CN106125725A - A kind of Intelligent tracking robot, system and control method - Google Patents
A kind of Intelligent tracking robot, system and control method Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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Abstract
The invention provides a kind of Intelligent tracking robot, system and control method, relate to robot field.It is characterized in that, described system includes: machine human body, described machine human body top are provided with photographic head；It is provided with wheel bottom described machine human body；Described machine inside of human body is provided with the motor driving wheel movement and the steering wheel controlling robot direction of advance;Described machine inside of human body is additionally provided with and controls the control system that robot runs.It is simple that this invention has process, takies resource, and execution efficiency is high, accuracy advantages of higher.
Description
Technical field
The present invention relates to robot field, particularly to a kind of Intelligent tracking robot, system and control method.
Background technology
Along with computer technology, controlling technology, the fast development of information technology, production and the management of industry enter automatically
Changing, information-based and intellectualization times, intellectuality has become as the needs of era development.In flexible automation production line, intelligence
The fields such as storage management and logistics distribution, when production on-site environment is severe, manually can not completing of task such as material transportation and dress
Unload, Intelligent tracking robot can be used to complete being correlated with of task.Based on production scene and daily life it is actually needed, research
With developing intellectual resource robot tracking system, there is highly important meaning.The research of this project can be applied automatic with engine hatch lamp
Tracking, factory automation, the field such as storehouse management intelligent toy and civilian service, labor productivity can be improved, improve work
Environment.
Intelligent robot can perception environment, it is possible to have study, emotion and to external world a kind of logical judgment thinking.Its conduct
The conglomerate of modern high technology, is one of the scientific and technological commanding elevation of 21 century.The development of mobile robot technology, it should say that it is section
Learn a skill the comprehensive result developed.Meanwhile, it creates a section having significant impact for socio-economic development
Learning a skill, the mobile achievement in research to robot improves again the expanding economy level of this country.Further, along with auto industry
Developing rapidly, the research about automobile is the most increasingly concerned by people.
Existing tracking robot there is also problem below:
1, processing speed is slow: owing to the complexity of algorithm and program is higher, causes tracking robot in actual moving process
In processing speed very slow, thus cause being unable to reach gratifying movement velocity.
2, with high costs: the complexity of system further result in the manufacturing cost of robot and significantly promotes, for
Universal and the application of robot is a sizable resistance.
3, accuracy is relatively low: owing to practical situation is the most extremely complex, and tracking robot is in processing practical problem, past
Toward running into a lot of problems.The result accuracy rate causing tracking is the lowest.
4, structure is complicated: existing tracking robot mostly uses multiple motor collaborative work, it is achieved be accurately controlled, so
Although and this structure can allow the degree of accuracy of robot promote, but meanwhile causing the overall structure of robot extremely complex,
Once damage and be very difficult to keep in repair.Also improve cost simultaneously.
Summary of the invention
In consideration of it, the invention provides a kind of Intelligent tracking robot, system and control method, this invention has process letter
Single, take resource, execution efficiency is high, accuracy advantages of higher.
The technical solution used in the present invention is as follows:
A kind of Intelligent tracking robot, it is characterised in that it includes: machine human body 2, described machine human body 2 top are provided with
Photographic head 1；It is provided with wheel 3 bottom described machine human body 2；Described machine human body 2 is internal be provided with drive wheel movement motor and
Control the steering wheel of robot direction of advance；Internal being additionally provided with of described machine human body 2 controls the control system that robot runs.
Described photographic head is black white image photographic head, and maximum pixel is 664*492.
Described control system includes: path detection module, starting line detection module, Bus-Speed Monitoring module, power module, in
Central processor, servo driving module and motor drive module；Described path detection module by signal is connected to central processing unit；Institute
State starting line detection module signal and be connected to central processing unit；Described power module signal is connected to central processing unit；Described rudder
Machine drives module by signal to be connected to central processing unit；Described motor drive module signal is connected to central processing unit；Described central authorities
Processor signal respectively is connected to path detection module, starting line detection module, Bus-Speed Monitoring module, power module, steering wheel drive
Dynamic model block and motor drive module.
Described path detection module, for the image information sended over according to photographic head, it is judged that the race residing for robot
Road type is straight way or bend, will determine that result is sent to central processing unit；Described Bus-Speed Monitoring module, for robot
The speed advanced carries out Real-time Collection, sends collection result to central processing unit；Described starting line detection module, is used for detecting
Whether robot is in starting line, sends testing result to central processing unit；Described power module, for providing to robot
The energy run；Described central processing unit, for the data message sended over according to modules, transmitting control commands is to rudder
Machine drives module and motor drive module；Described servo driving module, for the control life sended over according to central processing unit
Order, controls the operation of steering wheel；Described motor drive module, for the control command sended over according to central processing unit, controls
The operation of motor.
A kind of Intelligent tracking robot control method, it is characterised in that described method comprises the steps:
Step 1: robot starts, and whether starting line detection module measuring robots is in starting line, if it is not, then treat
Machine is motionless；If it is, central processing unit then transmitting control commands is to motor drive module, motor drive module drives motor to control
Robot advances；
Step 2: during moving ahead, photographic head Real-time Collection is gone to image information, image information is sent to path detection
Module, according to image information, path detection module judges that robot is presently at straight way or bend；
Step 3: Bus-Speed Monitoring module starts the speed of real-time measuring robots, and testing result is sent to central authorities' process
Device；
Step 4: the data message that central processing unit sends over according to path detection module and Bus-Speed Monitoring module sends
Control command road servo driving module and motor drive module,；
Step 5: the control command difference that servos control module and motor control module send over according to central processing unit
Control steering wheel and the operation of motor.
Detection method and the central processing unit of described path detection module control robot direction of advance according to testing result
Including under step:
Step 1: receive the image information that photographic head sends over；
Step 2: image is carried out binaryzation；
Step 3: calculate on the left of image the difference of white point number on the right side of white point number and image；
Step 4: judge that the absolute value of difference, whether less than 130, if it is not, then transmission result is to central processing unit, performs
Step 5；If it is, calculate DIR value, and judge whether meeting of DIR value :-11.2 < DIR < 11.2；If it is, send knot
Fruit, to central processing unit, performs step 5；If it is not, and DIR <-12, then send result to central processing unit, perform step 6；
If DIR value > 12, then send result to central processing unit, execution step 7；
Step 5: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel center motor and accelerate；
Step 6: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel left-hand rotation motor and accelerate；
Step 7: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel right-hand machine and accelerate.
Described steering wheel and motor control algorithms comprise the following steps:
Step 1: path detection module to camera collection to image information carry out binaryzation, according to binary image
As a result, with picture centre as boundary, calculating border left and right sides white point number respectively:
Wherein, row is the line number of image, max line number maximum: 80；Left is left side white point number；Right is right side
White point number；
Step 2: then the white point number on left side and right side is done difference, then to difference divided by line number, obtain racing track inclined
Shifting amount:
Step 3: according to side-play amount AVG size, it is judged that current track situation, according to racing track situation, is multiplied by different to AVG
Coefficient k, obtains steering wheel value, and then travel direction controls；Described k value is set voluntarily.
Use above technical scheme, present invention produces following beneficial effect:
1, tracking accuracy rate is high: the tracking robot of the present invention, uses image recognition as the basis of tracking.Compared with passing through
Sensor carries out the robot of tracking, has higher accuracy.
2, simple in construction: the tracking robot of the present invention, either internal structure or external structure are all very simple.
It is easy to assemble and produce, reduces manufacturing cost, improve popularity rate.
3, low cost: except being improved in structure, reduces the complexity of robot, simultaneously at the assembly of robot
On.We use black and white photographic head, do not use traditional colour imagery shot, reduce the cost of photographic head, reduce further
The cost of robot.
4, algorithm is advanced: the image processing algorithm of the present invention processes just for black white image, reduces answering of process
Miscellaneous degree.On the other hand, also allow the complexity of image procossing be substantially reduced, improve the treatment effeciency of system.
Accompanying drawing explanation
Fig. 1 is robot architecture's schematic diagram of a kind of Intelligent tracking robot, system and the control method of the present invention.
Fig. 2 is the system structure schematic diagram of a kind of Intelligent tracking robot, system and the control method of the present invention.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary), unless specifically stated otherwise,
By other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, each feature is a series of
An example in equivalence or similar characteristics.
Providing a kind of Intelligent tracking robot, system in the embodiment of the present invention 1, Fig. 1 is the robot architecture of the present invention
Schematic diagram, Fig. 2 is the system structure schematic diagram of the present invention:
A kind of Intelligent tracking robot, it is characterised in that it includes: machine human body 2, described machine human body 2 top are provided with
Photographic head 1；It is provided with wheel 3 bottom described machine human body 2；Described machine human body 2 is internal be provided with drive wheel movement motor and
Control the steering wheel of robot direction of advance；Internal being additionally provided with of described machine human body 2 controls the control system that robot runs.
Described photographic head is black white image photographic head, and maximum pixel is 664*492.
Described control system includes: path detection module, starting line detection module, Bus-Speed Monitoring module, power module, in
Central processor, servo driving module and motor drive module；Described path detection module by signal is connected to central processing unit；Described
Starting line detection module signal is connected to central processing unit；Described power module signal is connected to central processing unit；Described steering wheel
Module by signal is driven to be connected to central processing unit；Described motor drive module signal is connected to central processing unit；Described centre
Reason device signal respectively is connected to path detection module, starting line detection module, Bus-Speed Monitoring module, power module, servo driving
Module and motor drive module.
Described path detection module, for the image information sended over according to photographic head, it is judged that the race residing for robot
Road type is straight way or bend, will determine that result is sent to central processing unit；Described Bus-Speed Monitoring module, for robot
The speed advanced carries out Real-time Collection, sends collection result to central processing unit；Described starting line detection module, is used for detecting
Whether robot is in starting line, sends testing result to central processing unit；Described power module, for providing to robot
The energy run；Described central processing unit, for the data message sended over according to modules, transmitting control commands is to rudder
Machine drives module and motor drive module；Described servo driving module, for the control life sended over according to central processing unit
Order, controls the operation of steering wheel；Described motor drive module, for the control command sended over according to central processing unit, controls
The operation of motor.
The embodiment of the present invention 2 provides a kind of Intelligent tracking robot and controls the method:
A kind of Intelligent tracking robot control method, it is characterised in that described method comprises the steps:
Step 1: robot starts, and whether starting line detection module measuring robots is in starting line, if it is not, then treat
Machine is motionless；If it is, central processing unit then transmitting control commands is to motor drive module, motor drive module drives motor to control
Robot advances；
Step 2: during moving ahead, photographic head Real-time Collection is gone to image information, image information is sent to path detection
Module, according to image information, path detection module judges that robot is presently at straight way or bend；
Step 3: Bus-Speed Monitoring module starts the speed of real-time measuring robots, and testing result is sent to central authorities' process
Device；
Step 4: the data message that central processing unit sends over according to path detection module and Bus-Speed Monitoring module sends
Control command road servo driving module and motor drive module,；
Step 5: the control command difference that servos control module and motor control module send over according to central processing unit
Control steering wheel and the operation of motor.
Detection method and the central processing unit of described path detection module control robot direction of advance according to testing result
Including under step:
Step 1: receive the image information that photographic head sends over；
Step 2: image is carried out binaryzation；
Step 3: calculate on the left of image the difference of white point number on the right side of white point number and image；
Step 4: judge that the absolute value of difference, whether less than 130, if it is not, then transmission result is to central processing unit, performs
Step 5；If it is, calculate DIR value, and judge whether meeting of DIR value :-11.2 < DIR < 11.2；If it is, send knot
Fruit, to central processing unit, performs step 5；If it is not, and DIR <-12, then send result to central processing unit, perform step 6；
If DIR value > 12, then send result to central processing unit, execution step 7；
Step 5: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel center motor and accelerate；
Step 6: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel left-hand rotation motor and accelerate；
Step 7: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel right-hand machine and accelerate.
Described steering wheel and motor control algorithms comprise the following steps:
Step 1: path detection module to camera collection to image information carry out binaryzation, according to binary image
As a result, with picture centre as boundary, calculating border left and right sides white point number respectively:
Wherein, row is the line number of image, max line number maximum: 80；Left is left side white point number；Right is right side
White point number；
Step 2: then the white point number on left side and right side is done difference, then to difference divided by line number, obtain racing track inclined
Shifting amount:
Step 3: according to side-play amount AVG size, it is judged that current track situation, according to racing track situation, is multiplied by different to AVG
Coefficient k, obtains steering wheel value, and then travel direction controls；Described k value is set voluntarily.
The embodiment of the present invention 3 provides a kind of Intelligent tracking robot, system and control method, robot architecture such as figure
Described in 1, system construction drawing as shown in Figure 2:
A kind of Intelligent tracking robot, it is characterised in that it includes: machine human body 2, described machine human body 2 top are provided with
Photographic head 1；It is provided with wheel 3 bottom described machine human body 2；Described machine human body 2 is internal be provided with drive wheel movement motor and
Control the steering wheel of robot direction of advance；Internal being additionally provided with of described machine human body 2 controls the control system that robot runs.
Described photographic head is black white image photographic head, and maximum pixel is 664*492.
Described control system includes: path detection module, starting line detection module, Bus-Speed Monitoring module, power module, in
Central processor, servo driving module and motor drive module；Described path detection module by signal is connected to central processing unit；Described
Starting line detection module signal is connected to central processing unit；Described power module signal is connected to central processing unit；Described steering wheel
Module by signal is driven to be connected to central processing unit；Described motor drive module signal is connected to central processing unit；Described centre
Reason device signal respectively is connected to path detection module, starting line detection module, Bus-Speed Monitoring module, power module, servo driving
Module and motor drive module.
Described path detection module, for the image information sended over according to photographic head, it is judged that the race residing for robot
Road type is straight way or bend, will determine that result is sent to central processing unit；Described Bus-Speed Monitoring module, for robot
The speed advanced carries out Real-time Collection, sends collection result to central processing unit；Described starting line detection module, is used for detecting
Whether robot is in starting line, sends testing result to central processing unit；Described power module, for providing to robot
The energy run；Described central processing unit, for the data message sended over according to modules, transmitting control commands is to rudder
Machine drives module and motor drive module；Described servo driving module, for the control life sended over according to central processing unit
Order, controls the operation of steering wheel；Described motor drive module, for the control command sended over according to central processing unit, controls
The operation of motor.
A kind of Intelligent tracking robot control method, it is characterised in that described method comprises the steps:
Step 1: robot starts, and whether starting line detection module measuring robots is in starting line, if it is not, then treat
Machine is motionless；If it is, central processing unit then transmitting control commands is to motor drive module, motor drive module drives motor to control
Robot advances；
Step 2: during moving ahead, photographic head Real-time Collection is gone to image information, image information is sent to path detection
Module, according to image information, path detection module judges that robot is presently at straight way or bend；
Step 3: Bus-Speed Monitoring module starts the speed of real-time measuring robots, and testing result is sent to central authorities' process
Device；
Step 4: the data message that central processing unit sends over according to path detection module and Bus-Speed Monitoring module sends
Control command road servo driving module and motor drive module,；
Step 5: the control command difference that servos control module and motor control module send over according to central processing unit
Control steering wheel and the operation of motor.
Detection method and the central processing unit of described path detection module control robot direction of advance according to testing result
Including under step:
Step 1: receive the image information that photographic head sends over；
Step 2: image is carried out binaryzation；
Step 3: calculate on the left of image the difference of white point number on the right side of white point number and image；
Step 4: judge that the absolute value of difference, whether less than 130, if it is not, then transmission result is to central processing unit, performs
Step 5；If it is, calculate DIR value, and judge whether meeting of DIR value :-11.2 < DIR < 11.2；If it is, send knot
Fruit, to central processing unit, performs step 5；If it is not, and DIR <-12, then send result to central processing unit, perform step
6；If DIR value > 12, then send result to central processing unit, execution step 7；
Step 5: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel center motor and accelerate；
Step 6: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel left-hand rotation motor and accelerate；
Step 7: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel right-hand machine and accelerate.
Described steering wheel and motor control algorithms comprise the following steps:
Step 1: path detection module to camera collection to image information carry out binaryzation, according to binary image
As a result, with picture centre as boundary, calculating border left and right sides white point number respectively:
Wherein, row is the line number of image, max line number maximum: 80；Left is left side white point number；Right is right side
White point number；
Step 2: then the white point number on left side and right side is done difference, then to difference divided by line number, obtain racing track inclined
Shifting amount:
Step 3: according to side-play amount AVG size, it is judged that current track situation, according to racing track situation, is multiplied by different to AVG
Coefficient k, obtains steering wheel value, and then travel direction controls；Described k value is set voluntarily.
The tracking robot of the present invention, uses image recognition as the basis of tracking.Tracking is carried out compared with by sensor
Robot, there is higher accuracy.
The tracking robot of the present invention, either internal structure or external structure are all very simple.Be easy to assemble and
Produce, reduce manufacturing cost, improve popularity rate.
Except being improved in structure, reduce the complexity of robot, simultaneously on the assembly of robot.We adopt
Use black and white photographic head, do not use traditional colour imagery shot, reduce the cost of photographic head, reduce further robot
Cost.
The image processing algorithm of the present invention processes just for black white image, reduces the complexity of process.The opposing party
Face, also allows the complexity of image procossing be substantially reduced, improves the treatment effeciency of system.
The invention is not limited in aforesaid detailed description of the invention.The present invention expands to any disclose in this manual
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (7)
1. an Intelligent tracking robot, it is characterised in that it includes: machine human body (2), described machine human body (2) top set
There is photographic head (1)；Described machine human body (2) bottom is provided with wheel (3)；Described machine human body (2) is internal is provided with driving wheel fortune
Dynamic motor and the steering wheel of control robot direction of advance；Internal being additionally provided with of described machine human body (2) controls what robot ran
Control system.
2. Intelligent tracking robot as claimed in claim 1, it is characterised in that described photographic head is black white image photographic head,
Maximum pixel is 664*492.
3. Intelligent tracking robot as claimed in claim 1 or 2, it is characterised in that described control system includes: path detection
Module, starting line detection module, Bus-Speed Monitoring module, power module, central processing unit, servo driving module and motor drive mould
Block；Described path detection module by signal is connected to central processing unit；Described starting line detection module signal is connected to central authorities' process
Device；Described power module signal is connected to central processing unit；Described servo driving module by signal is connected to central processing unit；Described
Motor drive module signal is connected to central processing unit；Described central processing unit signal respectively is connected to path detection module, rises
Run line detection module, Bus-Speed Monitoring module, power module, servo driving module and motor drive module.
4. Intelligent tracking robot as claimed in claim 3, it is characterised in that described path detection module, for according to taking the photograph
The image information brought as hair, it is judged that the runway type residing for robot is straight way or bend, will determine that result sends
To central processing unit；Described Bus-Speed Monitoring module, carries out Real-time Collection for the speed advancing robot, collection result is sent out
Deliver to central processing unit；Whether described starting line detection module, be in starting line for measuring robots, testing result is sent
To central processing unit；Described power module, for providing the energy run to robot；Described central processing unit, for basis
The data message that modules sends over, transmitting control commands is to servo driving module and motor drive module；Described steering wheel
Drive module, for the control command sended over according to central processing unit, control the operation of steering wheel；Described motor drives mould
Block, for the control command sended over according to central processing unit, controls the operation of motor.
5. a control method based on the Intelligent tracking robot one of Claims 1-4 Suo Shu, it is characterised in that described
Method comprises the steps:
Step 1: robot start, whether starting line detection module measuring robots is in starting line, if it is not, then standby not
Dynamic；If it is, central processing unit then transmitting control commands drives Motor controlling machine device to motor drive module, motor drive module
People advances；
Step 2: during moving ahead, photographic head Real-time Collection goes to image information, image information is sent to path detection module,
According to image information, path detection module judges that robot is presently at straight way or bend；
Step 3: Bus-Speed Monitoring module starts the speed of real-time measuring robots, and testing result is sent to central processing unit；
Step 4: central processing unit sends according to the data message that path detection module and Bus-Speed Monitoring module send over and controls
Command servo driving module and motor drive module,；
Step 5: the control command that servos control module and motor control module send over according to central processing unit controls respectively
Steering wheel and the operation of motor.
6. Intelligent tracking robot control method as claimed in claim 5, it is characterised in that the inspection of described path detection module
Survey method and central processing unit control step under the including of robot direction of advance according to testing result:
Step 1: receive the image information that photographic head sends over；
Step 2: image is carried out binaryzation；
Step 3: calculate on the left of image the difference of white point number on the right side of white point number and image；
Step 4: judge that the absolute value of difference, whether less than 130, if it is not, then transmission result is to central processing unit, performs step
5；If it is, calculate DIR value, and judge whether meeting of DIR value :-11.2 < DIR < 11.2；If it is, send result extremely
Central processing unit, performs step 5；If it is not, and DIR <-12, then send result to central processing unit, perform step 6；If
DIR value > 12, then send result to central processing unit, execution step 7；
Step 5: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel center motor and accelerate；
Step 6: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel left-hand rotation motor and accelerate；
Step 7: central processing unit transmitting control commands is to servo driving module, thus controls steering wheel right-hand machine and accelerate.
7. Intelligent tracking robot control method as claimed in claim 6, it is characterised in that described steering wheel and motor control to calculate
Method comprises the following steps:
Step 1: path detection module to camera collection to image information carry out binaryzation, according to the knot of binary image
Really, with picture centre as boundary, calculating border left and right sides white point number respectively:
Wherein, row is the line number of image, max line number maximum: 80；Left is left side white point number；Right is right side white point
Number；
Step 2: then the white point number on left side and right side is done difference, then to difference divided by line number, obtains racing track side-play amount:
Step 3: according to side-play amount AVG size, it is judged that current track situation, according to racing track situation, is multiplied by different coefficients to AVG
K, obtains steering wheel value, and then travel direction controls；Described k value is set voluntarily.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106990786A (en) * | 2017-05-12 | 2017-07-28 | 中南大学 | The tracking method of intelligent carriage |
| CN107631123A (en) * | 2017-09-05 | 2018-01-26 | 黑龙江龙唐电力投资有限公司 | A kind of heat distribution pipeline sniffing robot and its control system and control method |
| CN110091334A (en) * | 2019-05-31 | 2019-08-06 | 深圳市盛矽电子科技有限公司 | Tracking robot, tracking travel control method, system and medium |
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