CN105364915A

CN105364915A - Intelligent home service robot based on three-dimensional machine vision

Info

Publication number: CN105364915A
Application number: CN201510912378.3A
Authority: CN
Inventors: 王庆祥; 孙兆政; 段延娟
Original assignee: Qilu University of Technology
Current assignee: Qilu University of Technology
Priority date: 2015-12-11
Filing date: 2015-12-11
Publication date: 2016-03-02
Anticipated expiration: 2035-12-11
Also published as: CN105364915B

Abstract

The invention discloses a home service robot based on three-dimensional vision, and particularly relates to a method for monitoring a target, and taking an article according to a command. In the method, the skeleton and the posture of the target are identified by virtue of an RGB-D sensor, and recorded in real time, an alarming action is made in case of accidental falling-down of the target, the bit number of the recorded data is far less than that of the recorded video image, and a scene in case of accidental falling-down can be restored; and a gesture indication direction of a user can also be identified by virtue of the RGB-D sensor to obtain the approximately angular coordinates of the article to be taken, and the article can be rapidly and accurately taken in combination with a voice command. A Mecanum wheel omnidirectional moving platform is used, and can realize follow-up movements with various tracks under a complex indoor environment.

Description

Based on the Intelligent home service robot of three-dimensional machine vision

Technical field

The present invention relates to a kind of robot device that home services is provided, intelligence especially can be provided to get the robot of thing and Falls in Old People monitoring family expenses.

Background technology

At present, known domestic robot can only carry out simple domestic hygiene and sweep, and do not have adding of many sensoriums such as audiovisual, the function that can provide is limited, can not be referred to as Intelligent robot.In monitoring, do not have non-intrusion type product can provide the function of following monitoring at present; Getting object space face, current get thing robot accuracy and flexibility poor.

The appearance of RGB-D sensor is that the gesture recognition of people and the segmentation location of object bring new development opportunity, in gesture recognition, it can obtain human skeleton information, comprise part gesture, thus identification and the gesture understanding of attitude can be realized, such as Sign Language Recognition, and domestic appliance man-based development also affects by it, has some robot researches to start to adopt RGB-D sensor as robotic vision.But in intelligent domestic service robot field, comprise and still have many problems to need research from the monitoring of following and the aspect of article crawl accurately.

Summary of the invention

In order to make up the current deficiency being large domestic robot known to the public, old man's custodial care facility and robot and getting thing, the invention provides a kind of novel intelligent robot, this intelligent robot can not only follow monitoring to old man, and can easily help article of taking.

The present invention achieves make robot can follow monitoring to target person by increasing three-dimensional machine vision and corresponding software, speech recognition and corresponding software and mechanical arm for robot, also can be fetched according to voice and user's gesture determination target object place.

For realizing to monitoring the technical solution used in the present invention of people being: use the 3 D video camera with sampling depth information, obtain the 3 d space coordinate of all pixels in " visual field " scope and colored image information, lead to the motor behavior of software into advanced and high-performance built-in computer analysis children under guardianship.Follow in time when children under guardianship move, accidentally tumble is made and alarm (*).

For realizing getting thing the technical solution used in the present invention fast and accurately and be: issued orders to robot by special command format, this order comprises two must the selective sections (CD is option) of partly (A item and B item) and not determined number: A target direction+B target designation+C color of object+D target range.Wherein A item is pointed to by user's gesture and obtains, and BCD item is voice command.Order citing: point to 2 o'clock direction, oral account " apple, red ".

* note: type of alarm includes but not limited to sound, light, note, phone, network.

The invention has the beneficial effects as follows, under the condition increasing system complexity not too much, the practicality of domestic robot can be improved, by the application of new technology, strengthen the function of domestic robot.

Accompanying drawing explanation

Fig. 1 is the basic flow sheet that the present invention follows monitoring.

Fig. 2 is the basic procedure that the present invention gets thing.

Fig. 3 is the signal of Omni-mobile platform of the present invention.

Detailed description of the invention

(1) Posture acquisition and processing module

Three-dimensional stereoscopic visual dynamic acquisition and analysis.Adopt three-dimensional stereoscopic visual collecting device, realize Dynamic Establishing and the identification of three-dimensional space data, especially to the athletic posture recognition function of human body.Identify that the framework information in graphics also returns crucial joint coordinates, then be combined with the time by the three-dimensional coordinate in each joint and judge targeted attitude and movement tendency.This block flow diagram is Fig. 2.

(2) communication module

Host computer is by internet and cellular mobile network and people's communication, and host computer is equipped with WIFI module and gsm wireless module, when old man is dampinged off by can in time by internet or note to transmission distress signals such as old man children.

(3) tracking and monitoring module of falling is followed

The data that process data acquisition module returns, the relative position of evaluating objects human and computer people and then control machine human action.Robot be in follow care situations time, this module of continuous recursive call makes robot can keep certain distance with people, namely successfully follows.If observe children under guardianship in the process of following to fall simultaneously, robot will by mode alert notice households such as sound, network, notes.This block flow diagram is Fig. 1.

(4) robot moves and mechanical arm module

This module has independent MCU to control electricapparatus equipment, and the instruction control receiving robot central processing unit moves the motion with mechanical arm.

Claims

1. a robot, it is characterized in that a kind of removable monitoring target, can also to take article: based on the Intelligent home service robot of three-dimensional machine vision according to order.

2. robot as claimed in claim 1, it is characterized in that, described order is made up of voice and gesture, and both interdepend.

3. robot as claimed in claim 1, is characterized in that, described monitoring is based on the skeleton of 3D vision and target identification, and accurate real rate is high, and record data volume is little, record scene can originality strong.

4. robot as claimed in claim 1, is characterized in that, described movement is based on Mecanum wheel four-wheel Omni-mobile system, rapidly mobile, and flexibly, environmental suitability is strong in action.