.
Oral Prosthetic Robot
This is a computer and robot-assisted design, production of full denture artificial teeth application test system. The system utilizes image and graphic technology to obtain a computer model of the hard and soft tissues of the oral cavity of the patient who generates an edentulous jaw, utilizes a self-developed non-contact three-dimensional laser scanning and measuring system to obtain the geometric parameters of the patient's edentulous jaw bone morphology, and employs expert system software to complete computer-assisted statistics of the full-mouth prosthetic artificial tooth rows. In addition, the transition conversion device between a single plastic artificial tooth and the final artificial tooth row to be completed, the adjustable rower, was invented and fabricated.
Any positional and postural control of the row of teeth can be achieved based on the robot. Utilizing restorative dentistry robots is equivalent to rapidly training and creating a group of advanced restorative dentistry medical specialists and technicians. Utilizing robots to replace manual tooth rowing not only operates more precisely and digitally than oral healthcare specialists, but also avoids errors caused by fatigue, emotions, and negligence on the part of the specialists. This will enable the design and production of full dentures to enter a level that can both meet the individual physiological function and aesthetic needs of edentulous patients, as well as standardization, standardization, automation, and industrialization, thereby greatly improving their production efficiency and quality. At a press conference held in the city of Los Angeles in the United States, the participants in the projection screen to see such a set of shots: Subtitles:
On a certain day in 2005, a small robot assembled by the gears with a diameter of only 30 microns was implanted in the blood vessels. This tiny robot swims freely in the river of blood like a submarine. Once they encountered cholesterol or fat that was stagnant or floating in the blood vessels, they pounced on it mercilessly, quickly tearing it apart and chewing it to pieces. When they meet with the vicious virus, they are not afraid to stand up to it.
But the virus is very cunning, they see each other ferocious, often put on a look of shrinkage of the poor, as if it has surrendered; or simply lie down at once, not moving, seems to have become a zombie. Robots are kind and generous, and they stride past these enemies who have laid down their weapons.
But the favored viruses didn't stop there, and when the robots brushed past them, they leapt up and began viciously attacking them from behind, and the robots continued to fall.
Don't worry, these robots have error-correcting programs inside them. Many of them were able to adjust their behavior after a single loss, as long as it wasn't an honorable death. So the robots are no longer honest and trustworthy. When they saw a virus, they had to kill it, no matter how they disguised themselves.
The virus also improvised, when they met with the robot, they desperately expand the body, bluffing, trying to put on a fierce look. But the robot, which has a "super brave" program inside its brain, is brave and ready to die, and is determined to defend its master's health with its own life. So the robot and the virus had a fierce battle. In the end, the virus was annihilated. The broken pieces of the virus kept penetrating out of the blood vessels, flowing into the kidneys, and eliminated from the body through urine. So the arteries were unobstructed and the body was healthier.
The above drama about ultramicrotechnology is made up based on scientists' visions, but it is not an unattainable dream. With the development of microelectromechanical technology, the fantasy is moving step by step toward reality.
May 27, 1988, the United States of America, the University of California, two Chinese-American developed a micro-motor of only 76 microns (3 ‰ inch).
November 1991, the Japanese electronics company's researchers in the then state-of-the-art "electron tunneling scanning microscope" under the "ultra-micro tip", the silicon atoms will be lined up into a pyramid-shaped "concave cone", which is only 36% of the total.
This is the first time that mankind has arranged atoms by hand, causing a sensation in the world of atomic physics.
In July 1996, Harvard University successfully developed a turbine with a diameter of only 7 microns. Thousands of these turbines can be placed on a single postage stamp. Only under an ultra-high-power microscope can you see its shape and structure clearly. China has also developed a 1-millimeter motor.
Ultra-micro technologies are not close to the people now, mainly because they are not yet practical. In this regard, the United States, Stanford University's modern ultramicro-physics expert Dr. Benjamin King made this description: "the future people will develop a highly intelligent artificial fleas, spiders and other animals. They will be highly intelligent artificial fleas, spiders and other animals. They will be integrated with ultra-miniature computers, actuators, transmission devices, sensors and power supplies, and will become very unique and powerful assistants for human beings. They will be widely used in medical, agricultural, industrial, aerospace, military and other fields. In addition to the much-talked-about injection of blood vessels to remove poisons in addition to the function of the surgical micro-motor can also be used to sew the nerves, micro-vessels, eyeballs, etc.; can also be used to penetrate into the human body's internal organs, such as the kidneys, the heart and so on for the examination. Thousands of "flea" robots will be moved into the farmland to eliminate pests, so that the agricultural harvest, but also to prevent environmental pollution caused by the use of pesticides ......." With the development of society and the improvement of human civilization, people, especially the disabled, need more and more to use modern high-tech to improve their quality of life and freedom of life. Every year, thousands of people lose one or more of their abilities (such as walking, manual dexterity, etc.) due to various traffic accidents, natural and man-made disasters, and various diseases. Therefore, the research on the robot wheelchair used to help disabled people walk has gradually become a hotspot, such as Spain, Italy and other countries, the Institute of Automation of the Chinese Academy of Sciences has also successfully developed a robot wheelchair with visual and oral navigation function and can be voice interaction with people.
The robot wheelchair mainly has the functions of verbal recognition and speech synthesis, robot self-localization, dynamic random obstacle avoidance, multi-sensor information fusion, real-time adaptive navigation control.
The key technology of the robot wheelchair is the safety navigation problem, the basic method used is to rely on ultrasonic and infrared ranging, and individually also used the password control. The main shortcoming of ultrasonic and infrared navigation is that the controllable measuring range is limited, and visual navigation can overcome the shortcomings in this regard. In the robot wheelchair, the user of the wheelchair should be the center and active part of the whole system. For the user, the robotic wheelchair should have the function of interacting with people. This interaction function can be realized intuitively through human-machine voice dialog. Although individual existing mobile wheelchairs can be controlled by simple verbal commands, there are not many mobile robots and wheelchairs with real interactive functions. Cable-stayed bridges are increasingly favored by bridge designers for their beautiful appearance and good seismic resistance. Since the completion of the Tsomsundt Cable-stayed Bridge in Sweden in 1956, there have been more than 300 cable-stayed bridges around the world by 1993. China since 1975 in sichuan yunyang built the first cable-stayed bridge, so far *** built more than 40 cable-stayed bridge.
The main stress components of cable-stayed bridges are cables, but their long-term exposure to the atmosphere, by the wind, sun, rain and environmental pollution erosion, the surface of the more serious damage, which will have a negative impact on the entire cable-stayed bridge. Therefore, effective maintenance of cables is very necessary. Cable-stayed bridges attract many sightseers with their unique configuration, adding a bright landscape for modern cities. However, while people marvel at the spectacular cable-stayed bridges, they also find that most of the cable-stayed bridges have black cables, and the monotony of the color affects the charm of the cable-stayed bridges. Therefore, in recent years, colorful cable-stayed bridges have become the goal of many bridge experts.
At present, there are three methods of coloring cable-stayed bridges, i.e., color wrapping, whole material coloring and color painting, among which color painting is the most economical and flexible method. So far, domestic and foreign cable-stayed bridge cables for color coating mainly use two methods, one is for small cable-stayed bridges using hydraulic lifting platform for cable coating, the other is the use of pre-installed tower top of the fixed point, with a steel wire to move the cradle carrying staff along the cable for coating. The former method is very limited in the scope of work, the latter method is a common method used in many cable-stayed bridges, but the use of manual methods of high-altitude painting operations are not only inefficient, high cost, and dangerous, especially in the stormy days is more dangerous. To this end, the Shanghai Jiao Tong University Robotics Institute in 1997 and the Shanghai Huangpu River Bridge Engineering and Construction Department co-developed a cable-stayed bridge cable painting maintenance robot prototype.
The robot system consists of two parts, one is the robot body, and the other is the robot cart. The robot body can climb along the various inclination of the cable, in the high altitude cable automatically complete the inspection, sanding, cleaning, de-static, primer and top coating and a series of maintenance work. The robot body is equipped with a CCD camera, which can monitor the work situation at any time. The other part of the ground trolley is used to install the robot body and supply water and paint to the robot body, as well as monitor the robot's overhead work.
The robot has the following functions:
Climbing function along the cable
The robot can climb along the cable with any inclination, and the elevation of the cable can be climbed to be 160 meters, the inclination of the cable is 0~90(, the diameter of the cable can be adapted to be 90~200mm, and the robot's speed of climbing is 8 meters/second.
Cable Detection Function
The robot is equipped with a wire rope detection system, which can detect whether there is any broken wire along the cable, so as to replace the cable in time.
Cable cleaning function
The robot is equipped with various shapes of cleaning brushes and specific water-based cleaning solution on the robot body, which can complete the work of removing dust, degreasing and removing static electricity from the polyethylene surface of the cable.
With some intelligence
The robot has a good human-machine interaction function, and in the high altitude can judge whether to the top, the size of the wind and some other environmental conditions, and implement the corresponding action. With the modernization of the city, a high-rise building rises up. For the sake of aesthetics, but also in order to get a better lighting effect, many office buildings and hotels have adopted the glass curtain wall, which brings the problem of cleaning glass windows. In fact, not only glass windows, other materials, walls also need to be cleaned regularly.
For a long time, the high-rise building wall cleaning, are "a bucket of water, a rope, a board" mode of operation. Wash the wall workers waist tie a rope, swinging between the high-rise, not only inefficient, but also prone to accidents. In recent years, with the development of science and technology, this situation has been improved, the main methods used at home and abroad there are two kinds of: one is to rely on the lifting platform or hanging blue carrying cleaners for glass windows and wall surface of the manual cleaning; another is installed on the roof of the building with the track and cable suspension system will be window cleaning machine against the window automatic scrubbing. Using the second method requires that the window scrubbing system be taken into account at the beginning of the building's design, and its inability to adapt to stepped shaped wall surfaces limits the use of this method.
After the reform and opening up, China's economic construction has a rapid development, high-rise buildings such as spring, abound. However, due to the architectural design support is not yet standardized, the vast majority of high-rise buildings in China are cleaned manually using hanging blue. Based on this situation, Beijing University of Aeronautics and Astronautics Robotics Institute to play its technical advantages and the Ministry of Railways Beijing Railway Bureau of the scientific research for the Beijing West Railway Station cooperation to develop a glass roof (about 3,000 square meters) cleaning robot.
The robot consists of two main parts: the robot body and the ground support robot cart. The robot body is the main body that crawls along the glass wall and completes the scrubbing action, weighing 25 kilograms, which can walk and scrub flexibly and freely according to the actual environment, and has high reliability. Ground support trolley belongs to the supporting equipment, in the robot work, is responsible for the robot power supply, gas supply, water supply and recycling of sewage, it and the robot through the pipeline connection.
Currently, China is engaged in building cleaning robot research and Harbin Institute of Technology and Shanghai University, etc., they also have their own products.
The building cleaning robot was developed on the basis of the wall-crawling robot, which is only one of the uses of the wall-crawling robot. Wall-crawling robots have two adsorption methods, negative pressure adsorption and magnetic adsorption, building window cleaning robot is used in the negative pressure adsorption method. Magnetic adsorption wall climbing robot has also been introduced in China, and has been applied in the Daqing oilfield. It is often said that water and fire, which speaks of the threat of water and fire to human beings and people's helplessness to water and fire. Mention of fire, people will recall a tragedy. According to the relevant departments of statistics, only in 1995 a year in China, there were 38,000 fires, deaths of 2,233 people, injured 3,770 people, direct economic losses of more than 1.08 billion yuan. 1997, more than 140,000 fires, deaths of 2,722 people, injuries to 4,930 people, resulting in property losses of 1.54 billion yuan. What a shocking figure!
In the face of relentless fires, the Shanghai Fire Research Institute of the Ministry of Public Security, Shanghai Jiaotong University, Shanghai Municipal Fire Bureau **** with the development of a fire robot program. After three years of research, China's first fire robot has been born. Firefighting robots can walk, climb, cross the barrier, spray fire, can carry out fire reconnaissance.
In recent years, China's petrochemical and other basic industries have had rapid development, in the production process of flammable and explosive and highly toxic chemicals has grown dramatically, due to equipment and management, resulting in an increase in the number of accidents caused by leakage of chemical hazards and radioactive substances, combustion and explosion. Firefighting robot as a special firefighting equipment can replace the firefighters close to the fire to implement effective firefighting rescue, chemical inspection and fire reconnaissance. Its application will improve the fire brigade to extinguish large-scale malignant fires of the actual ability to reduce the loss of national property and firefighting and rescue personnel casualties will have an important role. In Shenzhen, Qingshuihe fire explosion, Nanjing Jinling petrochemical fire, Beijing Oriental Chemical Plant tank fire and other events, the domestic fire brigade requirements for the development of fire-fighting robots equipped with the call is increasingly high. The successful development of firefighting robots, the development of firefighting equipment for the 21st century in China and the expansion of firefighting unit technology and tactics will have an important impact.
Not only in our country, but also in the world firefighting is a big problem, the governments of all countries are trying to minimize the loss of fire.
In November 1984, a fire broke out in a cable tunnel in Tokyo, Japan, and firefighters had to extinguish the fire in the tunnel in a dangerous environment of heavy smoke and high temperatures. After the fire, the Tokyo Fire Department began research into firefighting robots that could work in harsh conditions, and five types of firefighting robots have been put into service.
Remote-controlled firefighting robots
These robots were first used in 1986. It is used when firefighters have difficulty getting to the scene of a fire to extinguish it or when there is a danger of an explosion. The robot is fitted with tracks and can travel at a maximum speed of 10 kilometers per hour, spraying five tons of water or three tons of foam per minute.
Spraying robot
This robot, developed in 1989, is a type of remotely controlled firefighting robot used to extinguish fires in narrow passages and underground areas. The robot is 45 centimeters high, 74 centimeters wide and 120 centimeters long. It is driven by a jet engine or a regular engine for traveling. When the robot arrives at a fire scene, nozzles convert the stream of water into a high-pressure water mist sprayed on the flames in order to extinguish the flames.
Firefighting Reconnaissance Robot
The Firefighting Reconnaissance Robot was created in 1991 to gather all kinds of information around the scene of a fire and to support firefighters in the presence of smoke or toxic gases. The robot has four tracks, an operating arm and nine acquisition devices for collecting data, including cameras, heat distribution indicators and gas concentration meters.
Climbing rescue robot
The climbing rescue robot was first used in 1993. When a fire suddenly breaks out on the upper floors of a high-rise building, the robot is able to climb the building's exterior walls to investigate the fire and carry out rescue and firefighting efforts. The robot was able to winch itself up along a wire rope lowered from the top of the building, and then it was able to move freely around the building using negative pressure suction cups. This robot can climb buildings up to 70 meters high.
Ambulance robot
The ambulance robot was first put into use in 1994. This robot is capable of moving injured people to safety. The robot is 4 meters long, 1.74 meters wide, 1.89 meters high and weighs 3,860 kilograms. It is equipped with rubber tracks and has a maximum speed of 4 kilometers per hour. It not only has information collection devices, such as TV cameras, flammable gas detectors, ultrasonic detectors, etc.; there are two robotic hand, the maximum grip of 90 kilograms. The robots can lift the injured people to the ambulance platform, where they can be provided with fresh air.
In November 2000, a fire broke out in the tunnel of an Austrian snowy mountain cable car, killing more than 160 people. Due to the darkness, coldness and dense smoke in the tunnel, it was very difficult to extinguish the fire and clean up the scene. This again illustrates the importance of special firefighting equipment.